Update temperature.cpp

Marlin/temperature.cpp

@@ -136,9 +136,7 @@ volatile bool Temperature::temp_meas_ready = false;
     int Temperature::lpq_ptr = 0;
   #endif
 
-  float Temperature::pid_error[HOTENDS],
+  float Temperature::pid_error[HOTENDS];
-        Temperature::temp_iState_min[HOTENDS],
-        Temperature::temp_iState_max[HOTENDS];
   bool Temperature::pid_reset[HOTENDS];
 #endif
 
@@ -148,9 +146,7 @@ volatile bool Temperature::temp_meas_ready = false;
         Temperature::pTerm_bed,
         Temperature::iTerm_bed,
         Temperature::dTerm_bed,
-        Temperature::pid_error_bed,
+        Temperature::pid_error_bed;
-        Temperature::temp_iState_min_bed,
-        Temperature::temp_iState_max_bed;
 #else
   millis_t Temperature::next_bed_check_ms;
 #endif
@@ -448,12 +444,6 @@ void Temperature::updatePID() {
     #if ENABLED(PID_EXTRUSION_SCALING)
       last_e_position = 0;
     #endif
-    HOTEND_LOOP() {
-      temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e);
-    }
-  #endif
-  #if ENABLED(PIDTEMPBED)
-    temp_iState_max_bed = (PID_BED_INTEGRAL_DRIVE_MAX) / bedKi;
   #endif
 }
 
@@ -564,7 +554,6 @@ float Temperature::get_pid_output(int e) {
         }
         pTerm[HOTEND_INDEX] = PID_PARAM(Kp, HOTEND_INDEX) * pid_error[HOTEND_INDEX];
         temp_iState[HOTEND_INDEX] += pid_error[HOTEND_INDEX];
-        temp_iState[HOTEND_INDEX] = constrain(temp_iState[HOTEND_INDEX], temp_iState_min[HOTEND_INDEX], temp_iState_max[HOTEND_INDEX]);
         iTerm[HOTEND_INDEX] = PID_PARAM(Ki, HOTEND_INDEX) * temp_iState[HOTEND_INDEX];
 
         pid_output = pTerm[HOTEND_INDEX] + iTerm[HOTEND_INDEX] - dTerm[HOTEND_INDEX];
@@ -627,7 +616,6 @@ float Temperature::get_pid_output(int e) {
       pid_error_bed = target_temperature_bed - current_temperature_bed;
       pTerm_bed = bedKp * pid_error_bed;
       temp_iState_bed += pid_error_bed;
-      temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
       iTerm_bed = bedKi * temp_iState_bed;
 
       dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed;
@@ -955,16 +943,10 @@ void Temperature::init() {
     // populate with the first value
     maxttemp[e] = maxttemp[0];
     #if ENABLED(PIDTEMP)
-      temp_iState_min[e] = 0.0;
-      temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e);
       #if ENABLED(PID_EXTRUSION_SCALING)
         last_e_position = 0;
       #endif
     #endif //PIDTEMP
-    #if ENABLED(PIDTEMPBED)
-      temp_iState_min_bed = 0.0;
-      temp_iState_max_bed = (PID_BED_INTEGRAL_DRIVE_MAX) / bedKi;
-    #endif //PIDTEMPBED
   }
 
   #if ENABLED(PIDTEMP) && ENABLED(PID_EXTRUSION_SCALING)