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Rename TempControllerBase.pid_rate to pid_heat, matching pid_hold/pid_cool naming

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jens
2026-06-21 13:59:00 +02:00
parent 55020d9f38
commit 746692bad7
1 changed files with 11 additions and 11 deletions
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components/pid/temp_controller_base.py
+11 -11
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@@ -23,7 +23,7 @@ class TempControllerBase(APid):
def __init__(self, dt, params):
APid.__init__(self)
self.pid_hold = Pid(dt)
self.pid_rate = Pid(dt)
self.pid_heat = Pid(dt)
# Separate gains for ramping down (negative diff) - the actuator
# (e.g. a heat-only Pot/heater) is responsible for clamping the
# resulting negative power to whatever it's actually capable of;
@@ -42,7 +42,7 @@ class TempControllerBase(APid):
self.y = -1
self.state = States.INIT
self.pid_hold.set_params(params['Hold'])
self.pid_rate.set_params(params['Heat'])
self.pid_heat.set_params(params['Heat'])
self.pid_cool.set_params(params['Cool'])
self.is_startup = True
# Master on/off switch: while disabled, the FSM is held in IDLE and
@@ -105,16 +105,16 @@ class TempControllerBase(APid):
elif self.state == States.IDLE:
# Just (re-)enabled - land in HOLD; the very next tick's
# threshold check (below) moves it on to HEAT/COOL if the gap
# actually warrants it. pid_rate was frozen (see process_pid())
# actually warrants it. pid_heat was frozen (see process_pid())
# and possibly stale for as long as we were disabled - start it
# clean rather than resuming wherever it last left off.
state_next = States.HOLD
self.pid_hold.reset()
self.pid_rate.reset()
self.pid_heat.reset()
elif self.state == States.HOLD:
if diff >= self.thresholds['HoldHeat']:
state_next = States.HEAT
self.pid_rate.reset()
self.pid_heat.reset()
elif diff <= -self.thresholds['HoldCool']:
state_next = States.COOL
self.pid_cool.reset()
@@ -128,15 +128,15 @@ class TempControllerBase(APid):
elif self.state == States.COOL:
if diff >= self.thresholds['CoolHeat']:
state_next = States.HEAT
self.pid_rate.reset()
self.pid_heat.reset()
elif diff >= -self.thresholds['CoolHold']:
state_next = States.HOLD
self.pid_hold.reset()
# pid_rate was frozen during COOL (see process_pid()) -
# pid_heat was frozen during COOL (see process_pid()) -
# resume it clean rather than from whatever it last held
# before COOL took over, which by now may be a stale fit
# for a completely different part of the curve.
self.pid_rate.reset()
self.pid_heat.reset()
if state_next != self.state:
self.state = state_next
@@ -146,7 +146,7 @@ class TempControllerBase(APid):
self.pid_hold.process(theta_err, -self.theta_ist, hold_scale)
# Only the PID actually driving y is advanced - otherwise the
# inactive one (e.g. pid_rate while COOL has pid_cool driving)
# inactive one (e.g. pid_heat while COOL has pid_cool driving)
# would keep silently integrating against a heatrate_err that
# isn't actually under its control, building a stale windup that
# causes a discontinuity in y the moment it takes back over.
@@ -156,8 +156,8 @@ class TempControllerBase(APid):
self.pid_cool.process(heatrate_err, -self.heatrate_ist)
self.y = self.pid_cool.get_y()
else:
self.pid_rate.process(heatrate_err, -self.heatrate_ist)
self.y = self.pid_rate.get_y()
self.pid_heat.process(heatrate_err, -self.heatrate_ist)
self.y = self.pid_heat.get_y()
self.post_pid()