- refactored

- increased Hold.Pid.kp
- decrease state change HEAT TO HOLD windows to 1°C

components/pid/temp_controller.py

@@ -4,6 +4,7 @@ from components.pid import Pid, Kalman
 from components import APid
 import numpy as np
 from enum import Enum
+from components.pid.tc_constants import *
 
 
 class States(Enum):
@@ -90,13 +91,6 @@ class TempController(APid):
 		self.process_pid(theta_err, heatrate_err)
 
 	def process_fsm(self, diff):
-		THRESH_HOLD_IDLE = 0.1
-		THRESH_HOLD_HEAT = 2.0
-		THRESH_IDLE_HEAT = 1.0
-		THRESH_IDLE_HOLD = 0.1
-		THRESH_HEAT_HOLD = 2.0
-		THRESH_HEAT_IDLE = 2.0
-
 		# Process state
 		state_next = self.state
 		if self.state == States.IDLE:
@@ -139,40 +133,10 @@ class TempController(APid):
 if __name__ == '__main__':
 	dt = 1.0
 
-	tc_params = {
-		"Kalman": {
-			"var_P"	: 1.0,
-			"var_Q"	: 0.0001,
-			"var_R"	: 1.0
-		},
-		"Hold": {
-			"kp": 0.2,
-			"ki": 0.0,
-			"kd": 0.0,
-			"kt": 0.0
-		},
-		"Heat": {
-			"kp": 0.1,
-			"ki": 0.01,
-			"kd": 0.0,
-			"kt": 1.5
-		}
-	}
-
-	pot_params = {
-		"theta"		: 20,
-		"C"			: 4190,
-		"M"			: 20,
-		"L"			: 0.05,
-		"Td"		: 80,
-		"kn"		: 0.2,
-		"gain"		: 0.8
-	}
-
 	temp_ist = 0
 	temp_soll = 20
-	ctrl = TempController(dt, tc_params)
-	plant = Pot(dt, pot_params)
+	ctrl = TempController(dt, Test.tc_ctrl_params)
+	plant = Pot(dt, Test.tc_pot_params)
 	_temp_ist = np.empty(0)
 	_temp_soll = np.empty(0)
 	_y = np.empty(0)
@@ -198,10 +162,10 @@ if __name__ == '__main__':
 				if hold_counter == 0:
 					break
 				hold_counter -= 1
-			ctrl.process()
 			plant.process()
 			temp_ist = plant.get_temperature() + 0.0 * np.random.randn()
 			ctrl.set_theta_ist(temp_ist)
+			ctrl.process()
 
 			y = 3500*ctrl.get_power()
 			power = max(0, y)