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heaters: PID allow adj output with predictive control callback

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Bound the PWM output early to simplify the prediction logic

Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
This commit is contained in:
Timofey Titovets 2025-02-25 16:46:30 +01:00
parent 6d7d3403e4
commit 1f32367dee
1 changed files with 10 additions and 0 deletions
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10
klippy/extras/heaters.py
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@ -46,6 +46,8 @@ class Heater:
# pwm caching
self.next_pwm_time = 0.
self.last_pwm_value = 0.
# Predictive control callback
self.pc_callback = self._pc_def_callback
# Setup control algorithm sub-class
algos = {'watermark': ControlBangBang, 'pid': ControlPID}
algo = config.getchoice('control', algos)
@ -93,6 +95,12 @@ class Heater:
self.smoothed_temp += temp_diff * adj_time
self.can_extrude = (self.smoothed_temp >= self.min_extrude_temp)
#logging.debug("temp: %.3f %f = %f", read_time, temp)
def _pc_def_callback(self):
return .0
def get_pc_correction(self):
return self.pc_callback()
def set_pc_callback(self, cb):
self.pc_callback = cb
def _handle_shutdown(self):
self.verify_mainthread_time = -999.
# External commands
@ -217,6 +225,8 @@ class ControlPID:
temp_integ = max(0., min(self.temp_integ_max, temp_integ))
# Calculate output
co = self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv
co = max(-1.0 * self.heater_max_power, min(self.heater_max_power, co))
co += self.heater.get_pc_correction()
#logging.debug("pid: %f@%.3f -> diff=%f deriv=%f err=%f integ=%f co=%d",
# temp, read_time, temp_diff, temp_deriv, temp_err, temp_integ, co)
bounded_co = max(0., min(self.heater_max_power, co))