bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Add 4th extruder

Browse Source
This commit is contained in:
MagoKimbra
2015-01-23 23:13:06 +01:00
parent 54d5b52a2e
commit 0ebf896070
16 changed files with 614 additions and 219 deletions
Download Patch File Download Diff File Expand all files Collapse all files

266
Marlin/temperature.cpp
View File

@ -115,14 +115,16 @@ static volatile bool temp_meas_ready = false;
static unsigned long extruder_autofan_last_check;
#endif
#if EXTRUDERS > 3
#if EXTRUDERS > 4
# error Unsupported number of extruders
#elif EXTRUDERS > 3
# define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3, v4 }
#elif EXTRUDERS > 2
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
# define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3 }
#elif EXTRUDERS > 1
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
# define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2 }
#else
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
# define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1 }
#endif
#ifdef PIDTEMP
@ -144,10 +146,10 @@ static volatile bool temp_meas_ready = false;
#endif //PIDTEMP
// Init min and max temp with extreme values to prevent false errors during startup
static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP );
static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP );
static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0 );
static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383 );
static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0, 0 );
static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383, 16383 );
//static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; /* No bed mintemp error implemented?!? */
#ifdef BED_MAXTEMP
static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
@ -157,8 +159,8 @@ static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
static void *heater_ttbl_map[2] = {(void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE };
static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN };
#else
static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE );
static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN );
static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE, (void *)HEATER_3_TEMPTABLE );
static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_TEMPTABLE_LEN );
#endif
static float analog2temp(int raw, uint8_t e);
@ -166,8 +168,8 @@ static float analog2tempBed(int raw);
static void updateTemperaturesFromRawValues();
#ifdef WATCH_TEMP_PERIOD
int watch_start_temp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0);
unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0);
int watch_start_temp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0);
unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0);
#endif //WATCH_TEMP_PERIOD
#ifndef SOFT_PWM_SCALE
@ -200,7 +202,8 @@ void PID_autotune(float temp, int extruder, int ncycles)
#if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
(defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \
(defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1)
(defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) || \
(defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1)
unsigned long extruder_autofan_last_check = millis();
#endif
@ -243,7 +246,8 @@ void PID_autotune(float temp, int extruder, int ncycles)
#if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
(defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \
(defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1)
(defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) || \
(defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1)
