- fixed not exitting executor thread

- fixed PID params

brewpi.py

@@ -11,6 +11,7 @@ from utils.value import Value, ValueChanged
 
 TC_DT = 0.1
 
+
 class ATask:
 	def __init__(self, interval):
 		self.interval = interval
@@ -67,7 +68,7 @@ class HeaterTask(ATask):
 		self.heater = heater
 
 	def actor(self, y):
-		self.heater.setPower(max(0, 200 + self.heater.get_power_max() * y))
+		self.heater.setPower(max(0, 0 + self.heater.get_power_max() * y))
 
 	async def recv(self, data):
 		print(data)
@@ -202,7 +203,7 @@ if __name__ == '__main__':
 			"dt"			: 1.0,
 			"theta"			: 20,
 			"C"				: 4190,
-			"M"				: 10,
+			"M"				: 20,
 			"L"				: 0.02,
 			"Td"			: 12,
 			"kn"			: 0.2
@@ -222,8 +223,8 @@ if __name__ == '__main__':
 			"dt": 1.0,
 			"Hold": {
 				"Pid": {
-					"kp": 0.4,
-					"ki": 0.0,
+					"kp": 0.8,
+					"ki": 0.000004,
 					"kd": 0.0,
 					"rho": 1.0
 				}