- tempcontroller: added heat rate control

2020-12-05 18:33:16 +01:00
parent b5cdb1a973
commit 55aa043efb
4 changed files with 107 additions and 63 deletions
@@ -35,10 +35,6 @@ class Pid:
        yd = kd/dt*(err - self.err)
        yp = kp * err

-        # Reset yi on error sign changes
-        if yp > self.y_max or yp <= self.y_min:
-            self.yi = 0
-
        self.err = err

        y = yp + self.yi + yd