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esp32 adaptive tuning #140
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Another question, I found this inside the library code:
Is input really needed to be 0-1023 or can it be eg 0-12? |
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double Setpoint, Input, Output;
PID myPID(&Input, &Output, &Setpoint, 0, 0, 0, DIRECT);
setup() {
Input = 10;
Setpoint = 10;
double Kp = 10; // CHANGED
double Ki = 0;
double Kd = 0;
myPID.SetOutputLimits(-200, 200);
myPID.SetSampleTime(16);
myPID.SetMode(AUTOMATIC);
myPID.SetTunings(Kp, Ki, Kd);
}
loop() {
// below is simplified, in real code it is in some function call):
Input = 5; // (simplified change)
myPID.Compute();
SerialBT.println(Output); // only takes initial params into consideration (0,0,0) ! Why is that?
}
Second question, I need to have params 20,0,-10, can Kd be below zero?
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