- improved temp controller test

components/pid/temp_controller.py

@@ -1,5 +1,6 @@
-from components.pid import Pid
-from components.pid import Kalman
+from components.pid.pid import Pid
+from matplotlib.pyplot import plot, figure, subplot, title, xlabel, ylabel, grid, show
+import numpy as np
 
 
 class TempController:
@@ -33,9 +34,53 @@ class TempController:
 		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))
+		return self.pid_hold.get_y()
 
 	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))
+		return self.pid_rate.get_y()
+
+
+if __name__ == '__main__':
+	params = {
+		"dt": 1.0,
+		"Hold": {
+			"Pid": {
+				"kp": 0.4,
+				"ki": 0.00004,
+				"kd": 0.0,
+				"rho": 1.0
+			}
+		},
+		"Heat": {
+			"Pid": {
+				"kp": 0.002,
+				"ki": 0.0002,
+				"kd": 0.0,
+				"rho": 1.0
+			}
+		}
+	}
+
+	temp_ist = 0
+	temp_soll = 20
+	ctrl = TempController(params)
+	ctrl.set_theta_ist(temp_ist)
+	ctrl.set_theta_soll(temp_soll)
+	t = range(0, 100)
+	_temp_ist = np.empty(0)
+	_temp_soll = np.empty(0)
+	for i in t:
+		_temp_ist = np.append(_temp_ist, temp_ist)
+		_temp_soll = np.append(_temp_soll, temp_soll)
+		ctrl.process()
+		y = ctrl.get_power_hold()
+		temp_ist += round(y, 2)
+		ctrl.set_theta_ist(temp_ist)
+
+	figure(1)
+	plot(t, _temp_ist - _temp_soll, 'bx', linewidth=1)
+	grid(True)
+	show()
+
+	print("End of program")
+