- warp factor is parameter

git-svn-id: http://moon:8086/svn/projects/HendiControl@140 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/Rezept-001.json

@@ -4,7 +4,7 @@
 	"Wasser_kg"			: 18,
 	"stirrSpeedHeat"	: 50,
 	"stirrSpeedRast"	: 30,
-	"stirrDutyRast"		: 0.2,
+	"stirrDutyRast"		: 0.5,
 	"stirrCycleTime"	: 120,
 	"Rasten" :
 	[

Control/brewpi/brewpi.cfg.json

@@ -2,12 +2,13 @@
 
 	"Controller" :
 	{
-		"dt"			: 1.0,
-		"cont_ctrl"		: true,
-		"P_min"			: 0,
-		"P_max"			: 3000,
-		"P_q_W"			: 100,
-		"theta_lock_K"	: 0.5,
+		"dt"				: 1.0,
+		"cont_ctrl"			: true,
+		"P_min"				: 0,
+		"P_max"				: 3000,
+		"P_q_W"				: 100,
+		"theta_lock_K"		: 0.5,
+		"sim_warp_factor"	: 1.0,
 		"Hold" : {
 			"Acqu": {
 				"Pid" : {

Control/brewpi/brewpi.py

@@ -6,7 +6,6 @@ from controller import Controller
 from mass import Mass
 from stirrer import Stirrer
 from matplotlib.pyplot import figure, clf, plot, xlabel, ylabel, xlim, ylim, title, grid, axes, show, subplot
-from pololu1376 import Pololu1376
 
 def results_plot(self):
 
@@ -41,8 +40,7 @@ if __name__ == '__main__':
 	configJson = json.load(fp)
 
 	plant = Mass(configJson["WaterSim"])
-#	ruehrer = Stirrer(configJson["Controller"]['dt'])
-	ruehrer = Pololu1376(configJson["Controller"]['dt'], "/dev/ttyACM0", "115200")
+	ruehrer = Stirrer(configJson["Controller"]['dt'])
 
 	ablauf = Controller(configJson["Controller"], plant, ruehrer)
 

Control/brewpi/controller.py

@@ -30,7 +30,7 @@ class Controller():
 		self.power_v = np.empty(0)
 		self.error_v = np.empty(0)
 		self.time = 0
-		self.sim_warp_factor = 100
+		self.sim_warp_factor = params['sim_warp_factor']
 		self.report_interval = 1.0
 		self.report_last_time = 0
 		self.thread = None