- put calculated power from heater into tc model

brewpi.py

@@ -61,8 +61,16 @@ if __name__ == '__main__':
 	taskmgr.add(TracerTask(sensor, heater, tc, trace_tc, DT_TASK_TRACER, dispatcher.msgio_get("Tracer")))
 
 	# Assign data flow
+	# Assign tc control value to heater
 	tc.set_on_changed("y", heater_task.actor)
+
+	# Assign temp. sensor readings to tc
 	sensor.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)
+
+	# Assign heater power set to tc model
+	heater.set_on_changed("power_set", tc.set_model_power)
+
+	# For simulation
 	if "sim" in config['Controller']['sensor_name']:
 		pot.set_on_changed("temp", ChangedFloat(sensor.set_fake_temp, prec=3).set)
 		sensor.set_fake_temp(pot.temp)

components/pid/temp_controller_smith.py

@@ -31,6 +31,9 @@ class TempController(APid):
 		self.model = Pot(dt, model_params)
 		self.is_startup = True
 
+	def set_model_power(self, power):
+		self.model.set_power(power)
+
 	def set_theta_ist(self, value):
 		self.theta_ist_set = value
 		if self.is_startup:
@@ -154,7 +157,6 @@ class TempController(APid):
 		else:
 			self.y = self.pid_rate.get_y()
 
-		self.model.set_power(max(0, 3500 * self.y))
 		self.model.process()
 
 	def get_power(self):