Filamentstr/05_wickler
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increse control var to 32bit, decrease Hysteresis

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Eggert Jung
2022-09-05 15:58:33 +02:00
parent 93debb7dd6
commit 21099092c0
1 changed files with 6 additions and 3 deletions
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9
taenzer.c
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@@ -12,7 +12,7 @@
#include <stdlib.h> #include <stdlib.h>
#define TAENZER_KRAFT_SETPOINT 12000 #define TAENZER_KRAFT_SETPOINT 12000
#define TAENZER_KRAFT_HYST 1000 #define TAENZER_KRAFT_HYST 500
taenzer_state_t taenzer_state; taenzer_state_t taenzer_state;
@@ -84,7 +84,7 @@ void do_taenzer(){
int32_t err = (kraftsensor_value - taenzer_state.force_setpoint); int32_t err = (kraftsensor_value - taenzer_state.force_setpoint);
double pid_out = pid(&regler, err); double pid_out = pid(&regler, err);
int16_t out = (int16_t)pid_out; int32_t out = (int32_t)pid_out;
ICR4 = 400000/abs(out); ICR4 = 400000/abs(out);
OCR4A = ICR4/2; OCR4A = ICR4/2;
@@ -98,12 +98,15 @@ void do_taenzer(){
set_Output(MOTOR_TAENZER_DIR, 1); // direction: up set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
TCCR4B |= _BV(CS41); //TURN ON TCCR4B |= _BV(CS41); //TURN ON
} }
else else{
TCCR4B &= ~_BV(CS41); //TURN OFF TCCR4B &= ~_BV(CS41); //TURN OFF
}
} }
else else
TCCR4B &= ~_BV(CS41); //TURN OFF TCCR4B &= ~_BV(CS41); //TURN OFF
} }
//else
// TCCR4B &= ~_BV(CS41); //TURN OFF
} }
void timer4_init() void timer4_init()