{
	"Controller" : {
	"dt": 1,
	"sim_warp_factor": 10.0,
	"stirrer_name": "sim",
	"heater_name": "sim",
	"sensor_name": "sim",
	"plant_name": "sim",
	"pid_type": "Smith"
	},
 	"TempCtrl": {
		"Kalman": {
			"var_P"	: 1.0,
			"var_Q"	: 0.0001,
			"var_R"	: 1.0
		},
		"Hold": {
			"kp": 0.4,
			"ki": 0.0,
			"kd": 0.0,
			"kt": 0.0
		},
		"Heat": {
			"kp": 0.05,
			"ki": 0.01,
			"kd": 0.0,
			"kt": 1.5
		}
	},
	"Model": {
		"theta": 20,
		"C": 4190,
		"M": 25,
		"L": 0.05,
		"Td": 15,
		"kn": 0.2,
		"gain" : 0.8
	},
	"Plant": {
		"theta": 20,
		"C": 4190,
		"M": 25,
		"L": 0.05,
		"Td": 15,
		"kn": 0.2,
		"gain" : 0.8
	},
	"Heater": {
		"port": "/dev/ttyUSB0",
		"speed": "115200"
	},
	"Stirrer": {
		"port": "/dev/ttyACM0",
		"speed": "115200"
	}
}