- load params from config.json

components/pid/temp_controller.py

@@ -13,11 +13,11 @@ class States(Enum):
 
 
 class TempController(AttributeChange):
-	def __init__(self, params_pid, params_kalman):
+	def __init__(self, params):
 		AttributeChange.__init__(self)
-
-		self.pid_hold = Pid(params_pid['Hold'])
-		self.pid_rate = Pid(params_pid['Heat'])
+		dt = params['dt']
+		self.pid_hold = Pid(params['Hold'])
+		self.pid_rate = Pid(params['Heat'])
 		self.theta_ist_set = 20
 		self.theta_soll_set = 0
 		self.heatrate_ist_set = 0
@@ -25,8 +25,8 @@ class TempController(AttributeChange):
 		self.heatrate_soll = 1.0
 		self.theta_ist = 0
 		self.heatrate_ist = 0
-		self.params = params_pid
-		self.kalman = Kalman(params_kalman)
+		self.params = params
+		self.kalman = Kalman(params['Kalman'])
 		self.y = -1
 		self.state = States.IDLE
 		self.use_kalman = True
@@ -102,7 +102,14 @@ class TempController(AttributeChange):
 
 
 if __name__ == '__main__':
-	params = {
+	tc_params = {
+		"dt": 1.0,
+		"Kalman": {
+			"dt": 1.0,
+			"var_P"	: 1.0,
+			"var_Q"	: 0.0001,
+			"var_R"	: 1.0
+		},
 		"Hold": {
 			"dt": 1.0,
 			"kp": 1.0,
@@ -121,24 +128,17 @@ if __name__ == '__main__':
 
 	pot_params = {
 		"dt"		: 1.0,
-		"theta"			: 20,
-		"C"				: 4190,
-		"M"				: 20,
-		"L"				: 0.05,
-		"Td"			: 12,
-		"kn"			: 0.2
+		"theta"		: 20,
+		"C"			: 4190,
+		"M"			: 20,
+		"L"			: 0.05,
+		"Td"		: 12,
+		"kn"		: 0.2
 	}
 
-	# Kalman Filter
-	kalman_params = {
-		"dt"			: 1.0,
-		"var_P"				: 1,
-		"var_Q"				: 0.0001,
-		"var_R"				: 1
-	}
 	temp_ist = 0
 	temp_soll = 20
-	ctrl = TempController(params, kalman_params)
+	ctrl = TempController(tc_params)
 	plant = Pot(pot_params)
 	_temp_ist = np.empty(0)
 	_temp_soll = np.empty(0)