- added Pid

- added Temp Controller
- added Kalman

components/pid/temp_controller.py

@@ -0,0 +1,41 @@
+from components.pid import Pid
+from components.pid import Kalman
+
+
+class TempController:
+	def __init__(self, params):
+		self.dt = params['dt']
+		self.pid_hold = Pid()
+		self.pid_rate = Pid()
+		self.theta_ist = 0
+		self.theta_soll = 0
+		self.heatrate_ist = 0
+		self.heatrate_soll = 0
+		self.params = params
+
+	def set_theta_ist(self, value):
+		self.theta_ist = value
+
+	def set_heatrate_ist(self, value):
+		self.heatrate_ist = value
+
+	def set_theta_soll(self, value):
+		self.theta_soll = value
+
+	def set_heatrate_soll(self, value):
+		self.heatrate_soll = value
+
+	def process(self):
+		theta_err = self.theta_soll - self.theta_ist
+		heatrate_err = self.heatrate_soll - self.heatrate_ist
+
+		self.pid_hold.process(self.dt, self.params['Hold']['Pid'], theta_err)
+		self.pid_rate.process(self.dt, self.params['Heat']['Pid'], heatrate_err)
+
+	def get_power_hold(self):
+		power_hold = 200 + self.params['P_max'] * self.pid_hold.get_y()
+		return max(self.params['P_min'], min(self.params['P_max'], power_hold))
+
+	def get_power_heat(self):
+		power_heat = 1500 + self.params['P_max'] * self.pid_rate.get_y()
+		return max(self.params['P_min'], min(self.params['P_max'], power_heat))