From b83ec71346ec32d768f4dc34cc210dd9a826f76f Mon Sep 17 00:00:00 2001
From: jens <jens.ahrensfeld@gmx.de>
Date: Sat, 9 Oct 2021 10:07:45 +0200
Subject: [PATCH] - refactored

---
 components/pid/temp_controller.py       |  3 +--
 components/pid/temp_controller_smith.py | 22 ++++++++++++----------
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/components/pid/temp_controller.py b/components/pid/temp_controller.py
index 0eaf410..b88c0b4 100644
--- a/components/pid/temp_controller.py
+++ b/components/pid/temp_controller.py
@@ -117,7 +117,6 @@ class TempController(APid):
 			elif diff < THRESH_HEAT_HOLD:
 				state_next = States.HOLD
 				self.pid_hold.reset()
-				self.pid_rate.reset()
 
 		if state_next != self.state:
 			self.state = state_next
@@ -143,7 +142,7 @@ if __name__ == '__main__':
 			"var_R"	: 1.0
 		},
 		"Hold": {
-			"kp": 0.5,
+			"kp": 0.2,
 			"ki": 0.0,
 			"kd": 0.0,
 			"kt": 0.0
diff --git a/components/pid/temp_controller_smith.py b/components/pid/temp_controller_smith.py
index 5488c12..2531b85 100644
--- a/components/pid/temp_controller_smith.py
+++ b/components/pid/temp_controller_smith.py
@@ -117,24 +117,24 @@ class TempController(APid):
 		# Process state
 		state_next = self.state
 		if self.state == States.IDLE:
-			self.pid_rate.reset()
-			if diff > THRESH_IDLE_HEAT:
+			if diff >= THRESH_IDLE_HEAT:
 				state_next = States.HEAT
-			elif diff > -THRESH_IDLE_HOLD:
+				self.pid_rate.reset()
+			elif diff >= -THRESH_IDLE_HOLD:
 				state_next = States.HOLD
+				self.pid_rate.reset()
 		elif self.state == States.HOLD:
-			self.pid_rate.reset()
-			if diff > THRESH_HOLD_HEAT:
+			if diff >= THRESH_HOLD_HEAT:
 				state_next = States.HEAT
-			elif diff < -THRESH_HOLD_IDLE:
+				self.pid_rate.reset()
+			elif diff <= -THRESH_HOLD_IDLE:
 				state_next = States.IDLE
 		elif self.state == States.HEAT:
-			if diff < -THRESH_HEAT_IDLE:
+			if diff <= -THRESH_HEAT_IDLE:
 				state_next = States.IDLE
-			elif diff < THRESH_HEAT_HOLD:
+			elif diff <= THRESH_HEAT_HOLD:
 				state_next = States.HOLD
 				self.pid_hold.reset()
-				self.pid_rate.reset()
 
 		if state_next != self.state:
 			self.state = state_next
@@ -145,9 +145,11 @@ class TempController(APid):
 		self.pid_rate.process(heatrate_err, -self.heatrate_ist)
 
 		self.y = self.pid_rate.get_y()
+
 		self.model.set_power(max(0, 250 + 3500 * self.y))
 		self.model.process()
 
+
 	def get_power(self):
 		return self.y
 
@@ -170,7 +172,7 @@ if __name__ == '__main__':
 			"var_R"	: 1.0
 		},
 		"Hold": {
-			"kp": 0.50,
+			"kp": 0.2,
 			"ki": 0.0,
 			"kd": 0.0,
 			"kt": 0.0