- use kalman params

- some improvements for real hardware cooker and temp sensor


git-svn-id: http://moon:8086/svn/projects/HendiControl@221 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/controller.py

@@ -46,15 +46,8 @@ class Controller():
 		self.heatrate_sm = Smoother(0.01)
 		self.theta_err_sm = Smoother(1.0)
 		self.heatrate_err_sm = Smoother(1.0)
-
-		kparams = {
-			'dt': 1,
-			'var_P': 0,
-			'var_Q': 0.00001,
-			'var_R': 2,
-			'var_Z': 0
-		}
-		self.kalman = Kalman(kparams)
+		self.useKalman = params['useKalman']
+		self.kalman = Kalman(params['kalman'])
 
 	def log(self, s):
 		now = time.time()
@@ -132,7 +125,7 @@ class Controller():
 	def rast(self, rast):
 
 		# Temperature
-		self.theta = self.plant.getTemperature()
+		theta = self.plant.getTemperature()
 		theta_soll = rast['temp']
 		heatrate_soll = rast['heatRate']
 		self.log("Target temperature {} °C".format(theta_soll))
@@ -142,13 +135,13 @@ class Controller():
 		timer_soll = 60*rast['time']
 
 		# Kalman filter initial value
-		self.kalman.initial((self.theta, 0))
-		self.theta_sm.initial(self.theta)
+		self.kalman.initial((theta, 0))
+		self.theta_sm.initial(theta)
 
 		# ------------------------------
 		# The loop
 		# ------------------------------
-		doLoop = theta_soll > self.theta
+		doLoop = theta_soll > theta
 		if doLoop:
 			# Stirrer
 			self.stirrer.activate()
@@ -156,7 +149,6 @@ class Controller():
 
 			self.stirrer.setCycleTime(self.stirrCycleTime)
 
-		useKalman = False
 		while(doLoop):
 
 			time_start = time.time()
@@ -184,7 +176,7 @@ class Controller():
 			self.theta_v = np.append(self.theta_v, theta_ist)
 			self.heatrate_v = np.append(self.heatrate_v, dtheta_ist * 60/self.dt)
 
-			if useKalman:
+			if self.useKalman:
 				ctrl_theta_err = theta_soll - theta_ist_k
 				ctrl_heatrate_err = heatrate_soll - dtheta_ist_k * 60/self.dt
 				ctrl_theta = theta_ist_k