now there is pid enabled by defualt

Merge branch 'Slowdown' of https://github.com/bkubicek/Marlin Conflicts: Marlin/EEPROM.h Marlin/Marlin.pde
bkubicek · Oct 21, 2011 · 10c2489 · 10c2489
2 parents cf397ca + d029252
commit 10c2489
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Showing 5 changed files with 280 additions and 185 deletions.
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
@@ -1,3 +1,5 @@
+
+
 #ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
@@ -44,7 +46,7 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
 
 //#define ULTIPANEL
 #ifdef ULTIPANEL
- #define NEWPANEL  //enable this if you have a click-encoder panel
+ //#define NEWPANEL  //enable this if you have a click-encoder panel
  #define SDSUPPORT
  #define ULTRA_LCD
  #define LCD_WIDTH 20
@@ -140,16 +142,20 @@ bool axis_relative_modes[] = {false, false, false, false};
 
 /// PID settings:
 // Uncomment the following line to enable PID support.
-//#define PIDTEMP
+#define SMOOTHING
+#define SMOOTHFACTOR 5.0
+float current_raw_average=0;
+
+#define PIDTEMP
 #ifdef PIDTEMP
 //#define PID_DEBUG 1 // Sends debug data to the serial port. 
 //#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
-#define PID_MAX 156 // limits current to nozzle
-#define PID_INTEGRAL_DRIVE_MAX 156.0
+#define PID_MAX 255 // limits current to nozzle
+#define PID_INTEGRAL_DRIVE_MAX 255
 #define PID_dT 0.16
-double Kp = 20.0;
-double Ki = 1.5*PID_dT;
-double Kd = 80/PID_dT;
+double Kp = 1000; //20.0;
+double Ki = 0;  //1.5*PID_dT;
+double Kd = 0;  //80/PID_dT;
 #endif // PIDTEMP
 
 

diff --git a/Marlin/EEPROM.h b/Marlin/EEPROM.h
@@ -1,3 +1,4 @@
+
 //======================================================================================
 template <class T> int EEPROM_writeAnything(int &ee, const T& value)
 {
@@ -18,10 +19,9 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
 }
 //======================================================================================
 
-
 #define EEPROM_OFFSET 100
 
-#define EEPROM_VERSION "V03"  // IMPORTANT:  Whenever there are changes made to the variables stored in EEPROM
+#define EEPROM_VERSION "V04"  // IMPORTANT:  Whenever there are changes made to the variables stored in EEPROM
                               // in the functions below, also increment the version number. This makes sure that
                               // the default values are used whenever there is a change to the data, to prevent
                               // wrong data being written to the variables.
@@ -40,10 +40,13 @@ void StoreSettings() {
   EEPROM_writeAnything(i,minsegmenttime);
   EEPROM_writeAnything(i,max_xy_jerk);
   EEPROM_writeAnything(i,max_z_jerk);
+  EEPROM_writeAnything(i,Kp);
+  EEPROM_writeAnything(i,Ki);
+  EEPROM_writeAnything(i,Kd);
   char ver2[4]=EEPROM_VERSION;
   i=EEPROM_OFFSET;
   EEPROM_writeAnything(i,ver2); // validate data
- //  Serial.println("Settings Stored");
+   ECHOLN("Settings Stored");
 
