Make FSM hysteresis thresholds configurable

THRESH_HOLD_IDLE/HOLD_HEAT/IDLE_HEAT/IDLE_HOLD/HEAT_HOLD/HEAT_IDLE in
tc_constants.py were hardcoded module-level constants shared by every
controller instance, so tuning the IDLE/HOLD/HEAT hysteresis required
a code change.

Replace them with DEFAULT_THRESHOLDS plus an optional
TempCtrl.Thresholds config section, merged at construction time in
TempControllerBase.__init__ so configs that omit the section keep
behaving exactly as before. Documented the new section in
config.json.templ; left config.json.sim without it to exercise the
default-fallback path.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

components/pid/TODO.md

@@ -5,12 +5,11 @@ Findings from a design review, not yet acted on. See git history on
 correction enabled, the two TempController classes deduplicated into
 `temp_controller_base.py`).
 
-- [ ] **FSM thresholds aren't configurable.** `tc_constants.py`'s
+- [x] **FSM thresholds aren't configurable.** Moved into an optional
-  `THRESH_HOLD_IDLE`, `THRESH_HOLD_HEAT`, `THRESH_IDLE_HEAT`,
+  `TempCtrl.Thresholds` config section (`HoldIdle`, `HoldHeat`,
-  `THRESH_IDLE_HOLD`, `THRESH_HEAT_HOLD`, `THRESH_HEAT_IDLE` are
+  `IdleHeat`, `IdleHold`, `HeatHold`, `HeatIdle`), merged over
-  hardcoded module-level constants shared by every controller
+  `DEFAULT_THRESHOLDS` in `tc_constants.py` so existing configs without
-  instance. Move them into `config.json`'s `TempCtrl` section like the
+  the section keep working unchanged.
-  PID gains, so mash schedules can tune hysteresis without code edits.
 
 - [ ] **`Pid.scale()` is a gain-scheduling hack, not anti-windup.**
   `pid.py`'s `scale(k)` multiplies every gain by `1/heatrate_soll_set`

components/pid/tc_constants.py

@@ -8,12 +8,14 @@ class States(Enum):
 	HOLD = 2
 
 
-THRESH_HOLD_IDLE = 0.1
+DEFAULT_THRESHOLDS = {
-THRESH_HOLD_HEAT = 1.0
+	"HoldIdle": 0.1,
-THRESH_IDLE_HEAT = 1.0
+	"HoldHeat": 1.0,
-THRESH_IDLE_HOLD = 0.1
+	"IdleHeat": 1.0,
-THRESH_HEAT_HOLD = 1.0
+	"IdleHold": 0.1,
-THRESH_HEAT_IDLE = 1.0
+	"HeatHold": 1.0,
+	"HeatIdle": 1.0
+}
 
 
 class Test:

components/pid/temp_controller_base.py

@@ -1,7 +1,6 @@
 from components import APid
 from components.pid.pid import Pid
-from components.pid.tc_constants import States, THRESH_HOLD_IDLE, THRESH_HOLD_HEAT, \
+from components.pid.tc_constants import States, DEFAULT_THRESHOLDS
-	THRESH_IDLE_HEAT, THRESH_IDLE_HOLD, THRESH_HEAT_HOLD, THRESH_HEAT_IDLE
 
 
 class TempControllerBase(APid):
@@ -17,6 +16,7 @@ class TempControllerBase(APid):
 		self.theta_ist = 0
 		self.heatrate_ist = 0
 		self.params = params
+		self.thresholds = {**DEFAULT_THRESHOLDS, **params.get('Thresholds', {})}
 		self.y = -1
 		self.state = States.INIT
 		self.use_kalman = True
@@ -72,22 +72,22 @@ class TempControllerBase(APid):
 			if not self.is_startup:
 				state_next = States.IDLE
 		elif self.state == States.IDLE:
-			if diff >= THRESH_IDLE_HEAT:
+			if diff >= self.thresholds['IdleHeat']:
 				state_next = States.HEAT
 				self.pid_rate.reset()
-			elif diff >= -THRESH_IDLE_HOLD:
+			elif diff >= -self.thresholds['IdleHold']:
 				state_next = States.HOLD
 				self.pid_rate.reset()
 		elif self.state == States.HOLD:
-			if diff >= THRESH_HOLD_HEAT:
+			if diff >= self.thresholds['HoldHeat']:
 				state_next = States.HEAT
 				self.pid_rate.reset()
-			elif diff <= -THRESH_HOLD_IDLE:
+			elif diff <= -self.thresholds['HoldIdle']:
 				state_next = States.IDLE
 		elif self.state == States.HEAT:
-			if diff <= -THRESH_HEAT_IDLE:
+			if diff <= -self.thresholds['HeatIdle']:
 				state_next = States.IDLE
-			elif diff <= THRESH_HEAT_HOLD:
+			elif diff <= self.thresholds['HeatHold']:
 				state_next = States.HOLD
 				self.pid_hold.reset()
 

config.json.templ

@@ -25,6 +25,14 @@
 			"ki": 0.01,
 			"kd": 0.0,
 			"kt": 1.5
+		},
+		"Thresholds": {
+			"HoldIdle": 0.1,
+			"HoldHeat": 1.0,
+			"IdleHeat": 1.0,
+			"IdleHold": 0.1,
+			"HeatHold": 1.0,
+			"HeatIdle": 1.0
 		}
 	},
 	"Model": {