- added initial for filling Delay line

- added gain parameter for Pot sim
- from state change to heat init model temp with plant temp
- updated config template

components/plant/delay.py

@@ -3,11 +3,14 @@ import numpy as np
 
 class Delay:
 	def __init__(self, dt, delay, ic):
-		nd = int(delay/dt + 0.5)
-		self.delay_line = np.ones(nd+1)*ic
+		self.nd = int(delay/dt + 0.5)
+		self.delay_line = np.ones(self.nd+1)*ic
 		self.ri = 0
 		self.wi = 0
 
+	def initial(self, ic):
+		self.delay_line = np.ones(self.nd+1)*ic
+
 	def put(self, data):
 		self.delay_line[self.wi] = data
 		self.wi += 1

components/plant/pot.py

@@ -9,8 +9,8 @@ class Pot(APlant):
 
 		self.e = 0
 		self.x = 0
-		self.gain = 0.999
 
+		self.gain = params['gain']
 		self.C = params['C']
 		self.M = params['M']
 		self.L = params['L']
@@ -24,6 +24,11 @@ class Pot(APlant):
 		self.power_set = 0
 		self.delay = Delay(self.dt, self.Td, params['theta'])
 
+	def initial(self, temp):
+		self.temp_intermediate = temp
+		self.temp = temp
+		self.delay.initial(temp)
+
 	def activate(self, enable):
 		pass