- added stirrer

- many other improvements

git-svn-id: http://moon:8086/svn/projects/HendiControl@116 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/mass.py

@@ -5,9 +5,12 @@ from aplant import APlant
 class Mass(APlant):
 	def __init__(self, params):
 		print(json.dumps({'Mass': params}, indent=4, sort_keys=True))
+		self.dt = params['dt']
+		self.alpha = 1.0
+
 		self.e = 0
 		self.x = 0
-		self.gain = 0.8
+		self.gain = 0.95
 
 		self.C = params['C']
 		self.M = params['M']
@@ -18,13 +21,12 @@ class Mass(APlant):
 		self.theta = 0
 		self.P = 0
 
-	def process(self, dt):
-		alpha = 1.0
 		if self.Td > 0:
-			alpha = dt/self.Td
+			self.alpha = self.dt/self.Td
 
-		self.e = self.e*(1 - ((self.L*self.theta)*dt)/(self.M*self.C))
-		self.x = (1-alpha)*self.x + self.gain*alpha*self.P*dt
+	def process(self):
+		self.e = self.e*(1 - ((self.L*self.theta)*self.dt)/(self.M*self.C))
+		self.x = (1-self.alpha)*self.x + self.gain*self.alpha*self.P
 		self.e += self.x
 		self.theta = self.e/(self.M*self.C)