- fixed water model

brewpi.py

@@ -30,10 +30,10 @@ class TempSensorTask(ATask):
 
 	def on_temp_changed(self, value):
 		print("Sensor temp {}".format(value))
+		asyncio.create_task(self.send({'Temp': value}))
 
 	def on_temp_changed_kalman(self, value):
 		print("Kalman temp {}".format(value))
-		asyncio.create_task(self.send({'Temp': value}))
 
 	async def recv(self, data):
 		print(data)
@@ -87,7 +87,7 @@ class HeaterTask(ATask):
 
 		power = Value()
 		while True:
-			self.power_soll = 200 + self.heater.get_power_max()*self.y
+			self.power_soll = max(0, 200 + self.heater.get_power_max()*self.y)
 			self.heater.setPower(self.power_soll)
 			self.heater.process()
 			power.set(round(self.heater.getPower()))
@@ -151,7 +151,7 @@ class TcTask(ATask):
 
 	async def on_process(self):
 		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
-		self.tc.set_theta_soll(20)
+		self.tc.set_theta_soll(30)
 		while True:
 			self.tc.process()
 			await asyncio.sleep(self.interval)
@@ -203,14 +203,14 @@ if __name__ == '__main__':
 		# Plant
 		pot_params = {
 			"dt"			: 1.0,
-			"theta_amb"		: 15,
+			"theta"			: 20,
 			"C"				: 4190,
-			"M"				: 20,
+			"M"				: 10,
 			"L"				: 0.1,
 			"Td"			: 12,
 			"kn"			: 0.2
 		}
-		pot = Pot(pot_params)
+		pot = Pot(pot_params, 20)
 		pot.set_on_changed("temp", ValueChanged(sensor.set_fake_temp, prec=1).set)
 		taskmgr.add(PotTask(pot, 1.0, dispatcher.msgio_get("Pot")))
 
@@ -225,9 +225,9 @@ if __name__ == '__main__':
 			"dt": 1.0,
 			"Hold": {
 				"Pid": {
-					"kp": 0.5,
+					"kp": 0.4,
 					"ki": 0.0,
-					"kd": 0.5,
+					"kd": 0.0,
 					"rho": 1.0
 				}
 			},