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1bf3929b6020a2c5f62dbab7477bda7932252467
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77 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 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 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 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 2e143ee03f - implemented APid 
- choose Tempcontroller impl. from config
 2021-10-02 12:24:42 +02:00
jens bf019733b2 - added abstarct PID APid 
- added PidFactory
- use variable args for factory
 2021-10-02 11:10:43 +02:00
jens 70426b9280 - start HOLD at diference of 2.0 °C 2021-08-10 15:39:54 +02:00
jens cc54887f9b - TC: HOLD controller doesn't use Smith Predictor 2020-12-22 13:32:14 +01:00
jens 58411e297c - use temp_controller_smith 2020-12-22 11:05:09 +01:00
jens b55bd5b366 - refactored 2020-12-22 11:02:37 +01:00
jens f2aff73f40 - refactored temp controllers 2020-12-22 10:51:38 +01:00
jens 4c93e85dd8 - improved temp controllers 2020-12-22 10:45:51 +01:00
jens 5762b7ab8f - added temp_controller with Smith Prediction 2020-12-22 10:27:21 +01:00
jens d777a955a4 - refactored dt 2020-12-22 10:26:56 +01:00
jens b5a0e6a7ac - removed dt from params 2020-12-21 16:06:17 +01:00
jens 972e447897 - no kd 2020-12-21 12:43:50 +01:00
jens 5865923854 - refactored params 2020-12-21 12:24:42 +01:00
jens 262f1ef663 - refactored params 2020-12-21 12:24:31 +01:00
jens 6649a03d44 - PID: no params for constructor 
- adedd dt
- fixed set_params
 2020-12-21 12:23:56 +01:00
jens b9b1a1c613 - PID: added set_param() 2020-12-21 11:28:44 +01:00
jens 5f60312d4e - Pid: D-Part need not to be error based 
- increased pot delay to 30 s
 2020-12-20 18:23:14 +01:00
jens 24437329f0 - Compensate for max heat rate to reduce overshoot 2020-12-16 19:54:38 +01:00
jens 71cd87085f - load params from config.json 2020-12-16 18:42:05 +01:00
jens 6dd0920010 - refactored 2020-12-16 17:13:57 +01:00
jens fa93a3911e - refactored 2020-12-16 17:10:46 +01:00
jens 73d1c844b0 - improved Kalman eval 2020-12-16 09:07:52 +01:00
jens 2327b214fc - increased kp 2020-12-13 16:31:20 +01:00
jens 0633e464ca - refactored 
- created TempSensorFactory
 2020-12-13 16:21:08 +01:00