hypercube-m4

# Tuning

## Calibration

- [ReprapFirmware Calibration Guide](https://docs.duet3d.com/en/How_to_guides/Calibration)
- [Teaching Tech's Calibration Tools](https://teachingtechyt.github.io/calibration.html)

## Heater Tuning

```gcode
; Auto tuning heater 0 completed after 3 idle and 9 tuning cycles in 1642 seconds. This heater needs the following M307 command:
M307 H0 R0.274 K0.169:0.000 D4.13 E1.35 S1.00 B0

; Auto tuning heater 1 completed after 3 idle and 10 tuning cycles in 546 seconds. This heater needs the following M307 command:
M307 H1 R2.541 K0.387:0.213 D6.34 E1.35 S1.00 B0 V24.1
```

## Heater Tuning in firmware 2.x (obsolete)

```gcode
; Heater 0 model: gain 138.8, time constant 685.9, dead time 3.3, max PWM 1.00, calibration voltage 23.8, mode PID, inverted no, frequency default
; Computed PID parameters for setpoint change: P268.2, I5.646, D617.6
; Computed PID parameters for load change: P2
M307 H0 A138.8 C685.9 D3.3 B0 S1.00 V23.8

; Heater 1 model: gain 746.6, time constant 277.1, dead time 4.3, max PWM 1.00, calibration voltage 24.0, mode PID, inverted no, frequency default
; Computed PID parameters for setpoint change: P15.5, I0.452, D46.4
; Computed PID parameters for load change: P15.
M307 H1 A746.6 C277.1 D4.3 B0 S1.00 V24.0
```