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- Controller: read back power

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- 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
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jens
2019-04-04 05:24:02 +00:00
parent c036487faa
commit 8b1f36098c
3 changed files with 12 additions and 6 deletions
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Control/brewpi/controller.py
+4 -3
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@@ -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())