- refactored

brewpi_win.py

@@ -1277,7 +1277,7 @@ class Ui_MainWindow(object):
         self.label_5.setText(_translate("MainWindow", "Power [W]"))
         self.label_7.setText(_translate("MainWindow", "State"))
         self.label_state.setText(_translate("MainWindow", "State"))
-        self.plainTextUri.setPlainText(_translate("MainWindow", "ws://brewpi:8765"))
+        self.plainTextUri.setPlainText(_translate("MainWindow", "ws://localhost:8765"))
         self.label_8.setText(_translate("MainWindow", "Host"))
         self.menu_File.setTitle(_translate("MainWindow", "&File"))
         self.menu_Help.setTitle(_translate("MainWindow", "&Help"))

components/pid/temp_controller.py

@@ -29,12 +29,15 @@ class TempController(APid):
 		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'])
+		self.is_startup = True
 
 	def set_theta_ist(self, value):
 		self.theta_ist_set = value
+		if self.is_startup:
+			self.is_startup = False
+			self.kalman.initial((value, 0))
 
 	def get_theta_ist(self):
 		return self.theta_ist
@@ -82,44 +85,50 @@ class TempController(APid):
 		theta_err = self.theta_soll_set - self.theta_ist
 		heatrate_err = self.heatrate_soll - self.heatrate_ist
 
+		diff = self.theta_soll_set - self.theta_ist
+		self.process_fsm(diff)
+		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
-		diff = self.theta_soll_set - self.theta_ist
-
-		THRESH_HEAT = 1.0
-		THRESH_IDLE = 1.0
-		THRESH_IDLE_HOLD = 0.1
-		THRESH_HEAT_HOLD = 1.0
-
 		if self.state == States.IDLE:
-			if diff > THRESH_HEAT:
-				state_next = States.HEAT
 			self.pid_rate.reset()
+			if diff > THRESH_IDLE_HEAT:
+				state_next = States.HEAT
 			elif diff > -THRESH_IDLE_HOLD:
 				state_next = States.HOLD
-				self.pid_rate.reset()
 		elif self.state == States.HOLD:
-			if diff > THRESH_HEAT:
-				state_next = States.HEAT
 			self.pid_rate.reset()
-			elif diff < -THRESH_IDLE_HOLD:
+			if diff > THRESH_HOLD_HEAT:
+				state_next = States.HEAT
+			elif diff < -THRESH_HOLD_IDLE:
 				state_next = States.IDLE
 		elif self.state == States.HEAT:
-			if diff < -THRESH_IDLE:
+			if diff < -THRESH_HEAT_IDLE:
 				state_next = States.IDLE
 			elif diff < THRESH_HEAT_HOLD:
 				state_next = States.HOLD
 				self.pid_hold.reset()
-
+				self.pid_rate.reset()
-		self.pid_hold.process(theta_err, -self.theta_ist)
-		self.pid_rate.process(heatrate_err, -self.heatrate_ist)
-
-		self.y = self.pid_rate.get_y()
 
 		if state_next != self.state:
 			self.state = state_next
 			print("New state = {}".format(state_next))
 
+	def process_pid(self, theta_err, heatrate_err):
+		self.pid_hold.process(theta_err, -self.theta_ist)
+		self.pid_rate.process(heatrate_err, -self.heatrate_ist)
+
+		self.y = self.pid_rate.get_y()
+
 	def get_power(self):
 		return self.y
 

components/pid/temp_controller_smith.py

@@ -30,16 +30,19 @@ class TempController(APid):
 		self.y = -1
 		self.state = States.IDLE
 		self.use_kalman = True
-		self.kalman_model.initial((self.theta_ist_set, 0))
-		self.kalman_plant.initial((self.theta_ist_set, 0))
 		self.pid_hold.set_params(params['Hold'])
 		self.pid_rate.set_params(params['Heat'])
 		self.model = Pot(dt, params['Model'])
-		self.theta_ist_delay_model = Delay(dt, params['Model']['Td'])
+		self.theta_ist_delay_model = Delay(dt, params['Model']['Td'], 0)
-		self.dtheta_ist_delay_model = Delay(dt, params['Model']['Td'])
+		self.dtheta_ist_delay_model = Delay(dt, params['Model']['Td'], 0)
+		self.is_startup = True
 
