temperature.cpp:Add PID Conditional integration on heated bed.

11 years ago · 984177c40c
parent c9b8435749
commit 984177c40c
1 changed files with 8 additions and 1 deletions
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@ -565,7 +565,14 @@ void manage_heater()
 		  dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
 		  temp_dState_bed = pid_input;

-		  pid_output = constrain(pTerm_bed + iTerm_bed - dTerm_bed, 0, MAX_BED_POWER);
+		  pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
+          	  if (pid_output > MAX_BED_PID) {
+            	    if (pid_error_bed > 0 )  temp_iState_bed -= pid_error_bed; // conditional un-integration
+                    pid_output=PID_MAX;
+          	  } else if (pid_output < 0){
+            	    if (pid_error_bed < 0 )  temp_iState_bed -= pid_error_bed; // conditional un-integration
+                    pid_output=0;
+                  }

    #else 
      pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);