From 5a409d5d3112d43da6e2bdb90cd3dbc62e491186 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 7 Apr 2022 12:25:25 -0400 Subject: [PATCH] docs: Provide more information on PID in Config_Reference.md Signed-off-by: Kevin O'Connor --- docs/Config_Reference.md | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index 3786e11b..3a313414 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -732,14 +732,17 @@ control: # Control algorithm (either pid or watermark). This parameter must # be provided. pid_Kp: -# Kp is the "proportional" constant for the pid. This parameter must -# be provided for PID heaters. pid_Ki: -# Ki is the "integral" constant for the pid. This parameter must be -# provided for PID heaters. pid_Kd: -# Kd is the "derivative" constant for the pid. This parameter must -# be provided for PID heaters. +# The proportional (pid_Kp), integral (pid_Ki), and derivative +# (pid_Kd) settings for the PID feedback control system. Klipper +# evaluates the PID settings with the following general formula: +# heater_pwm = (Kp*error + Ki*integral(error) - Kd*derivative(error)) / 255 +# Where "error" is "requested_temperature - measured_temperature" +# and "heater_pwm" is the requested heating rate with 0.0 being full +# off and 1.0 being full on. Consider using the PID_CALIBRATE +# command to obtain these parameters. The pid_Kp, pid_Ki, and pid_Kd +# parameters must be provided for PID heaters. #max_delta: 2.0 # On 'watermark' controlled heaters this is the number of degrees in # Celsius above the target temperature before disabling the heater