- added delay line for pot sim

components/plant/delay.py

@@ -0,0 +1,32 @@
+import numpy as np
+
+
+class Delay:
+	def __init__(self, dt, delay):
+		nd = int(delay/dt + 0.5)
+		self.delay_line = np.zeros(nd)
+		self.ri = 0
+		self.wi = 0
+
+	def put(self, data):
+		if self.wi >= self.delay_line.size:
+			self.wi = 0
+		self.delay_line[self.wi] = data
+		self.wi += 1
+
+	def get(self):
+		self.ri += 1
+		if self.ri >= self.delay_line.size:
+			self.ri = 0
+
+		result = self.delay_line[self.ri]
+
+		return result
+
+
+if __name__ == '__main__':
+	d = Delay(1, 10)
+
+	for i in range(1, 20):
+		d.put(i)
+		print("In = {}, out = {}".format(i, d.get()))

components/plant/pot.py

@@ -1,4 +1,5 @@
 from components.aplant import APlant
+from components.plant.delay import Delay
 
 
 class Pot(APlant):
@@ -24,13 +25,18 @@ class Pot(APlant):
 
 		self.power_set = 0
 		self.power_actual = 0
+		self.delay = Delay(self.dt, self.Td)
 
 	def activate(self, enable):
 		pass
 
 	def process(self):
 		# Delay
+		if 0:
 			self.power_actual = (1-self.alpha_delay) * self.power_actual + self.alpha_delay * self.power_set
+		else:
+			self.delay.put(self.power_set)
+			self.power_actual = self.delay.get()
 
 		leak = 1/self.M * self.L * (self.theta_amb - self.temp)/self.theta_amb
 		self.temp += (self.power_actual / (self.M * self.C) + leak) * self.dt