- removed dbug prints

- PID: added Anti Windup code

brewpi.py

@@ -31,11 +31,10 @@ class TempSensorTask(ATask):
 		self.kalman = kalman
 
 	def on_temp_changed(self, value):
-		print("Sensor temp {}".format(value))
 		asyncio.create_task(self.send({'Temp': value}))
 
 	def on_temp_changed_kalman(self, value):
-		print("Kalman temp {}".format(value))
+		pass
 
 	async def recv(self, data):
 		print(data)
@@ -120,11 +119,9 @@ class PotTask(ATask):
 			plant_temp.set(round(self.plant.getTemperature(), 1))
 
 			if plant_power.is_changed():
-				print("Plant Power {}".format(plant_power.get()))
 				await self.send({'Power': plant_power.get()})
 
 			if plant_temp.is_changed():
-				print("Plant Temp  {}".format(plant_temp.get()))
 				await self.send({'Temp': plant_temp.get()})
 
 			await asyncio.sleep(self.interval)
@@ -230,9 +227,9 @@ if __name__ == '__main__':
 			"Hold": {
 				"Pid": {
 					"kp": 0.8,
-					"ki": 0.000004,
+					"ki": 0.00001,
 					"kd": 0.0,
-					"rho": 1.0
+					"rho": 0.0
 				}
 			},
 			"Heat": {

components/pid/pid.py

@@ -11,6 +11,7 @@ class Pid:
         # Auto windup
         self.y_min = -1.0
         self.y_max = 1.0
+        self.d = 0
 
         # Output
         self.y = 0
@@ -30,7 +31,7 @@ class Pid:
         kd = params['kd']
         rho = params['rho']
 
-        yi = rho*self.yi + ki*dt * err
+        yi = self.yi + ki*dt * err - ki*dt - self.d * rho
         yd = err - self.xd
 
         _yp = kp * err
@@ -40,7 +41,9 @@ class Pid:
         y = _yp + _yi + _yd
 
         self.y = max(self.y_min, min(self.y_max, y))
-
+        self.d = max(0, self.y - y)
+        if self.d < 0:
+            print("d = {}".format(self.d))
         self.yi = yi
         self.xd = err