[Pot]

- remove HeatDiffusion
- use delay line for heat propagation modeling

[Temp Controller]
- remove Kalman

components/pid/temp_controller.py

@@ -1,25 +1,18 @@
-from components.pid import Kalman
 from components.pid.temp_controller_base import TempControllerBase
 
 
 class TempController(TempControllerBase):
 	def __init__(self, dt, params):
 		TempControllerBase.__init__(self, dt, params)
-		self.kalman = Kalman(dt, params['Kalman'])
-
-	def init_kalman(self, value):
-		self.kalman.initial((value, 0))
-
+		self.dt = dt
+		self.last_theta_ist = 20
+		self.heatrate_ist = 0
 	def process(self):
 		# Process Kalman
-		if self.use_kalman:
-			Z = self.kalman.process_measurement((self.theta_ist_set, 0), 0.0)
-			xp = self.kalman.process(Z)
-			self.theta_ist = xp[0, 0]
-			self.heatrate_ist = xp[1, 0] * 60
-		else:
-			self.theta_ist = self.theta_ist_set
-			self.heatrate_ist = self.heatrate_ist_set
+		self.theta_ist = self.theta_ist_set
+		heatrate = (self.theta_ist - self.last_theta_ist)/self.dt*60
+		self.heatrate_ist = heatrate
+		self.last_theta_ist = self.theta_ist
 
 		# Compensate for max heat rate to reduce overshoot
 		if self.heatrate_soll_set > 0:

components/pid/temp_controller_base.py

@@ -19,14 +19,10 @@ class TempControllerBase(APid):
 		self.thresholds = {**DEFAULT_THRESHOLDS, **params.get('Thresholds', {})}
 		self.y = -1
 		self.state = States.INIT
-		self.use_kalman = True
 		self.pid_hold.set_params(params['Hold'])
 		self.pid_rate.set_params(params['Heat'])
 		self.is_startup = True
 
-	def init_kalman(self, value):
-		raise NotImplementedError
-
 	def on_state_entered(self, state):
 		pass
 
@@ -37,7 +33,6 @@ class TempControllerBase(APid):
 		self.theta_ist_set = value
 		if self.is_startup:
 			self.is_startup = False
-			self.init_kalman(value)
 
 	def get_theta_ist(self):
 		return self.theta_ist