- refactored hendi_ctrl

- fixed hend_heater - added workaround for typedDict and Python < v3.8
2021-10-19 06:32:45 +01:00
parent 7c6004807d
commit bd63f2648c
4 changed files with 67 additions and 5 deletions
@@ -0,0 +1,55 @@
+{
+	"Controller" : {
+	"dt": 0.1,
+	"sim_warp_factor": 10.0,
+	"stirrer_name": "sim",
+	"heater_name": "sim",
+	"sensor_name": "sim",
+	"plant_name": "sim",
+	"pid_type": "Smith"
+	},
+ 	"TempCtrl": {
+		"Model": {
+			"theta": 20,
+			"C": 4190,
+			"M": 25,
+			"L": 0.05,
+			"Td": 80,
+			"kn": 0.2
+		},
+		"Kalman": {
+			"var_P"	: 1.0,
+			"var_Q"	: 0.0001,
+			"var_R"	: 1.0
+		},
+		"Hold": {
+			"kp": 0.25,
+			"ki": 0.0,
+			"kd": 0.0,
+			"kt": 0.0
+		},
+		"Heat": {
+			"kp": 0.05,
+			"ki": 0.01,
+			"kd": 0.0,
+			"kt": 1.5
+		}
+	},
+	"Plant": {
+		"theta": 20,
+		"C": 4190,
+		"M": 22,
+		"L": 0.05,
+		"Td": 80,
+		"kn": 0.2
+	},
+	"Heater": {
+		"port": "/dev/ttyUSB0",
+		"speed": "115200"
+	},
+	"Stirrer": {
+		"port": "/dev/ttyACM0",
+		"speed": "115200"
+	}
+}
+