|
|
|
|
250
|
Kp = 0.6*Ku;
|
250
|
Kp = 0.6*Ku;
|
251
|
Ki = 2*Kp/Tu;
|
251
|
Ki = 2*Kp/Tu;
|
252
|
Kd = Kp*Tu/8;
|
252
|
Kd = Kp*Tu/8;
|
253
|
- SERIAL_PROTOCOLLNPGM(" Clasic PID ");
|
|
|
|
|
253
|
+ SERIAL_PROTOCOLLNPGM(" Classic PID ");
|
254
|
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
|
254
|
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
|
255
|
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
|
255
|
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
|
256
|
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
|
256
|
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
|