if(millis() - extruder_autofan_last_check > 2500) {
checkExtruderAutoFans();
extruder_autofan_last_check = millis();
@ -420,6 +424,19 @@ void checkExtruderAutoFans()
fanState |= 4;
}
#endif
#if defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1
if (current_temperature[3] > EXTRUDER_AUTO_FAN_TEMPERATURE)
{
if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
fanState |= 1;
else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
fanState |= 2;
else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN)
fanState |= 4;
else
fanState |= 8;
}
#endif
// update extruder auto fan states
#if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1
@ -433,7 +450,13 @@ void checkExtruderAutoFans()
if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
&& EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0);
#endif
#endif
#if defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1
if (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
&& EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
&& EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
setExtruderAutoFanState(EXTRUDER_3_AUTO_FAN_PIN, (fanState & 8) != 0);
#endif
}
#endif // any extruder auto fan pins set
@ -592,13 +615,13 @@ void manage_heater()
temp_dState_bed = pid_input;
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
if (pid_output > MAX_BED_POWER) {
if (pid_error_bed > 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output=MAX_BED_POWER;
} else if (pid_output < 0){
if (pid_error_bed < 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output=0;
}
if (pid_output > MAX_BED_POWER) {
if (pid_error_bed > 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output=MAX_BED_POWER;
} 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);
@ -830,13 +853,16 @@ void tp_init()
#if defined(HEATER_0_PIN) && (HEATER_0_PIN > -1)
SET_OUTPUT(HEATER_0_PIN);
#endif
#endif
#if defined(HEATER_1_PIN) && (HEATER_1_PIN > -1)
SET_OUTPUT(HEATER_1_PIN);
#endif
#if defined(HEATER_2_PIN) && (HEATER_2_PIN > -1)
SET_OUTPUT(HEATER_2_PIN);
#endif
#endif
#if defined(HEATER_3_PIN) && (HEATER_3_PIN > -1)
SET_OUTPUT(HEATER_3_PIN);
#endif
#if defined(HEATER_BED_PIN) && (HEATER_BED_PIN > -1)
SET_OUTPUT(HEATER_BED_PIN);
#endif
@ -885,16 +911,23 @@ void tp_init()
#endif
#if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1)
#if TEMP_1_PIN < 8
DIDR0 |= 1<<TEMP_1_PIN;
DIDR0 |= 1<<TEMP_1_PIN;
#else
DIDR2 |= 1<<(TEMP_1_PIN - 8);
DIDR2 |= 1<<(TEMP_1_PIN - 8);
#endif
#endif
#if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1)
#if TEMP_2_PIN < 8
DIDR0 |= 1 << TEMP_2_PIN;
DIDR0 |= 1 << TEMP_2_PIN;
#else
DIDR2 |= 1<<(TEMP_2_PIN - 8);
DIDR2 |= 1<<(TEMP_2_PIN - 8);
#endif
#endif
#if defined(TEMP_3_PIN) && (TEMP_3_PIN > -1)
#if TEMP_3_PIN < 8
DIDR0 |= 1 << TEMP_3_PIN;
#else
DIDR2 |= 1<<(TEMP_3_PIN - 8);
#endif
#endif
#if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1)
@ -907,13 +940,13 @@ void tp_init()
//Added for Filament Sensor
#ifdef FILAMENT_SENSOR
#if defined(FILWIDTH_PIN) && (FILWIDTH_PIN > -1)
#if FILWIDTH_PIN < 8
DIDR0 |= 1<<FILWIDTH_PIN;
#else
DIDR2 |= 1<<(FILWIDTH_PIN - 8);
#endif
#endif
#if defined(FILWIDTH_PIN) && (FILWIDTH_PIN > -1)
#if FILWIDTH_PIN < 8
DIDR0 |= 1<<FILWIDTH_PIN;
#else
DIDR2 |= 1<<(FILWIDTH_PIN - 8);
#endif
#endif
#endif
// Use timer0 for temperature measurement
@ -987,6 +1020,28 @@ void tp_init()
}
#endif //MAXTEMP 2
#if (EXTRUDERS > 3) && defined(HEATER_3_MINTEMP)
minttemp[3] = HEATER_3_MINTEMP;
while(analog2temp(minttemp_raw[3], 3) < HEATER_3_MINTEMP) {
#if HEATER_3_RAW_LO_TEMP < HEATER_3_RAW_HI_TEMP
minttemp_raw[3] += OVERSAMPLENR;
#else
minttemp_raw[3] -= OVERSAMPLENR;
#endif
}
#endif //MINTEMP 3
#if (EXTRUDERS > 3) && defined(HEATER_3_MAXTEMP)
