int resetPositionMine(int group, int current){
println_I("Resetting PID Local ");p_int_I(group);print_I(" to ");p_int_I(current);print_I(" from ");p_fl_I(getPositionMine(group));
if(group<numPidMotors){
setCurrentValue(group, current);
}else{
resetHeater(group, current);
}
return getPositionMine(group);
}
void InitPID(void){
//println_I("Starting PID initialization ");
uint8_t i;
//uint16_t loop;
for (i=0;i<NUM_PID_GROUPS;i++){
//DyPID values
dyPid[i].inputChannel=DYPID_NON_USED;
dyPid[i].outputChannel=DYPID_NON_USED;
dyPid[i].inputMode=0;
dyPid[i].outputMode=0;
dyPid[i].flagValueSync=false;
pidGroups[i].config.tipsScale=1.0;
pidGroups[i].config.Enabled = false;
pidGroups[i].config.Async = 1;
pidGroups[i].config.IndexLatchValue = 0;
pidGroups[i].config.stopOnIndex = 0;
pidGroups[i].config.useIndexLatch = 0;
pidGroups[i].config.K.P = .1;
pidGroups[i].config.K.I = 0;
pidGroups[i].config.K.D = 0;
pidGroups[i].config.V.P = .1;
pidGroups[i].config.V.D = 0;
pidGroups[i].config.Polarity = 0;
pidGroups[i].config.stop = 0;
pidGroups[i].config.upperHistoresis = 0;
pidGroups[i].config.lowerHistoresis = 0;
pidGroups[i].config.offset = 0.0;
pidGroups[i].config.calibrationState = CALIBRARTION_DONE;
pidGroups[i].interpolate.set=0;
pidGroups[i].interpolate.setTime=0;
pidGroups[i].interpolate.start=0;
pidGroups[i].interpolate.startTime=0;
limits[i].type=NO_LIMIT;
LoadPIDvals(&pidGroups[i],&dyPid[i],i);
if( dyPid[i].inputChannel==DYPID_NON_USED ||
dyPid[i].outputChannel==DYPID_NON_USED ||
dyPid[i].outputChannel==dyPid[i].inputChannel||
pidGroups[i].config.Enabled !=true)
{
dyPid[i].inputChannel=DYPID_NON_USED;
dyPid[i].outputChannel=DYPID_NON_USED;
pidGroups[i].config.Enabled = false;
WritePIDvalues(&pidGroups[i],&dyPid[i],i);
}
force[i].MsTime=0;
force[i].setPoint=200;
}
InitilizePidController( pidGroups,
NUM_PID_GROUPS,
&getPositionMine,
&setOutputMine,
&resetPositionMine,
&onPidConfigureMine,
&checkPIDLimitEventsMine);
for (i=0;i<NUM_PID_GROUPS;i++){
//
if(pidGroups[i].config.Enabled){
println_W("PID ");p_int_W(i);
printPIDvals(i);
initPIDChans(i);
int value = getPositionMine(i);
pidGroups[i].CurrentState=value;
pidReset(i,value);
}
}
}
