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1bf3929b6020a2c5f62dbab7477bda7932252467
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153 Commits
Author SHA1 Message Date
jensandClaude Sonnet 4.6 1bf3929b60 Drop model_params from base, enable Smith predictor delay correction 
TempControllerBase no longer threads model_params through (only the
Smith subclass needs it, for its own Pot model and Kalman filters).

Enable the Smith predictor's actual delay-compensated error term
(theta_err now uses theta_ist_plant - theta_ist_model_delay +
theta_ist_model instead of the plain plant reading), which is the
correction this controller is named for.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-06-18 21:06:35 +02:00
jensandClaude Sonnet 4.6 78ee80f96d Deduplicate TempController/TempController_smith into a shared base 
Both controllers had nearly identical process_fsm(), process_pid(),
and all getters/setters; only Kalman/model setup and process()
genuinely differed, and the duplication had already drifted (the
Smith variant resets model state on entering HEAT, the plain one
didn't).

Add TempControllerBase with the shared logic and three small hooks
(init_kalman, on_state_entered, post_pid) subclasses use to plug in
their own Kalman/model behavior. Each subclass now contains only what
makes it different.

Also fixes a latent crash: TempController's constructor only accepted
(dt, params), but PidFactory/brewpi.py always call it with a third
model_params arg, so pid_type "Normal" would have raised TypeError.
The shared base's model_params=None default fixes this. Also
initializes the Smith controller's trace attributes in __init__
instead of leaving them undefined until the first process() call.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-06-18 20:50:01 +02:00
jens 879fa77ed3 - improved plot 2022-06-28 20:19:38 +02:00
jens fd99c548e1 - improved tempsensor exception 2021-10-19 11:50:27 +02:00
jens 04d93e0f98 - improved tempsensor exception 2021-10-19 11:48:34 +02:00
jens 3a5278c6b5 - improved tempsensor exception 2021-10-19 11:43:47 +02:00
jens a267e4004e - improved tempsensor exception 2021-10-19 11:42:52 +02:00
jens e07f9b4802 - preinitialize digits 2021-10-19 11:36:09 +02:00
jens 6e7f8c2c59 - removed AtemperatureSensor::process 
- task is AttributeChange
- hareden against Tempsensor exceptions
 2021-10-19 11:29:11 +02:00
jens bd63f2648c - refactored hendi_ctrl 
- fixed hend_heater
- added workaround for typedDict and Python < v3.8
 2021-10-19 06:32:45 +01:00
jens b8ed02eb3a - put calculated power from heater into tc model 2021-10-18 21:32:37 +02:00
jens 7f66084082 - removed debug log 2021-10-18 17:58:36 +02:00
jens 54f2322c07 - added generic tracer class 
- create tracer for TC
- tracer task runs TC-Tracer
 2021-10-18 17:57:40 +02:00
jens 9b997b8348 - generalized heaters 2021-10-18 14:32:56 +02:00
jens 4a26e84c6e - TC export some vars 
- cleaned up test
- added model vars to test
 2021-10-13 18:29:33 +02:00
jens e8fa90e753 - PID/TC goes Idle state on first theat_ist measurement 2021-10-12 17:13:19 +02:00
jens bf7ec2beaf - PID: introduced INIT State 
- refactored
 2021-10-12 16:47:05 +02:00
jens 55315e268e - TempratureSensor: Sim ignores temp_offset 2021-10-12 16:36:53 +02:00
jens 7eb9d16f4d - updatd constants 2021-10-12 16:19:21 +02:00
jens 3c010d7bfd - updatd constants 2021-10-12 13:24:19 +02:00
jens b4a6c70591 - init kalman_model_delay 2021-10-12 12:07:36 +02:00
jens 16cb3d3b3c - use heat diffusion for water model instead of delay line 2021-10-12 12:01:40 +02:00
jens 89ac2b8ea8 - updated tc params for test 2021-10-12 10:20:55 +02:00
jens 425567f3db - refactored 
- increased Hold.Pid.kp
- decrease state change HEAT TO HOLD windows to 1°C
 2021-10-12 09:11:07 +02:00
jens ff90c6d90c - 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
 2021-10-11 19:54:03 +02:00
jens 20b0363e26 - reset kalman on change to HEAT state 2021-10-11 19:04:32 +02:00
jens 9b20276012 - fixed setting model correct power in idle 2021-10-11 18:28:25 +02:00
jens 132081eeb1 - added debig 2021-10-11 16:54:58 +01:00
jens c5c39732cf - do data signal wiring at one central place 
- fixed initializations
 2021-10-11 13:05:18 +02:00
jens 80fa983c96 - fixed kalman test for different dt 2021-10-10 13:56:48 +02:00
jens dce3caa1eb - refactored 2021-10-09 12:27:36 +02:00
jens f6394e9e7a - refactored 2021-10-09 10:52:35 +02:00
jens b83ec71346 - refactored 2021-10-09 10:07:45 +02:00
jens 5923212055 - refactored 2021-10-09 09:46:52 +02:00
jens 529ae7ad2f - adjusted params for TC tests 2021-10-02 13:10:10 +02:00
jens f085e74c53 - stirrer: removed status logs 2021-10-02 12:36:48 +02:00
jens 2e143ee03f - implemented APid 
- choose Tempcontroller impl. from config
 2021-10-02 12:24:42 +02:00
jens f7745f9814 - reactored 2021-10-02 11:05:07 +01:00
jens a05e460f73 - refactored 2021-10-02 11:01:12 +01:00
jens cf40a49af4 - changed import 
- changed shebang
 2021-10-02 10:12:54 +01:00
jens bf019733b2 - added abstarct PID APid 
- added PidFactory
- use variable args for factory
 2021-10-02 11:10:43 +02:00
jens 0843f1d87a - Pololu1376: take enums as variable id 
- stirrerPololu1376: Make for robust against motor cable plug
 2021-08-12 20:13:47 +01:00
jens ebd5d4cd5e - added dignostic vars 
- make print_vars a method
 2021-08-12 09:48:06 +02:00
jens a95f5195d1 - made on-methods private 
- added AStirrer::_on_process() for monitoring
 2021-08-12 09:32:02 +02:00
jens 71b5ac848f - refactored 2021-08-11 18:00:35 +02:00
jens 4cb8089c06 - fixed stirrerpololu1376.py 2021-08-11 17:59:07 +02:00
jens 6196f944c6 - use new Pololu driver 2021-08-11 17:49:37 +02:00
jens a291c654c8 - formatted 2021-08-11 17:36:47 +02:00
jens 593b003cd9 - added separation line 2021-08-11 16:34:02 +01:00
jens 89112777e3 - fixed variable display 2021-08-11 16:24:42 +01:00