 	def set_theta_ist(self, value):
 		self.theta_ist_set = value
+		if self.is_startup:
+			self.is_startup = False
+			self.kalman_model.initial((value, 0))
+			self.kalman_plant.initial((value, 0))
 
 	def get_theta_ist(self):
 		return self.theta_ist
@@ -98,36 +101,46 @@ class TempController(APid):
 			theta_err = self.theta_soll_set - theta_ist_plant
 
 		heatrate_err = self.heatrate_soll - (heatrate_ist_plant - self.dtheta_ist_delay_model.get() + heatrate_ist_model)
+		diff = self.theta_soll_set - self.theta_ist
+
+		self.process_fsm(diff)
+		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
-		diff = self.theta_soll_set - self.theta_ist
-
-		THRESH_HEAT = 1.0
-		THRESH_IDLE = 1.0
-		THRESH_IDLE_HOLD = 0.1
-		THRESH_HEAT_HOLD = 2.0
-
 		if self.state == States.IDLE:
-			if diff > THRESH_HEAT:
-				state_next = States.HEAT
 			self.pid_rate.reset()
+			if diff > THRESH_IDLE_HEAT:
+				state_next = States.HEAT
 			elif diff > -THRESH_IDLE_HOLD:
 				state_next = States.HOLD
-				self.pid_rate.reset()
 		elif self.state == States.HOLD:
-			if diff > THRESH_HEAT:
-				state_next = States.HEAT
 			self.pid_rate.reset()
-			elif diff < -THRESH_IDLE_HOLD:
+			if diff > THRESH_HOLD_HEAT:
+				state_next = States.HEAT
+			elif diff < -THRESH_HOLD_IDLE:
 				state_next = States.IDLE
 		elif self.state == States.HEAT:
-			if diff < -THRESH_IDLE:
+			if diff < -THRESH_HEAT_IDLE:
 				state_next = States.IDLE
 			elif diff < THRESH_HEAT_HOLD:
 				state_next = States.HOLD
 				self.pid_hold.reset()
+				self.pid_rate.reset()
 
+		if state_next != self.state:
+			self.state = state_next
+			print("New state = {}".format(state_next))
+
+	def process_pid(self, theta_err, heatrate_err):
 		self.pid_hold.process(theta_err, -self.theta_ist)
 		self.pid_rate.process(heatrate_err, -self.heatrate_ist)
 
@@ -135,10 +148,6 @@ class TempController(APid):
 		self.model.set_power(max(0, 250 + 3500 * self.y))
 		self.model.process()
 
-		if state_next != self.state:
-			self.state = state_next
-			print("New state = {}".format(state_next))
-
 	def get_power(self):
 		return self.y
 

components/plant/delay.py

@@ -2,9 +2,9 @@ import numpy as np
 
 
 class Delay:
-	def __init__(self, dt, delay):
+	def __init__(self, dt, delay, ic):
 		nd = int(delay/dt + 0.5)
-		self.delay_line = np.zeros(nd+1)
+		self.delay_line = np.ones(nd+1)*ic
 		self.ri = 0
 		self.wi = 0
 

components/plant/pot.py

@@ -16,13 +16,13 @@ class Pot(APlant):
 		self.L = params['L']
 		self.Td = params['Td']
 		self.kn = params['kn']
-		self.temp = params['theta']
+		self.temp = 0
 		self.temp_intermediate = params['theta']
 
 		self.theta_amb = theta_amb
 
 		self.power_set = 0
-		self.delay = Delay(self.dt, self.Td)
+		self.delay = Delay(self.dt, self.Td, params['theta'])
 
 	def activate(self, enable):
 		pass