- refactored

brewpi.py

@@ -9,8 +9,6 @@ from components.plant import Pot
 from components.actor import HeaterFactory, StirrerFactory
 from tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask, StirrerTask, TracerTask
 
-DT_TASK = 0.1
-
 if __name__ == '__main__':
 	config = json.load(open("config.json"))
 	dispatcher = MessageDispatcher()

components/pid/temp_controller_smith.py

@@ -13,7 +13,7 @@ class States(Enum):
 
 
 class TempController(AttributeChange):
-	def __init__(self, dt, params, model_params):
+	def __init__(self, dt, params):
 		AttributeChange.__init__(self)
 		self.pid_hold = Pid(dt)
 		self.pid_rate = Pid(dt)
@@ -34,9 +34,9 @@ class TempController(AttributeChange):
 		self.kalman_plant.initial((self.theta_ist_set, 0))
 		self.pid_hold.set_params(params['Hold'])
 		self.pid_rate.set_params(params['Heat'])
-		self.model = Pot(dt, model_params)
+		self.model = Pot(dt, params['Model'])
-		self.theta_ist_delay_model = Delay(dt, model_params['Td'])
+		self.theta_ist_delay_model = Delay(dt, params['Model']['Td'])
-		self.dtheta_ist_delay_model = Delay(dt, model_params['Td'])
+		self.dtheta_ist_delay_model = Delay(dt, params['Model']['Td'])
 
 	def set_theta_ist(self, value):
 		self.theta_ist_set = value
@@ -125,6 +125,14 @@ if __name__ == '__main__':
 	dt = 1.0
 
 	tc_params = {
+		"Model": {
+			"theta"		: 20,
+			"C"			: 4190,
+			"M"			: 20,
+			"L"			: 0.05,
+			"Td"		: 30,
+			"kn"		: 0.2
+		},
 		"Kalman": {
 			"var_P"	: 1.0,
 			"var_Q"	: 0.0001,
@@ -144,15 +152,6 @@ if __name__ == '__main__':
 		}
 	}
 
-	model_params = {
-		"theta"		: 20,
-		"C"			: 4190,
-		"M"			: 20,
-		"L"			: 0.05,
-		"Td"		: 30,
-		"kn"		: 0.2
-	}
-
 	pot_params = {
 		"dt"		: 1.0,
 		"theta"		: 20,
@@ -165,7 +164,7 @@ if __name__ == '__main__':
 
 	temp_ist = 0
 	temp_soll = 20
-	ctrl = TempController(dt, tc_params, model_params)
+	ctrl = TempController(dt, tc_params)
 	plant = Pot(dt, pot_params)
 	_temp_ist = np.empty(0)
 	_temp_soll = np.empty(0)