Filamentstr
/
05_wickler
Archived
1
0
Fork 0
Code Issues 3 Pull Requests Releases Wiki Activity

increse control var to 32bit, decrease Hysteresis

Browse Source
master
Eggert Jung 3 years ago
parent 93debb7dd6
commit 21099092c0
1 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File

9
taenzer.c
Unescape Escape View File

@ -12,7 +12,7 @@
#include <stdlib.h>
#define TAENZER_KRAFT_SETPOINT 12000
#define TAENZER_KRAFT_HYST 1000
#define TAENZER_KRAFT_HYST 500
taenzer_state_t taenzer_state;
@ -84,7 +84,7 @@ void do_taenzer(){
int32_t err = (kraftsensor_value - taenzer_state.force_setpoint);
double pid_out = pid(&regler, err);
int16_t out = (int16_t)pid_out;
int32_t out = (int32_t)pid_out;
ICR4 = 400000/abs(out);
OCR4A = ICR4/2;
@ -98,12 +98,15 @@ void do_taenzer(){
set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
TCCR4B |= _BV(CS41); //TURN ON
}
else
else{
TCCR4B &= ~_BV(CS41); //TURN OFF
}
}
else
TCCR4B &= ~_BV(CS41); //TURN OFF
}
//else
// TCCR4B &= ~_BV(CS41); //TURN OFF
}
void timer4_init()