jens/HendiControlFirmware
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[brewpi]

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- log data
- log raw temp


git-svn-id: http://moon:8086/svn/projects/HendiControl@240 fda53097-d464-4ada-af97-ba876c37ca34
This commit is contained in:
jens
2019-04-15 17:52:38 +00:00
parent 4c663ad0da
commit 123a4cad8b
2 changed files with 20 additions and 6 deletions
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Control/brewpi/controller.py
+5 -3
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@@ -25,6 +25,7 @@ class Controller():
self.timer_ist = 0
self.theta = 0
self.heatrate = 0
self.theta_raw_v = np.empty(0)
self.theta_v = np.empty(0)
self.theta_k_v = np.empty(0)
self.heatrate_v = np.empty(0)
@@ -160,10 +161,11 @@ class Controller():
self.stirrer.process()
self.plant.process()
theta = self.plant.getTemperature()
theta_raw = self.plant.getTemperature()
self.theta_raw_v = np.append(self.theta_raw_v, theta_raw)
# Process Kalman
Z = self.kalman.process_measurement((theta, 0))
Z = self.kalman.process_measurement((theta_raw, 0))
xp = self.kalman.process(Z)
theta_ist_k = xp[0, 0]
dtheta_ist_k = xp[1, 0]
@@ -171,7 +173,7 @@ class Controller():
self.heatrate_k_v = np.append(self.heatrate_k_v, dtheta_ist_k * 60 / self.dt)
# Process conventional
theta_ist = self.theta_sm.process(theta)
theta_ist = self.theta_sm.process(theta_raw)
dtheta_ist = self.heatrate_sm.process(theta_ist - self.theta)
self.theta_v = np.append(self.theta_v, theta_ist)
self.heatrate_v = np.append(self.heatrate_v, dtheta_ist * 60/self.dt)