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basic p regulator

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master
Eggert Jung 4 years ago
parent 64751e00c7
commit 696c9eac0e
1 changed files with 12 additions and 2 deletions
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14
taenzer.c
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@ -4,6 +4,8 @@
#include "avrIOhelper/io-helper.h" #include "avrIOhelper/io-helper.h"
#include "kraftsensor.h" #include "kraftsensor.h"
#include <stdlib.h>
taenzer_state_t taenzer_state; taenzer_state_t taenzer_state;
void do_taenzer(){ void do_taenzer(){
@ -21,11 +23,19 @@ void do_taenzer(){
/* Force regualtion */ /* Force regualtion */
if(kraftsensor_valid && taenzer_state.homed){ if(kraftsensor_valid && taenzer_state.homed){
if(kraftsensor_value < 9000){ int16_t err = abs(kraftsensor_value - 10000);
if(err > 8000)
err=8000;
ICR4 = 400000/err;
OCR4A = ICR4/2;
if(kraftsensor_value < 19000){
set_Output(MOTOR_TAENZER_DIR, 0); // direction: down set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
TCCR4B |= _BV(CS41); //TURN ON TCCR4B |= _BV(CS41); //TURN ON
} }
else if(kraftsensor_value > 10000){ else if(kraftsensor_value > 20000){
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
} }