- added more delay to Water simulation

- improved PID parameter

git-svn-id: http://moon:8086/svn/projects/HendiControl@118 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/brewpi.cfg.json

@@ -11,16 +11,16 @@
 		"Hold" : {
 			"Acqu": {
 				"Pid" : {
-					"kp"	: 2,
-					"ki"	: 0.02,
+					"kp"	: 4,
+					"ki"	: 0.01,
 					"kd"	: 400,
 					"rho"	: 0.999
 				}
 			},
 			"Track": {
 				"Pid" : {
-					"kp"	: 2,
-					"ki"	: 0.02,
+					"kp"	: 4,
+					"ki"	: 0.01,
 					"kd"	: 400,
 					"rho"	: 0.999
 				}
@@ -53,7 +53,7 @@
 		"C"				: 4190,
 		"M"				: 20,
 		"L"				: 0.3,
-		"Td"			: 10,
+		"Td"			: 60,
 		"kn"			: 0
 	},
 

Control/brewpi/controller.py

@@ -29,7 +29,7 @@ class Controller():
 		self.power_v = np.empty(0)
 		self.error_v = np.empty(0)
 		self.time = 0
-		self.sim_warp_factor = 10
+		self.sim_warp_factor = 10000
 		self.log_report_interval = 1.0
 		self.log_last_time = 0
 
@@ -138,7 +138,7 @@ class Controller():
 				pid_params_track = self.params['Heat']['Track']['Pid']
 				pid_thresh_acqu = 0.2
 				pid_thresh_track = 0.5
-				if theta_ist >= theta_soll:
+				if (theta_ist + 1.0) >= theta_soll:
 					ovenStateNext = ovenStates.HOLD
 					timer_ist = 0