M-Labs
/
thermostat
9
0
Fork 5
Code Issues 7 Pull Requests 6 Releases Wiki Activity

PID_fix #35

Merged
sb10q merged 4 commits from PID_fix into master 2020-12-26 11:47:21 +08:00
Conversation 0 Commits 4 Files Changed 1
1 changed files with 8 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/pid.rs
View File

@ -60,20 +60,25 @@ impl Controller {
let time_delta = time_delta.get::<second>();
// error
let error = input - self.target;
let error = self.target - input;
// proportional
let p = f64::from(self.parameters.kp) * error;
// integral
self.integral += f64::from(self.parameters.ki) * error * time_delta;
if let Some(last_output_val) = self.last_output {
// anti integral windup
if last_output_val < self.parameters.output_max.into() && last_output_val > self.parameters.output_min.into() {
self.integral += error * time_delta;
}
}
if self.integral < self.parameters.integral_min.into() {
self.integral = self.parameters.integral_min.into();
}
if self.integral > self.parameters.integral_max.into() {
self.integral = self.parameters.integral_max.into();
}
let i = self.integral;
let i = self.integral * f64::from(self.parameters.ki);
// derivative
let d = match self.last_input {