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README: Add PID Output Clamping section

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Explains the need of having separate "max_i_pos/output_max" and
"max_i_neg/output_min" values; They serve different purposes.
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atse 2024-11-18 15:32:35 +08:00
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@ -239,6 +239,22 @@ of channel 0 to the PID algorithm:
output 0 pid output 0 pid
``` ```
### PID output clamping
It is possible to clamp the PID algorithm output independently of channel output limits. This is desirable when e.g. there is a need to keep the current value above a certain threshold in closed-loop mode.
Note that the actual output will still be ultimately limited by the `max_i_pos` and `max_i_neg` values, and will not exceed them.
Set PID maximum output of channel 0 to 1.5 A.
```
pid 0 output_max 1.5
```
Set PID minimum output of channel 0 to 0.1 A.
```
pid 0 output_min 0.1
```
## LED indicators ## LED indicators
| Name | Color | Meaning | | Name | Color | Meaning |