PID_ADD_EXTRUSION_RATE based on MarlinKimbra
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@ -417,19 +417,29 @@ float Temperature::get_pid_output(int e) {
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pid_output = pTerm[e] + iTerm[e] - dTerm[e];
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#if ENABLED(SINGLENOZZLE)
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#define _NOZZLE_TEST true
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#define _NOZZLE_EXTRUDER active_extruder
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#define _CTERM_INDEX 0
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#else
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#define _NOZZLE_TEST e == active_extruder
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#define _NOZZLE_EXTRUDER e
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#define _CTERM_INDEX e
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#endif
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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cTerm[e] = 0;
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if (e == active_extruder) {
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cTerm[_CTERM_INDEX] = 0;
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if (_NOZZLE_TEST) {
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long e_position = stepper.position(E_AXIS);
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if (e_position > last_position[e]) {
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lpq[lpq_ptr++] = e_position - last_position[e];
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last_position[e] = e_position;
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if (e_position > last_position[_NOZZLE_EXTRUDER]) {
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lpq[lpq_ptr++] = e_position - last_position[_NOZZLE_EXTRUDER];
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last_position[_NOZZLE_EXTRUDER] = e_position;
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}
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else {
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lpq[lpq_ptr++] = 0;
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}
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if (lpq_ptr >= lpq_len) lpq_ptr = 0;
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cTerm[e] = (lpq[lpq_ptr] / planner.axis_steps_per_unit[E_AXIS]) * PID_PARAM(Kc, e);
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cTerm[_CTERM_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_unit[E_AXIS]) * PID_PARAM(Kc, e);
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pid_output += cTerm[e];
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}
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#endif //PID_ADD_EXTRUSION_RATE
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