maxttemp[3] = HEATER_3_MAXTEMP;
while(analog2temp(maxttemp_raw[3], 3) > HEATER_3_MAXTEMP) {
#if HEATER_3_RAW_LO_TEMP < HEATER_3_RAW_HI_TEMP
maxttemp_raw[3] -= OVERSAMPLENR;
#else
maxttemp_raw[3] += OVERSAMPLENR;
#endif
}
#endif // MAXTEMP 3
#ifdef BED_MINTEMP
/* No bed MINTEMP error implemented?!? */ /*
while(analog2tempBed(bed_minttemp_raw) < BED_MINTEMP) {
@ -1075,6 +1130,7 @@ void thermal_runaway_protection(int *state, unsigned long *timer, float temperat
disable_e0();
disable_e1();
disable_e2();
disable_e3();
manage_heater();
lcd_update();
}
@ -1111,8 +1167,17 @@ void disable_heater()
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
WRITE(HEATER_2_PIN,LOW);
#endif
#endif
#if defined(TEMP_3_PIN) && TEMP_3_PIN > -1 && EXTRUDERS > 3
target_temperature[3]=0;
soft_pwm[3]=0;
#if defined(HEATER_3_PIN) && HEATER_3_PIN > -1
WRITE(HEATER_3_PIN,LOW);
#endif
#endif
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
target_temperature_bed=0;
soft_pwm_bed=0;
@ -1227,8 +1292,9 @@ ISR(TIMER0_COMPB_vect)
static unsigned long raw_temp_0_value = 0;
static unsigned long raw_temp_1_value = 0;
static unsigned long raw_temp_2_value = 0;
static unsigned long raw_temp_3_value = 0;
static unsigned long raw_temp_bed_value = 0;
static unsigned char temp_state = 10;
static unsigned char temp_state = 12;
static unsigned char pwm_count = (1 << SOFT_PWM_SCALE);
static unsigned char soft_pwm_0;
#ifdef SLOW_PWM_HEATERS
@ -1236,6 +1302,7 @@ ISR(TIMER0_COMPB_vect)
static unsigned char state_heater_0 = 0;
static unsigned char state_timer_heater_0 = 0;
#endif
#if (EXTRUDERS > 1) || defined(HEATERS_PARALLEL)
static unsigned char soft_pwm_1;
#ifdef SLOW_PWM_HEATERS
@ -1250,6 +1317,14 @@ ISR(TIMER0_COMPB_vect)
static unsigned char state_timer_heater_2 = 0;
#endif
#endif
#if EXTRUDERS > 3
static unsigned char soft_pwm_3;
#ifdef SLOW_PWM_HEATERS
static unsigned char state_heater_3 = 0;
static unsigned char state_timer_heater_3 = 0;
#endif
#endif
#if HEATER_BED_PIN > -1
static unsigned char soft_pwm_b;
#ifdef SLOW_PWM_HEATERS
@ -1274,7 +1349,7 @@ ISR(TIMER0_COMPB_vect)
WRITE(HEATER_1_PIN,1);
#endif
} else WRITE(HEATER_0_PIN,0);
#if EXTRUDERS > 1
soft_pwm_1 = soft_pwm[1];
if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1); else WRITE(HEATER_1_PIN,0);
@ -1283,6 +1358,12 @@ ISR(TIMER0_COMPB_vect)
soft_pwm_2 = soft_pwm[2];
if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1); else WRITE(HEATER_2_PIN,0);
#endif
#if EXTRUDERS > 3
soft_pwm_3 = soft_pwm[3];
if(soft_pwm_3 > 0) WRITE(HEATER_3_PIN,1); else WRITE(HEATER_3_PIN,0);
#endif
#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
soft_pwm_b = soft_pwm_bed;
if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1); else WRITE(HEATER_BED_PIN,0);
@ -1298,12 +1379,17 @@ ISR(TIMER0_COMPB_vect)
WRITE(HEATER_1_PIN,0);
#endif
}
#if EXTRUDERS > 1
if(soft_pwm_1 < pwm_count) WRITE(HEATER_1_PIN,0);
#endif
#if EXTRUDERS > 2
if(soft_pwm_2 < pwm_count) WRITE(HEATER_2_PIN,0);
#endif
#if EXTRUDERS > 3
if(soft_pwm_3 < pwm_count) WRITE(HEATER_3_PIN,0);
#endif
#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
if(soft_pwm_b < pwm_count) WRITE(HEATER_BED_PIN,0);
#endif
@ -1405,7 +1491,33 @@ ISR(TIMER0_COMPB_vect)
}
}
#endif
#if EXTRUDERS > 3
// EXTRUDER 3
soft_pwm_3 = soft_pwm[3];
if (soft_pwm_3 > 0) {
// turn ON heather only if the minimum time is up
if (state_timer_heater_3 == 0) {
// if change state set timer
if (state_heater_3 == 0) {
state_timer_heater_3 = MIN_STATE_TIME;
}
state_heater_3 = 1;
WRITE(HEATER_3_PIN, 1);
}
} else {
// turn OFF heather only if the minimum time is up
if (state_timer_heater_3 == 0) {
// if change state set timer
if (state_heater_3 == 1) {
state_timer_heater_3 = MIN_STATE_TIME;
