Temperature code all working with simple bang-bang control. PID next...

GCodes.h

@@ -72,6 +72,7 @@ class GCodes
     boolean SetUpMove(GCodeBuffer* gb);
     boolean DoDwell(GCodeBuffer *gb);
     boolean DoHome();
+    boolean SetOffsets(GCodeBuffer *gb);
     boolean NoHome();
     boolean Push();
     boolean Pop();
@@ -99,6 +100,7 @@ class GCodes
     float distanceScale;
     int fileBeingPrinted;
     int fileToPrint;
+    int8_t selectedHead;
     boolean homeX;
     boolean homeY;
     boolean homeZ;

GCodes.ino

@@ -61,6 +61,7 @@ void GCodes::Init()
   homeZQueued = false;
   dwellWaiting = false;
   stackPointer = 0;
+  selectedHead = -1;
   dwellTime = platform->Time();
 }
 
@@ -375,6 +376,20 @@ boolean GCodes::DoDwell(GCodeBuffer *gb)
   return false;
 }
 
+boolean GCodes::SetOffsets(GCodeBuffer *gb)
+{
+  int8_t head;
+  if(gb->Seen('P'))
+  {
+    head = gb->GetIValue();
+    if(gb->Seen('R'))
+      platform->SetStandbyTemperature(head+1, gb->GetFValue());
+    if(gb->Seen('S'))
+      platform->SetActiveTemperature(head+1, gb->GetFValue());
+  }
+  return true;  
+}
+
 // If the GCode to act on is completed, this returns true,
 // otherwise false.  It is called repeatedly for a given
 // GCode until it returns true for that code.
@@ -382,6 +397,7 @@ boolean GCodes::DoDwell(GCodeBuffer *gb)
 boolean GCodes::ActOnGcode(GCodeBuffer *gb)
 {
   int code;
+  float value;
   boolean result = true;
   
   if(gb->Seen('G'))
@@ -399,7 +415,7 @@ boolean GCodes::ActOnGcode(GCodeBuffer *gb)
       break;
       
     case 10: // Set offsets
-      platform->Message(HOST_MESSAGE, "Set offsets received\n");
+      result = SetOffsets(gb);
       break;
     
     case 20: // Inches (which century are we living in, here?)
@@ -518,7 +534,8 @@ boolean GCodes::ActOnGcode(GCodeBuffer *gb)
       break;
       
     case 140: // Set bed temperature
-      platform->Message(HOST_MESSAGE, "Set bed temp received\n");
+      if(gb->Seen('S'))
+        reprap.GetHeat()->SetTemperature(0, gb->GetFValue());
       break;
     
     case 141: // Chamber temperature
@@ -539,9 +556,14 @@ boolean GCodes::ActOnGcode(GCodeBuffer *gb)
     boolean ok = false;
     for(int8_t i = AXES; i < DRIVES; i++)
     {
+      if(selectedHead == i - AXES)
+      {
+        reprap.GetHeat()->SetTemperature(selectedHead+1, platform->StandbyTemperature(selectedHead+1));
+      }
       if(code == i - AXES)
       {
-        platform->Message(HOST_MESSAGE, "Tool selection received\n");
+        reprap.GetHeat()->SetTemperature(code+1, platform->ActiveTemperature(code+1));
+        selectedHead = code;
         ok = true;
       }
     }

Heat.h

@@ -28,7 +28,7 @@ class PID
     PID(Platform* p, int8_t h);
     void Init();
     void Spin();
-    void SetTemperature(float t);
+    void SetTemperature(const float& t);
     float GetTemperature();
   
   private:
@@ -48,6 +48,7 @@ class Heat
     void Spin();
     void Init();
     void Exit();
+    void SetTemperature(int8_t heater, const float& t);
     float GetTemperature(int8_t heater);
     
   private:
@@ -62,7 +63,7 @@ class Heat
 
 //***********************************************************************************************************
 
