- Pid: D-Part need not to be error based

- increased pot delay to 30 s

components/pid/pid.py

@@ -9,7 +9,7 @@ class Pid:
         self.yi = 0
 
         # Differentiator
-        self.err = 0
+        self.d = 0
 
         # Anti windup
         self.y_min = -1.0
@@ -29,10 +29,10 @@ class Pid:
 
     def reset(self):
         self.yi = 0
-        self.err = 0
+        self.d = 0
         self.awu = 0
 
-    def process(self, err):
+    def process(self, err, d):
         dt = self.params['dt']
         kp = self.params['kp'] * self.k
         ki = self.params['ki'] * self.k
@@ -40,10 +40,10 @@ class Pid:
         kt = self.params['kt'] * self.k
 
         self.yi = self.yi + ki*dt * err + kt*dt * self.awu
-        yd = kd/dt*(err - self.err)
+        yd = kd/dt*(d - self.d)
         yp = kp * err
 
-        self.err = err
+        self.d = d
 
         y = yp + self.yi + yd
 

components/pid/temp_controller.py

@@ -92,8 +92,8 @@ class TempController(AttributeChange):
 				state_next = States.HOLD
 				self.pid_hold.reset()
 
-		self.pid_hold.process(theta_err)
-		self.pid_rate.process(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()
 
@@ -123,10 +123,10 @@ if __name__ == '__main__':
 		},
 		"Heat": {
 			"dt": 1.0,
-			"kp": 0.1,
+			"kp": 0.2,
 			"ki": 0.01,
-			"kd": 0.0,
-			"kt": 1.0
+			"kd": 2.0,
+			"kt": 1.5
 		}
 	}
 
@@ -136,7 +136,7 @@ if __name__ == '__main__':
 		"C"			: 4190,
 		"M"			: 20,
 		"L"			: 0.05,
-		"Td"		: 12,
+		"Td"		: 30,
 		"kn"		: 0.2
 	}