- new template, changed dt to 3 for rast and sensor

- added plant timer

git-svn-id: http://moon:8086/svn/projects/HendiControl@267 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/brewpi.json.templ

@@ -2,7 +2,7 @@
 
 	"Controller" :
 	{
-		"dt"				: 1.0,
+		"dt"				: 3.0,
 		"P_min"				: 0,
 		"P_max"				: 3500,
 		"sim_warp_factor"	: 1000.0,
@@ -10,7 +10,7 @@
 		"plant_name"        : "Mass",
 		"useKalman"			: true,
 		"kalman" 			: {
-			"dt"				: 1.0,
+			"dt"				: 3.0,
 			"var_P"				: 0,
 			"var_Q"				: 0.000001,
 			"var_R"				: 1,
@@ -18,18 +18,18 @@
 		},
 		"Hold" : {
 				"Pid" : {
-					"kp"	: 0.2,
-					"ki"	: 0.0005,
-					"kd"	: 0.05,
-					"rho"	: 0.99999
+					"kp"	: 0.1,
+					"ki"	: 0.00004,
+					"kd"	: 0.0,
+					"rho"	: 0.9999
 				}
 		},
 		"Heat" : {
 				"Pid" : {
 					"kp"	: 0.1,
-					"ki"	: 0.004,
-					"kd"	: 0.05,
-					"rho"	: 0.99999
+					"ki"	: 0.002,
+					"kd"	: 0.0,
+					"rho"	: 0.9999
 				}
 		}
 	},

Control/brewpi/controller.py

@@ -58,8 +58,10 @@ class Controller(TimerListener):
 
 		self.rastTimer = Timer("Rast", self)
 		self.sensorTimer = Timer("Sensor", self)
+		self.plantTimer = Timer("Plant", self)
 		self.reportTimer = Timer("Report", self)
 		self.timerMgr.registerTimer(self.sensorTimer)
+		self.timerMgr.registerTimer(self.plantTimer)
 		self.timerMgr.registerTimer(self.reportTimer)
 		self.rast_running = False
 
@@ -67,9 +69,6 @@ class Controller(TimerListener):
 		if timer == self.sensorTimer:
 			self.sensorTime_v = np.append(self.sensorTime_v, timer.count*self.sensor_dt / 60)
 
-			# Process plant
-			self.plant.process()
-
 			# Temperature
 			self.theta_raw = self.plant.getTemperature()
 
@@ -84,10 +83,14 @@ class Controller(TimerListener):
 			Z = self.kalman.process_measurement((self.theta_raw, 0))
 			xp = self.kalman.process(Z)
 			self.theta_ist_k = xp[0, 0]
-			self.heatrate_ist_k = xp[1, 0] * 60 / self.sensor_dt
+			self.heatrate_ist_k = xp[1, 0] * 60
 			self.theta_k_v = np.append(self.theta_k_v, self.theta_ist_k)
 			self.heatrate_k_v = np.append(self.heatrate_k_v, self.heatrate_ist_k)
 
+		if timer == self.plantTimer:
+			# Process plant
+			self.plant.process()
+
 		if timer == self.reportTimer:
 			self.report()
 
@@ -112,6 +115,7 @@ class Controller(TimerListener):
 		print(json.dumps({recipe['Name'] : recipe}, indent=4, sort_keys=True))
 
 		self.sensorTimer.start(self.sensor_dt/self.sim_warp_factor)
+		self.plantTimer.start(1/self.sim_warp_factor)
 		self.reportTimer.start(self.report_interval)
 		self.rastTimer.start(self.dt/self.sim_warp_factor)
 
@@ -257,7 +261,7 @@ class Controller(TimerListener):
 				self.stirrer.setDutyCycle(1.0)
 
 			if ovenStateNext == ovenStates.HOLD:
-				self.pid_hold.reset()
+#				self.pid_hold.reset()
 				self.stirrer.setSpeed(self.stirrSpeedRast)
 				self.stirrer.setDutyCycle(self.stirrDutyRast)