-inline void PID::SetTemperature(float t)
+inline void PID::SetTemperature(const float& t)
 {
   setTemperature = t;
 }
@@ -72,6 +73,11 @@ inline float PID::GetTemperature()
   return temperature;
 }
 
+inline void Heat::SetTemperature(int8_t heater, const float& t)
+{
+  pids[heater]->SetTemperature(t);
+}
+
 inline float Heat::GetTemperature(int8_t heater)
 {
   return pids[heater]->GetTemperature();

Heat.ino

@@ -68,10 +68,20 @@ PID::PID(Platform* p, int8_t h)
 
 void PID::Init()
 {
-  temperature = 5*(heater + 1);
+  temperature = platform->GetTemperature(heater);
+  setTemperature = 0.0;
+  platform->SetHeater(heater, -1.0);
 }
 
 void PID::Spin()
 {
-  temperature += 1;
+  temperature = platform->GetTemperature(heater);
+  if(!platform->UsePID(heater))
+  {
+    if(temperature < setTemperature)
+      platform->SetHeater(heater, 1.0);
+    else
+      platform->SetHeater(heater, 0.0);
+    return; 
+  }
 }

Platform.h

@@ -76,10 +76,10 @@ Licence: GPL
 #define LOW_STOP_PINS {3, 14, 17, -1}
 #define HIGH_STOP_PINS {-1, -1, -1, -1}
 #define ENDSTOP_HIT 1 // when a stop == this it is hit
-#define MAX_FEEDRATES {300, 300, 3, 45}    // mm/sec   
+#define MAX_FEEDRATES {300.0, 300.0, 3.0, 45.0}    // mm/sec   
-#define ACCELERATIONS {800, 800, 30, 250}    // mm/sec^2??
+#define ACCELERATIONS {800.0, 800.0, 30.0, 250.0}    // mm/sec^2??
 //#define ACCELERATIONS {80, 80, 3, 25} 
-#define DRIVE_STEPS_PER_UNIT {91.4286, 91.4286, 4000, 929}
+#define DRIVE_STEPS_PER_UNIT {91.4286, 91.4286, 4000.0, 929.0}
 #define INSTANT_DVS {15.0, 15.0, 0.4, 15.0}    // (mm/sec)
 #define GCODE_LETTERS { 'X', 'Y', 'Z', 'E', 'F' } // The drives and feedrate in a GCode
 
@@ -87,8 +87,9 @@ Licence: GPL
 
 #define START_FEED_RATE 200.0
 
-#define AXIS_LENGTHS {210, 210, 120} // mm
+#define AXIS_LENGTHS {210, 200, 120} // mm
-#define HOME_FEEDRATES {50*60, 50*60, 1*60}  // mm/min
+#define HOME_FEEDRATES {50.0*60.0, 50.0*60.0, 1.0*60.0}  // mm/min
+#define HEAD_OFFSETS {0.0, 0.0, 0.0}
 
 #define X_AXIS 0  // The index of the X axis
 #define Y_AXIS 1  // The index of the Y axis
@@ -102,12 +103,14 @@ Licence: GPL
 #define THERMISTOR_BETAS {3480.0, 3960.0} // Bed thermistor: RS 484-0149; EPCOS B57550G103J; Extruder thermistor: RS 198-961
 #define THERMISTOR_SERIES_RS {4700, 4700} // Ohms in series with the thermistors
 #define THERMISTOR_25_RS {10000.0, 100000.0} // Thermistor ohms at 25 C = 298.15 K
-#define USE_PID {false, true} // PID or bang-bang for this heater?
+#define USE_PID {false, false} // PID or bang-bang for this heater?
 #define PID_KIS {-1, 100} // PID constants...
 #define PID_KDS {-1, 100}
 #define PID_KPS {-1, 100}
 #define PID_I_LIMITS {-1, 100} // ... to here
 #define TEMP_INTERVAL 0.5 // secs - check and control temperatures this often
+#define STANDBY_TEMPERATURES {0.0, 0.0} // We specify one for the bed, though it's not needed
+#define ACTIVE_TEMPERATURES {0.0, 0.0}
 
