- refactored PID params

brewpi.py

@@ -212,22 +212,19 @@ if __name__ == '__main__':
 
 		# Temperature Controller
 		tc_params = {
-			"dt": 1.0,
 			"Hold": {
-				"Pid": {
-					"kp": 0.5,
-					"ki": 0.005,
-					"kd": 0.0,
-					"rho": 1.0
-				}
+				"dt": 1.0,
+				"kp": 0.5,
+				"ki": 0.005,
+				"kd": 0.0,
+				"rho": 1.0
 			},
 			"Heat": {
-				"Pid": {
-					"kp": 0.1,
-					"ki": 0.01,
-					"kd": 0.0,
-					"rho": 1.0
-				}
+				"dt": 1.0,
+				"kp": 0.1,
+				"ki": 0.01,
+				"kd": 0.0,
+				"rho": 1.0
 			}
 		}
 		tc = temp_controller.TempController(tc_params, kalman_params)

components/pid/pid.py

@@ -2,7 +2,9 @@ import numpy as np
 
 
 class Pid:
-    def __init__(self):
+    def __init__(self, params):
+        self.params = params
+
         # Integrator
         self.yi = 0
 
@@ -25,11 +27,12 @@ class Pid:
         self.yi = 0
         self.err = 0
 
-    def process(self, dt, params, err):
-        kp = params['kp']
-        ki = params['ki']
-        kd = params['kd']
-        rho = params['rho']
+    def process(self, err):
+        dt = self.params['dt']
+        kp = self.params['kp']
+        ki = self.params['ki']
+        kd = self.params['kd']
+        rho = self.params['rho']
 
         self.yi = rho*self.yi + ki*dt * err
         yd = kd/dt*(err - self.err)

components/pid/temp_controller.py

@@ -14,19 +14,18 @@ class States(Enum):
 
 
 class TempController(AttributeChange):
-	def __init__(self, params, params_kalman):
+	def __init__(self, params_pid, params_kalman):
 		AttributeChange.__init__(self)
 
-		self.dt = params['dt']
-		self.pid_hold = pid.Pid()
-		self.pid_rate = pid.Pid()
+		self.pid_hold = pid.Pid(params_pid['Hold'])
+		self.pid_rate = pid.Pid(params_pid['Heat'])
 		self.theta_ist_set = 0
 		self.theta_soll_set = 0
 		self.heatrate_ist_set = 0
-		self.heatrate_soll_set = 2.0
+		self.heatrate_soll_set = 1.0
 		self.theta_ist = 0
 		self.heatrate_ist = 0
-		self.params = params
+		self.params = params_pid
 		self.kalman = kalman.Kalman(params_kalman)
 		self.y = 0
 		self.state = States.HOLD
@@ -71,8 +70,8 @@ class TempController(AttributeChange):
 				self.pid_hold.reset()
 
 		if self.state != States.IDLE:
-			self.pid_hold.process(self.dt, self.params['Hold']['Pid'], theta_err)
-			self.pid_rate.process(self.dt, self.params['Heat']['Pid'], heatrate_err)
+			self.pid_hold.process(theta_err)
+			self.pid_rate.process(heatrate_err)
 
 		if self.state == States.HEAT:
 			self.y = self.pid_rate.get_y()
@@ -90,22 +89,19 @@ class TempController(AttributeChange):
 
 if __name__ == '__main__':
 	params = {
-		"dt": 1.0,
 		"Hold": {
-			"Pid": {
-				"kp": 0.5,
-				"ki": 0.005,
-				"kd": 0.0,
-				"rho": 1.0
-			}
+			"dt": 1.0,
+			"kp": 0.5,
+			"ki": 0.005,
+			"kd": 0.0,
+			"rho": 1.0
 		},
 		"Heat": {
-			"Pid": {
-				"kp": 0.1,
-				"ki": 0.01,
-				"kd": 0.0,
-				"rho": 1.0
-			}
+			"dt": 1.0,
+			"kp": 0.1,
+			"ki": 0.01,
+			"kd": 0.0,
+			"rho": 1.0
 		}
 	}
 
@@ -173,7 +169,7 @@ if __name__ == '__main__':
 			_y = np.append(_y, y)
 			_fb = np.append(_fb, fb)
 			_t = np.append(_t, t)
-			_heatrate_ist_kalman = np.append(_heatrate_ist_kalman, min(3000, ctrl.heatrate_ist))
+			_heatrate_ist_kalman = np.append(_heatrate_ist_kalman, min(3, ctrl.heatrate_ist))
 			_temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist)
 			t += 1