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- fixed scaling

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git-svn-id: http://moon:8086/svn/projects/HendiControl@212 fda53097-d464-4ada-af97-ba876c37ca34
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jens
2019-04-03 05:52:51 +00:00
parent 9dbd92a379
commit b975cd9c6f
1 changed files with 3 additions and 5 deletions
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Control/brewpi/controller.py
+3 -5
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@@ -152,7 +152,7 @@ class Controller():
# The loop # The loop
# ------------------------------ # ------------------------------
doLoop = True doLoop = True
useKalman = True useKalman = False
while(doLoop): while(doLoop):
time_start = time.time() time_start = time.time()
@@ -186,10 +186,8 @@ class Controller():
ctrl_theta = theta_ist_k ctrl_theta = theta_ist_k
ctrl_dtheta = dtheta_ist_k ctrl_dtheta = dtheta_ist_k
else: else:
theta_err = theta_soll - theta_ist ctrl_theta_err = self.theta_err_sm.process(theta_soll - theta_ist)
dtheta_err = heatrate_soll - dtheta_ist ctrl_heatrate_err = self.heatrate_err_sm.process(heatrate_soll - 60/self.dt * dtheta_ist)
ctrl_theta_err = self.theta_err_sm.process(theta_err)
ctrl_heatrate_err = self.heatrate_err_sm.process(60/self.dt * dtheta_err)
ctrl_theta = theta_ist ctrl_theta = theta_ist
ctrl_dtheta = dtheta_ist ctrl_dtheta = dtheta_ist