chore(us/bk-copy-rand-music.sh):Perms

[BK-2020-03.git] / unitproc / bktemp-updateLoopPI

diff --git a/unitproc/bktemp-updateLoopPI b/unitproc/bktemp-updateLoopPI
index 61f7e8d3e4780d4f1602f74a90b148a736d5fd50..9054b90298b31df8373c76e89bae57b0dfd6bf97 100644 (file)
--- a/unitproc/bktemp-updateLoopPI
+++ b/unitproc/bktemp-updateLoopPI
@@ -9,7 +9,7 @@ update_pi() {
     #   process variable (PV). Uses proportional integral (PI)
     #   control.
     # Usage: update_pi arg1 arg2 arg3 arg4 arg5 arg6
     #   process variable (PV). Uses proportional integral (PI)
     #   control.
     # Usage: update_pi arg1 arg2 arg3 arg4 arg5 arg6

-    # Version: 0.1.2
+    # Version: 0.1.3

     # Input: arg1: path_loop_name (control loop name path)
     #        arg2: var_pv (process variable)
     #        arg3: var_sp (set point)
     # Input: arg1: path_loop_name (control loop name path)
     #        arg2: var_pv (process variable)
     #        arg3: var_sp (set point)


@@ -82,7 +82,7 @@ update_pi() {
     sum_cand="$(try echo "$sum + $error" | bc -l)";
     #yell "DEBUG:sum:$sum";
     if [[ "$(try echo "$sum_cand > 2 * $sum " | bc -l)" -eq 1 ]]; then
     sum_cand="$(try echo "$sum + $error" | bc -l)";
     #yell "DEBUG:sum:$sum";
     if [[ "$(try echo "$sum_cand > 2 * $sum " | bc -l)" -eq 1 ]]; then

-       sum="$(try echo "$sum + l($error)" | bc -l)"; # dampen integral sum spikes
+       sum="$(try echo "$sum + l($error + 1)" | bc -l)"; # dampen integral sum spikes

     else
        sum="$sum_cand";
     fi;
     else
        sum="$sum_cand";
     fi;