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StateHandler: simple fan speed adjustment. pid() needs improvments

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This commit is contained in:
Evgenii Meshcheriakov
2022-10-19 16:46:32 +03:00
parent 290c73f358
commit 0d70f8b464
3 changed files with 18 additions and 9 deletions
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2
StateHandler/inc/StateHandler.h
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@@ -109,7 +109,7 @@ private:
* weigh of fan, so voltage within range of 0-89 is not
* sufficient to start motor.
* TODO: Value 89 should be scaled to 0 at some point */
Counter fan_speed = {89, 1000};
Counter fan_speed = {20, 1000};
/*integral controller for PID. should be global, since it
* accumulates error signals encountered since startup*/
int integral = 0;

18
StateHandler/src/StateHandler.cpp
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@@ -134,8 +134,18 @@ StateHandler::stateAuto (const Event &event)
break;
case Event::eTick:
save (event.value, value[AUTO].getCurrent (), AUTO);
pid();
this->A01->write(fan_speed.getCurrent());
int i = 0;
// pid();
// this->A01->write(fan_speed.getCurrent());
if(saved_curr_value[AUTO] < saved_set_value[AUTO]) {
fan_speed.inc();
this->A01->write(fan_speed.getCurrent());
} else if(saved_curr_value[AUTO] > saved_set_value[AUTO]){
fan_speed.dec();
while(i<720) i++;
i = 0;
this->A01->write(fan_speed.getCurrent());
}
break;
}
}
@@ -177,9 +187,9 @@ StateHandler::save (int eventValue, int counterValue, size_t mode)
}
void StateHandler::pid () {
float kP = 0.7, kI = 0.7, kD = 0.7;
float kP = 0.001, kI = 0.001, kD = 0.001;
int error = 0, last_error = 0, derivative = 0;
error = saved_curr_value[AUTO] - saved_set_value[AUTO];
error = saved_set_value[AUTO] - saved_curr_value[AUTO];
last_error = error;
integral += error;
derivative = error - last_error;