update valve adjust

SK21 · Jan 10, 2024 · 2b426bc · 2b426bc
1 parent a86186e
commit 2b426bc
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/Modules/Teensy Rate/RCteensy/PID.ino b/Modules/Teensy Rate/RCteensy/PID.ino
@@ -164,7 +164,7 @@ int PIDvalve(byte ID)
 				IntegralSum[ID] *= (Sensor[ID].KI > 0);	// zero out if not using KI
 
 				DifValue = Sensor[ID].KD * (LastUPM[ID] - Sensor[ID].UPM);
-				Result = Sensor[ID].KP * SF * RateError + IntegralSum[ID] + DifValue;
+				Result = Sensor[ID].MinPWM + Sensor[ID].KP * SF * RateError + IntegralSum[ID] + DifValue;
 
 				bool IsPositive = (Result > 0);
 				Result = abs(Result);

diff --git a/Modules/Teensy Rate/RCteensy/RCteensy.ino b/Modules/Teensy Rate/RCteensy/RCteensy.ino
@@ -16,8 +16,8 @@
 #include <Adafruit_SPIDevice.h>
 
 // rate control with Teensy 4.1
-# define InoDescription "RCteensy :  30-Dec-2023"
-const uint16_t InoID = 30123;	// change to send defaults to eeprom, ddmmy, no leading 0
+# define InoDescription "RCteensy :  09-Jan-2024"
+const uint16_t InoID = 9014;	// change to send defaults to eeprom, ddmmy, no leading 0
 const uint8_t InoType = 1;		// 0 - Teensy AutoSteer, 1 - Teensy Rate, 2 - Nano Rate, 3 - Nano SwitchBox, 4 - ESP Rate
 
 #define MaxReadBuffer 100	// bytes

diff --git a/Modules/Teensy Rate/RCteensy/RCteensy.vcxproj b/Modules/Teensy Rate/RCteensy/RCteensy.vcxproj