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StateHandler: first version of pid() for fan

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This commit is contained in:
Evgenii Meshcheriakov
2022-10-19 09:46:55 +03:00
parent 2de40ba7c0
commit 4b1ef018dd
3 changed files with 17 additions and 11 deletions
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17
StateHandler/src/StateHandler.cpp
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@@ -134,13 +134,8 @@ StateHandler::stateAuto (const Event &event)
break;
case Event::eTick:
save (event.value, value[AUTO].getCurrent (), AUTO);
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();
this->A01->write(fan_speed.getCurrent());
}
pid();
this->A01->write(fan_speed.getCurrent());
break;
}
}
@@ -182,8 +177,12 @@ StateHandler::save (int eventValue, int counterValue, size_t mode)
}
void StateHandler::pid () {
int integral = 0, error = 0;
float kP = 0.7, kI = 0.7, kD = 0.7;
int error = 0, last_error = 0, derivative = 0;
error = saved_curr_value[AUTO] - saved_set_value[AUTO];
last_error = error;
integral += error;
derivative = error - last_error;
fan_speed.setInit((kP*error) + (kI*integral) + (kD * derivative));
}