 }
 
@@ -52,7 +55,7 @@ void RetrieveSettings(bool def=false){  // if def=true, the default values will
   char stored_ver[4];
   char ver[4]=EEPROM_VERSION;
   EEPROM_readAnything(i,stored_ver); //read stored version
-//  Serial.print("Version: [");Serial.print(ver);Serial.print("] Stored version: [");Serial.print(stored_ver);Serial.println("]");
+//  ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
   if ((!def)&&(strncmp(ver,stored_ver,3)==0)) {   // version number match
       EEPROM_readAnything(i,axis_steps_per_unit);  
       EEPROM_readAnything(i,max_feedrate);  
@@ -64,7 +67,10 @@ void RetrieveSettings(bool def=false){  // if def=true, the default values will
       EEPROM_readAnything(i,minsegmenttime);
       EEPROM_readAnything(i,max_xy_jerk);
       EEPROM_readAnything(i,max_z_jerk);
-   //   Serial.println("Stored settings retreived:");
+      EEPROM_readAnything(i,Kp);
+      EEPROM_readAnything(i,Ki);
+      EEPROM_readAnything(i,Kd);
+      ECHOLN("Stored settings retreived:");
   }
   else {
     float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
@@ -82,39 +88,21 @@ void RetrieveSettings(bool def=false){  // if def=true, the default values will
     mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
     max_xy_jerk=DEFAULT_XYJERK;
     max_z_jerk=DEFAULT_ZJERK;
- //   Serial.println("Using Default settings:");
+    ECHOLN("Using Default settings:");
   }
- /*
-  //Serial.print("   M92");
-  //Serial.print(" X");Serial.print(axis_steps_per_unit[0]);
-  //Serial.print(" Y");Serial.print(axis_steps_per_unit[1]);
-  //Serial.print(" Z");Serial.print(axis_steps_per_unit[2]);
-  //Serial.print(" E");Serial.println(axis_steps_per_unit[3]);
-  //Serial.println("Maximum feedrates (mm/s):");
-  //Serial.print ("   M203");
-//   Serial.print(" X");Serial.print(max_feedrate[0]/60);
-//   Serial.print(" Y");Serial.print(max_feedrate[1]/60);
-//   Serial.print(" Z");Serial.print(max_feedrate[2]/60);
-//   Serial.print(" E");Serial.println(max_feedrate[3]/60);
-//   Serial.println("Maximum Acceleration (mm/s2):");
-//   Serial.print("   M201");
-//   Serial.print(" X");Serial.print(max_acceleration_units_per_sq_second[0]);
-//   Serial.print(" Y");Serial.print(max_acceleration_units_per_sq_second[1]);
-//   Serial.print(" Z");Serial.print(max_acceleration_units_per_sq_second[2]);
-//   Serial.print(" E");Serial.println(max_acceleration_units_per_sq_second[3]);
-//   Serial.println("Acceleration: S=acceleration, T=retract acceleration");
-//   Serial.print("   M204");
-//   Serial.print(" S");Serial.print(acceleration);
-//   Serial.print(" T");Serial.println(retract_acceleration);
-//   Serial.println("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s),  Z=maximum Z jerk (mm/s)");
-//   Serial.print("   M205");
-//   Serial.print(" S");Serial.print(minimumfeedrate/60);
-//   Serial.print(" T");Serial.print(mintravelfeedrate/60);
-//   Serial.print(" B");Serial.print(minsegmenttime);
-//   Serial.print(" X");Serial.print(max_xy_jerk/60);
-//   Serial.print(" Z");Serial.println(max_z_jerk/60);
-//   
-  */
+  ECHOLN("Steps per unit:");
+  ECHOLN("   M92 X"   <<_FLOAT(axis_steps_per_unit[0],3) << " Y" <<  _FLOAT(axis_steps_per_unit[1],3) << " Z" << _FLOAT(axis_steps_per_unit[2],3) << " E" << _FLOAT(axis_steps_per_unit[3],3));
+  ECHOLN("Maximum feedrates (mm/s):");
+  ECHOLN("   M203 X"  <<_FLOAT(max_feedrate[0]/60,2)<<" Y" << _FLOAT(max_feedrate[1]/60,2) << " Z" << _FLOAT(max_feedrate[2]/60,2) << " E" << _FLOAT(max_feedrate[3]/60,2));
+  ECHOLN("Maximum Acceleration (mm/s2):");
+  ECHOLN("   M201 X"  <<_FLOAT(max_acceleration_units_per_sq_second[0],0) << " Y" << _FLOAT(max_acceleration_units_per_sq_second[1],0) << " Z" << _FLOAT(max_acceleration_units_per_sq_second[2],0) << " E" << _FLOAT(max_acceleration_units_per_sq_second[3],0));
+  ECHOLN("Acceleration: S=acceleration, T=retract acceleration");
+  ECHOLN("   M204 S"  <<_FLOAT(acceleration,2) << " T" << _FLOAT(retract_acceleration,2));
+  ECHOLN("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s),  Z=maximum Z jerk (mm/s)");
+  ECHOLN("   M205 S"  <<_FLOAT(minimumfeedrate/60,2) << " T" << _FLOAT(mintravelfeedrate/60,2) << " B" << _FLOAT(minsegmenttime,2) << " X" << _FLOAT(max_xy_jerk/60,2) << " Z" << _FLOAT(max_z_jerk/60,2));
+  ECHOLN("PID settings:");
+  ECHOLN("   M301 P"  << _FLOAT(Kp,3) << " I" << _FLOAT(Ki,3) << " D" << _FLOAT(Kd,3));  
+
 }