- refactored temp controllers

components/pid/temp_controller.py

@@ -169,7 +169,7 @@ if __name__ == '__main__':
 				hold_counter -= 1
 			ctrl.process()
 			plant.process()
-			temp_ist = plant.get_temperature_delayed() + 0.0 * np.random.randn()
+			temp_ist = plant.get_temperature() + 0.0 * np.random.randn()
 			ctrl.set_theta_ist(temp_ist)
 
 			y = 3500*ctrl.get_power()

components/pid/temp_controller_smith.py

@@ -52,7 +52,7 @@ class TempController(AttributeChange):
 
 	def process(self):
 		# Process Kalman of Model
-		Z_model = self.kalman_model.process_measurement((self.model.get_temperature(), 0), 0.0)
+		Z_model = self.kalman_model.process_measurement((self.model.get_temperature_intermediate(), 0), 0.0)
 		xp_model = self.kalman_model.process(Z_model)
 		theta_ist_model = xp_model[0, 0]
 		heatrate_ist_model = xp_model[1, 0] * 60
@@ -195,7 +195,7 @@ if __name__ == '__main__':
 				hold_counter -= 1
 			ctrl.process()
 			plant.process()
-			temp_ist = plant.get_temperature_delayed()
+			temp_ist = plant.get_temperature()
 			ctrl.set_theta_ist(temp_ist)
 
 			y = 3500*ctrl.get_power()

components/plant/pot.py

@@ -17,6 +17,7 @@ class Pot(APlant):
 		self.Td = params['Td']
 		self.kn = params['kn']
 		self.temp = params['theta']
+		self.temp_intermediate = params['theta']
 
 		self.theta_amb = theta_amb
 
@@ -28,10 +29,11 @@ class Pot(APlant):
 
 	def process(self):
 		leak = 1/self.M * self.L * (self.theta_amb - self.temp)/self.theta_amb
-		self.temp += (self.power_set / (self.M * self.C) + leak) * self.dt
+		self.temp_intermediate += (self.power_set / (self.M * self.C) + leak) * self.dt
 
 		# Delay
-		self.delay.put(self.temp)
+		self.delay.put(self.temp_intermediate)
+		self.temp = self.delay.get()
 
 	def is_activated(self):
 		return True
@@ -45,5 +47,5 @@ class Pot(APlant):
 	def get_temperature(self):
 		return self.temp
 
-	def get_temperature_delayed(self):
-		return self.delay.get()
+	def get_temperature_intermediate(self):
+		return self.temp_intermediate