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fancontroller: remove weird minus (#35983)

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* fancontroller: remove weird minus

* another minus
This commit is contained in:
Harald Schäfer
2025-08-13 11:43:50 -07:00
committed by GitHub
parent 3d6dfc864d
commit be934b3881
1 changed files with 5 additions and 5 deletions
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10
system/hardware/fan_controller.py
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@@ -21,16 +21,16 @@ class TiciFanController(BaseFanController):
self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW))
def update(self, cur_temp: float, ignition: bool) -> int:
self.controller.neg_limit = -(100 if ignition else 30)
self.controller.pos_limit = -(30 if ignition else 0)
self.controller.pos_limit = 100 if ignition else 30
self.controller.neg_limit = 30 if ignition else 0
if ignition != self.last_ignition:
self.controller.reset()
error = 75 - cur_temp
fan_pwr_out = -int(self.controller.update(
error = cur_temp - 75
fan_pwr_out = int(self.controller.update(
error=error,
feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])
feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
))
self.last_ignition = ignition