- Controller: read back power

- Mass: do power quantization
- pid has extra optional dErr parameter

git-svn-id: http://moon:8086/svn/projects/HendiControl@224 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/controller.py

@@ -228,11 +228,12 @@ class Controller():
 				self.pid.process(self.dt, pid_params, pid_err)
 
 			y = self.pid.get_y()
-			power = max(self.params['P_min'], min(self.params['P_max'], self.params['P_max']*y))
-			self.plant.setPower(power)
+			power_soll = max(self.params['P_min'], min(self.params['P_max'], self.params['P_max']*y))
+			self.plant.setPower(power_soll)
+			power_ist = self.plant.getPower()
 
 			self.time_v = np.append(self.time_v, self.time/60)
-			self.power_v = np.append(self.power_v, power)
+			self.power_v = np.append(self.power_v, power_ist)
 			self.error_v = np.append(self.error_v, pid_err)
 			#self.error_v = np.append(self.error_v, self.stirrer.getSpeed())
 

Control/brewpi/mass.py

@@ -36,7 +36,8 @@ class Mass(APlant):
 		self.theta = self.e/(self.M*self.C)
 
 	def setPower(self, power_w):
-		self.P = power_w
+		k = int(power_w / 100 +0.5)
+		self.P = k * 100
 
 	def getPower(self):
 		return self.P

Control/brewpi/pid.py

@@ -23,7 +23,7 @@ class Pid():
         p = dict(kp=kp, ki=ki, kd=kd, rho=rho)
         return p
 
-    def process(self, dt, params, err):
+    def process(self, dt, params, err, derr=None):
         kp = params['kp']
         ki = params['ki']
         kd = params['kd']
@@ -31,7 +31,11 @@ class Pid():
 
         err_aw = err + self.diff_aw
         yi = rho*self.yi + err_aw
-        yd = err - self.xd
+
+        if derr:
+            yd = derr
+        else:
+            yd = err - self.xd
 
         _yp = kp * err
         _yi = ki*dt * yi