Исправление в PID регуляторе

hddtempserial/hddtempserial.ino

@@ -167,7 +167,7 @@ uint32_t lastRpmCheck = 0;
 float errorIntegral[3] = {};
 float prevError[3] = {};
 
-float k_p = -40;
+float k_p = 30;
 float k_i = 0.005;
 float k_d = 0;
 
@@ -340,9 +340,9 @@ void rpm_control() {
 
         float error = controls[group].target_temperature - controls[group].temperature;
 
-        //чтобы i не накапливалась
-        if (controls[group].dutyCycle < controls[group].max_duty_cycle && controls[group].dutyCycle < ON_DUTY_CYCLE)
-            errorIntegral[group] += error * deltaTime;
+        float max_i = 255 / k_i;
+        errorIntegral[group] += error * deltaTime;
+        errorIntegral[group] = constrain(errorIntegral[group], -max_i, 0); //чтобы i не накапливалась
 
         float errorChangeRate = (error - prevError[group]) / deltaTime;
         prevError[group] = error;
@@ -352,6 +352,7 @@ void rpm_control() {
         float d = k_d * errorChangeRate;
 
         pwmDutyCycle = p + i + d;
+        pwmDutyCycle = -pwmDutyCycle;
       }
       
       set_duty_cycle(controls[group], round(pwmDutyCycle));