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main: fix DEFAULT_PID_PARAMETERS

This commit is contained in:
Astro 2019-10-03 01:34:53 +02:00
parent 2010b4fe10
commit 420be00407
1 changed files with 8 additions and 7 deletions
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15
firmware/src/main.rs
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@ -86,14 +86,17 @@ macro_rules! create_socket {
const VCC: f32 = 3.3; const VCC: f32 = 3.3;
const PWM_PID_WIDTH: u16 = 0xffff;
const PWM_MAX: f32 = PWM_PID_WIDTH as f32;
const DEFAULT_PID_PARAMETERS: pid::Parameters = pid::Parameters { const DEFAULT_PID_PARAMETERS: pid::Parameters = pid::Parameters {
kp: 1.0, kp: 0.5 * PWM_MAX,
ki: 1.0, ki: 0.05 * PWM_MAX,
kd: 1.0, kd: 0.45 * PWM_MAX,
output_min: 0.0, output_min: 0.0,
output_max: 0xffff as f32, output_max: PWM_MAX,
integral_min: 0.0, integral_min: 0.0,
integral_max: 0xffff as f32, integral_max: PWM_MAX,
}; };
const DEFAULT_SH_PARAMETERS: sh::Parameters = sh::Parameters { const DEFAULT_SH_PARAMETERS: sh::Parameters = sh::Parameters {
@ -103,8 +106,6 @@ const DEFAULT_SH_PARAMETERS: sh::Parameters = sh::Parameters {
parallel_r: 5_110.0, // Ohm (TODO: verify) parallel_r: 5_110.0, // Ohm (TODO: verify)
}; };
const PWM_PID_WIDTH: u16 = 0xffff;
// TODO: maybe rename to `TECS`? // TODO: maybe rename to `TECS`?
/// Number of TEC channels with four PWM channels each /// Number of TEC channels with four PWM channels each
pub const CHANNELS: usize = 2; pub const CHANNELS: usize = 2;