 #define AD_RANGE 1023.0//16383 // The A->D converter that measures temperatures gives an int this big as its max value
 
@@ -253,11 +256,15 @@ class Platform
   
   float GetTemperature(int8_t heater); // Result is in degrees celsius
   void SetHeater(int8_t heater, const float& power); // power is a fraction in [0,1]
+  void SetStandbyTemperature(int8_t heater, const float& t);
+  void SetActiveTemperature(int8_t heater, const float& t);
+  float StandbyTemperature(int8_t heater);
+  float ActiveTemperature(int8_t heater);  
   float pidKp(int8_t heater);
   float pidKi(int8_t heater);
   float pidKd(int8_t heater);
   float pidKw(int8_t heater);
-  boolean pidBangBang(int8_t heater);
+  boolean UsePID(int8_t heater);
   float HeatSampleTime();
 
 //-------------------------------------------------------------------------------------------------------
@@ -297,6 +304,7 @@ class Platform
 
   float axisLengths[AXES];
   float homeFeedrates[AXES];
+  float headOffsets[AXES]; // FIXME - needs a 2D array
   
 // HEATERS - Bed is assumed to be the first
 
@@ -305,12 +313,14 @@ class Platform
   float thermistorBetas[HEATERS];
   float thermistorSeriesRs[HEATERS];
   float thermistorInfRs[HEATERS];
-  boolean usePid[HEATERS];
+  boolean usePID[HEATERS];
   float pidKis[HEATERS];
   float pidKds[HEATERS];
   float pidKps[HEATERS];
   float pidILimits[HEATERS];
   float heatSampleTime;
+  float standbyTemperatures[HEATERS];
+  float activeTemperatures[HEATERS];
 
 // Files
 
@@ -444,6 +454,31 @@ inline float Platform::HeatSampleTime()
   return heatSampleTime; 
 }
 
+inline boolean Platform::UsePID(int8_t heater)
+{
+  return usePID[heater];
+}
+
+inline void Platform::SetStandbyTemperature(int8_t heater, const float& t)
+{
+  standbyTemperatures[heater] = t;  
+}
+
+inline void Platform::SetActiveTemperature(int8_t heater, const float& t)
+{
+  activeTemperatures[heater] = t;  
+}
+
+inline float Platform::StandbyTemperature(int8_t heater)
+{
+  return standbyTemperatures[heater];
+}
+
+inline float Platform::ActiveTemperature(int8_t heater)
+{
+  return activeTemperatures[heater];
+}
+
 //*********************************************************************************************************
 
 // Interrupts

Platform.ino

@@ -90,6 +90,7 @@ void Platform::Init()
   
     axisLengths = AXIS_LENGTHS;
     homeFeedrates = HOME_FEEDRATES;
+    headOffsets = HEAD_OFFSETS;
    
   // HEATERS - Bed is assumed to be the first
   
@@ -98,7 +99,7 @@ void Platform::Init()
     thermistorBetas = THERMISTOR_BETAS;
     thermistorSeriesRs = THERMISTOR_SERIES_RS;
     thermistorInfRs = THERMISTOR_25_RS;
-    usePid = USE_PID;
+    usePID = USE_PID;
     pidKis = PID_KIS;
     pidKds = PID_KDS;
     pidKps = PID_KPS;
@@ -108,6 +109,8 @@ void Platform::Init()
     sysDir = SYS_DIR;
     tempDir = TEMP_DIR;
     heatSampleTime = HEAT_SAMPLE_TIME;
+    standbyTemperatures = STANDBY_TEMPERATURES;
+    activeTemperatures = ACTIVE_TEMPERATURES;
   }
   
   for(i = 0; i < DRIVES; i++)
@@ -238,7 +241,7 @@ float Platform::GetTemperature(int8_t heater)
 
 void Platform::SetHeater(int8_t heater, const float& power)
 {
-  if(power <= 0)
+  if(power <= 0.0)
   {
      digitalWrite(heatOnPins[heater], 0);
      return;