- updated template

config.json.templ

@@ -1,60 +1,55 @@
 {
 	"Controller" : {
+	"dt": 1,
 	"sim_warp_factor": 10.0,
 	"stirrer_name": "sim",
 	"heater_name": "sim",
 	"sensor_name": "sim",
 	"plant_name": "sim",
-	"pid_type": "Normal"
+	"pid_type": "Smith"
 	},
  	"TempCtrl": {
-		"Model": {
-			"theta": 20,
-			"C": 4190,
-			"M": 25,
-			"L": 0.05,
-			"Td": 15,
-			"kn": 0.2,
-			"gain" : 0.8
-		},
 		"Kalman": {
-			"dt": 1.0,
 			"var_P"	: 1.0,
 			"var_Q"	: 0.0001,
 			"var_R"	: 1.0
 		},
 		"Hold": {
-			"dt": 1.0,
-			"kp": 1.0,
+			"kp": 0.4,
 			"ki": 0.0,
 			"kd": 0.0,
 			"kt": 0.0
 		},
 		"Heat": {
-			"dt": 1.0,
-			"kp": 0.1,
+			"kp": 0.05,
 			"ki": 0.01,
 			"kd": 0.0,
-			"kt": 1.0
+			"kt": 1.5
 		}
 	},
-	"Plant": {
-		"dt": 1.0,
+	"Model": {
 		"theta": 20,
 		"C": 4190,
 		"M": 25,
-		"L": 0.1,
+		"L": 0.05,
+		"Td": 15,
+		"kn": 0.2,
+		"gain" : 0.8
+	},
+	"Plant": {
+		"theta": 20,
+		"C": 4190,
+		"M": 25,
+		"L": 0.05,
 		"Td": 15,
 		"kn": 0.2,
 		"gain" : 0.8
 	},
 	"Heater": {
-		"dt": 1.0,
 		"port": "/dev/ttyUSB0",
 		"speed": "115200"
 	},
 	"Stirrer": {
-		"dt": 1.0,
 		"port": "/dev/ttyACM0",
 		"speed": "115200"
 	}