jens
858249f1e7
IDLE conflated two unrelated things: "controller disabled" and "needs to cool, which this heat-only actuator fakes via zero output." Split them apart: - IDLE now means disabled only - the FSM forces it whenever enabled=False, regardless of the temperature gap, and process_pid() zeroes y for it same as before. - New COOL state (mirroring HEAT) takes over the negative-diff case, with its own pid_cool (separate "Cool" gains, alongside Hold/Heat) instead of reusing pid_rate. Its output can legitimately be negative - it's the actuator (tasks/heater.py's actor(), already max(0, ...)) that clamps it to 0 because *this* plant (Pot) can only heat. A plant with real cooling capability could one day honor it directly. - Thresholds renamed accordingly (HoldIdle->HoldCool, HeatIdle-> HeatCool, new CoolHold/CoolHeat); config.json/.sim/.templ and the hand-rolled ctrl_params in scripts/demos/pid/ and demo_sud.py updated with a "Cool" params section (mirrors "Heat" for now, since there's no real cooling actuator to tune against yet). Also fixes a regression in demo_sud.py/the other PID demos: none of them ever called set_enabled(True), so since enabled defaults to False they never drove the heater at all - only caught because this change's demo_sud.py re-run got stuck in RAMPING forever.
42 lines
572 B
Plaintext
Executable File
42 lines
572 B
Plaintext
Executable File
{
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"ambient_temperature": 20,
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"Controller" : {
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"dt": 0.1,
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"sim_warp_factor": 10.0,
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"stirrer_name": "sim",
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"heater_name": "sim",
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"sensor_name": "sim",
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"plant_name": "sim",
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"pid_type": "Smith"
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},
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"TempCtrl": {
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"Hold": {
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"kp": 0.25,
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"ki": 0.0,
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"kd": 0.0,
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"kt": 0.0
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},
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"Heat": {
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"kp": 0.05,
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"ki": 0.01,
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"kd": 0.0,
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"kt": 1.5
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},
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"Cool": {
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"kp": 0.05,
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"ki": 0.01,
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"kd": 0.0,
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"kt": 1.5
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}
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},
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"Heater": {
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"port": "/dev/ttyUSB0",
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"speed": "115200"
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},
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"Stirrer": {
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"port": "/dev/ttyACM0",
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"speed": "115200"
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}
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}
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