M-Labs/thermostat
9
0
Fork 5
Code Issues 9 Pull Requests 5 Releases Wiki Activity

rm pid setpoint change kick

Browse Source
This commit is contained in:
linuswck 2024-05-10 10:28:56 +08:00
parent 8c1cb3117c
commit 925601f4f5
1 changed files with 1 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/pid.rs
View File

@ -54,15 +54,13 @@ impl Controller {
// + x0 * (kp + ki + kd)
// - x1 * (kp + 2kd)
// + x2 * kd
// + kp * (u0 - u1)
// y0 = clip(y0', ymin, ymax)
pub fn update(&mut self, input: f64) -> f64 {
let mut output: f64 = self.y1 - self.target * f64::from(self.parameters.ki)
+ input * f64::from(self.parameters.kp + self.parameters.ki + self.parameters.kd)
- self.x1 * f64::from(self.parameters.kp + 2.0 * self.parameters.kd)
+ self.x2 * f64::from(self.parameters.kd)
+ f64::from(self.parameters.kp) * (self.target - self.u1);
+ self.x2 * f64::from(self.parameters.kd);
if output < self.parameters.output_min.into() {
output = self.parameters.output_min.into();
}