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05_wickler
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new spooling speed regulation

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still needs some tuning
master
Eggert Jung 3 years ago
parent daadb91055
commit 012f133dbe
1 changed files with 15 additions and 4 deletions
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19
spule.c
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@ -87,17 +87,28 @@ void do_spule(){
}
else{
/* speed regulation - keep taenzer at 10% */
int32_t tmp = 0;//(100 - (int32_t)taenzer_state.pos/1000);
float p = 100.0/(int32_t)(taenzer_state.pos/1000);
p-=1;
p/=2;
p+=1;
//printf("temp1: %d\n", tmp);
//TODO fix bounds
//if(tmp < -7500/abzug_speed/2)
// tmp = -7500/abzug_speed/2;
//printf("temp2: %d\n", tmp);
if(tmp < -35)
tmp = -35;
if(p < 0.75)
p = 0.75;
if(p > 1.5)
p = 1.5;
ICR5=7500/abzug_speed + tmp;
uint16_t base_speed = (7500/abzug_speed);
uint16_t ctrl_speed = base_speed * p;
if(ctrl_speed <= 70)
ctrl_speed = 70;
ICR5 = ctrl_speed;
OCR5C = ICR5/2;
ICR1 = ICR5/TRANS_ROT_FACTOR;