}
state_heater_3 = 0;
WRITE(HEATER_3_PIN, 0);
}
}
#endif
#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
// BED
soft_pwm_b = soft_pwm_bed;
@ -1478,6 +1590,21 @@ ISR(TIMER0_COMPB_vect)
}
}
#endif
#if EXTRUDERS > 3
// EXTRUDER 3
if (soft_pwm_3 < slow_pwm_count) {
// turn OFF heather only if the minimum time is up
if (state_timer_heater_3 == 0) {
// if change state set timer
if (state_heater_3 == 1) {
state_timer_heater_3 = MIN_STATE_TIME;
}
state_heater_3 = 0;
WRITE(HEATER_3_PIN, 0);
}
}
#endif
#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
// BED
@ -1526,6 +1653,12 @@ ISR(TIMER0_COMPB_vect)
if (state_timer_heater_2 > 0)
state_timer_heater_2--;
#endif
#if EXTRUDERS > 3
// Extruder 3
if (state_timer_heater_3 > 0)
state_timer_heater_3--;
#endif
#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
// Bed
@ -1614,10 +1747,28 @@ ISR(TIMER0_COMPB_vect)
#if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1)
raw_temp_2_value += ADC;
#endif
temp_state = 8;//change so that Filament Width is also measured
temp_state = 8;
break;
case 8: //Prepare FILWIDTH
case 8: // Prepare TEMP_3
#if defined(TEMP_3_PIN) && (TEMP_3_PIN > -1)
#if TEMP_3_PIN > 7
ADCSRB = 1<<MUX5;
#else
ADCSRB = 0;
#endif
ADMUX = ((1 << REFS0) | (TEMP_3_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
lcd_buttons_update();
temp_state = 9;
break;
case 9: // Measure TEMP_3
#if defined(TEMP_3_PIN) && (TEMP_3_PIN > -1)
raw_temp_3_value += ADC;
#endif
temp_state = 10; //change so that Filament Width is also measured
break;
case 10: //Prepare FILWIDTH
#if defined(FILWIDTH_PIN) && (FILWIDTH_PIN> -1)
#if FILWIDTH_PIN>7
ADCSRB = 1<<MUX5;
@ -1628,9 +1779,9 @@ ISR(TIMER0_COMPB_vect)
ADCSRA |= 1<<ADSC; // Start conversion
#endif
lcd_buttons_update();
temp_state = 9;
temp_state = 11;
break;
case 9: //Measure FILWIDTH
case 11: //Measure FILWIDTH
#if defined(FILWIDTH_PIN) &&(FILWIDTH_PIN > -1)
//raw_filwidth_value += ADC; //remove to use an IIR filter approach
if(ADC>102) //check that ADC is reading a voltage > 0.5 volts, otherwise don't take in the data.
@ -1646,7 +1797,7 @@ ISR(TIMER0_COMPB_vect)
break;
case 10: //Startup, delay initial temp reading a tiny bit so the hardware can settle.
case 12: //Startup, delay initial temp reading a tiny bit so the hardware can settle.
temp_state = 0;
break;
// default:
@ -1668,6 +1819,9 @@ ISR(TIMER0_COMPB_vect)
#endif
#if EXTRUDERS > 2
current_temperature_raw[2] = raw_temp_2_value;
#endif
#if EXTRUDERS > 3
current_temperature_raw[3] = raw_temp_3_value;
#endif
current_temperature_bed_raw = raw_temp_bed_value;
}
@ -1683,6 +1837,7 @@ ISR(TIMER0_COMPB_vect)
raw_temp_0_value = 0;
raw_temp_1_value = 0;
raw_temp_2_value = 0;
raw_temp_3_value = 0;
raw_temp_bed_value = 0;
#if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
@ -1699,6 +1854,8 @@ ISR(TIMER0_COMPB_vect)
#endif
min_temp_error(0);
}
#if EXTRUDERS > 1
#if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP
if(current_temperature_raw[1] <= maxttemp_raw[1]) {
@ -1731,7 +1888,24 @@ ISR(TIMER0_COMPB_vect)
min_temp_error(2);
}
#endif
#if EXTRUDERS > 3
#if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP
if(current_temperature_raw[3] <= maxttemp_raw[3]) {
#else
if(current_temperature_raw[3] >= maxttemp_raw[3]) {
#endif
max_temp_error(3);
}
#if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP
if(current_temperature_raw[3] >= minttemp_raw[3]) {
#else
if(current_temperature_raw[3] <= minttemp_raw[3]) {
#endif
min_temp_error(3);
}
#endif
/* No bed MINTEMP error? */
#if defined(BED_MAXTEMP) && (TEMP_SENSOR_BED != 0)
# if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP
@ -1790,5 +1964,3 @@ float unscalePID_d(float d)
}
#endif //PIDTEMP