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PID_ADD_EXTRUSION_RATE based on MarlinKimbra

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Scott Lahteine
2016-05-20 15:57:51 -07:00
parent 92ac133f2b
commit 0c7c45063b
1 changed files with 16 additions and 6 deletions
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22
Marlin/temperature.cpp
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@@ -417,19 +417,29 @@ float Temperature::get_pid_output(int e) {
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
#if ENABLED(SINGLENOZZLE)
#define _NOZZLE_TEST true
#define _NOZZLE_EXTRUDER active_extruder
#define _CTERM_INDEX 0
#else
#define _NOZZLE_TEST e == active_extruder
#define _NOZZLE_EXTRUDER e
#define _CTERM_INDEX e
#endif
#if ENABLED(PID_ADD_EXTRUSION_RATE)
cTerm[e] = 0;
if (e == active_extruder) {
cTerm[_CTERM_INDEX] = 0;
if (_NOZZLE_TEST) {
long e_position = stepper.position(E_AXIS);
if (e_position > last_position[e]) {
lpq[lpq_ptr++] = e_position - last_position[e];
last_position[e] = e_position;
if (e_position > last_position[_NOZZLE_EXTRUDER]) {
lpq[lpq_ptr++] = e_position - last_position[_NOZZLE_EXTRUDER];
last_position[_NOZZLE_EXTRUDER] = e_position;
}
else {
lpq[lpq_ptr++] = 0;
}
if (lpq_ptr >= lpq_len) lpq_ptr = 0;
cTerm[e] = (lpq[lpq_ptr] / planner.axis_steps_per_unit[E_AXIS]) * PID_PARAM(Kc, e);
cTerm[_CTERM_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_unit[E_AXIS]) * PID_PARAM(Kc, e);
pid_output += cTerm[e];
}
#endif //PID_ADD_EXTRUSION_RATE