- refactored params

components/pid/temp_controller.py

@@ -16,8 +16,8 @@ class TempController(AttributeChange):
 	def __init__(self, params):
 		AttributeChange.__init__(self)
 		dt = params['dt']
-		self.pid_hold = Pid(params['Hold'])
-		self.pid_rate = Pid(params['Heat'])
+		self.pid_hold = Pid(dt)
+		self.pid_rate = Pid(dt)
 		self.theta_ist_set = 20
 		self.theta_soll_set = 0
 		self.heatrate_ist_set = 0
@@ -26,11 +26,13 @@ class TempController(AttributeChange):
 		self.theta_ist = 0
 		self.heatrate_ist = 0
 		self.params = params
-		self.kalman = Kalman(params['Kalman'])
+		self.kalman = Kalman(dt, params['Kalman'])
 		self.y = -1
 		self.state = States.IDLE
 		self.use_kalman = True
 		self.kalman.initial((self.theta_ist_set, 0))
+		self.pid_hold.set_params(params['Hold'])
+		self.pid_rate.set_params(params['Heat'])
 
 	def set_theta_ist(self, value):
 		self.theta_ist_set = value
@@ -109,7 +111,6 @@ if __name__ == '__main__':
 	tc_params = {
 		"dt": 1.0,
 		"Kalman": {
-			"dt": 1.0,
 			"var_P"	: 1.0,
 			"var_Q"	: 0.0001,
 			"var_R"	: 1.0
@@ -122,10 +123,9 @@ if __name__ == '__main__':
 			"kt": 0.0
 		},
 		"Heat": {
-			"dt": 1.0,
-			"kp": 0.2,
-			"ki": 0.01,
-			"kd": 2.0,
+			"kp": 0.05,
+			"ki": 0.005,
+			"kd": 1.0,
 			"kt": 1.5
 		}
 	}