Fixed issue #2: "peak-to-peak amplitude for relay is 2*oStep"

br3ttb · br3ttb · commit 8ab93bed3155 · 2012-05-22T19:07:21.000-04:00
diff --git a/PID_AutoTune_v0/PID_AutoTune_v0.cpp b/PID_AutoTune_v0/PID_AutoTune_v0.cpp
@@ -126,7 +126,7 @@ void PID_ATune::FinishUp()
 {
 	  *output = outputStart;
       //we can generate tuning parameters!
-      Ku = 4*oStep/((absMax-absMin)*3.14159);
+      Ku = 4*(2*oStep)/((absMax-absMin)*3.14159);
       Pu = (double)(peak1-peak2) / 1000;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -126,7 +126,7 @@ void PID_ATune::FinishUp()`
`126`	`126`	`{`
`127`	`127`	`*output = outputStart;`
`128`	`128`	`//we can generate tuning parameters!`
`129`		`- Ku = 4oStep/((absMax-absMin)3.14159);`
	`129`	`+ Ku = 4(2oStep)/((absMax-absMin)*3.14159);`
`130`	`130`	`Pu = (double)(peak1-peak2) / 1000;`
`131`	`131`	`}`
`132`	`132`