59 lines
746 B
Python
59 lines
746 B
Python
from enum import Enum
|
|
|
|
|
|
class States(Enum):
|
|
INIT = -1,
|
|
IDLE = 0,
|
|
HEAT = 1,
|
|
HOLD = 2
|
|
|
|
|
|
THRESH_HOLD_IDLE = 0.1
|
|
THRESH_HOLD_HEAT = 1.0
|
|
THRESH_IDLE_HEAT = 1.0
|
|
THRESH_IDLE_HOLD = 0.1
|
|
THRESH_HEAT_HOLD = 1.0
|
|
THRESH_HEAT_IDLE = 1.0
|
|
|
|
|
|
class Test:
|
|
tc_ctrl_params = {
|
|
"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": 0.02,
|
|
"ki": 0.01,
|
|
"kd": 0.0,
|
|
"kt": 1.5
|
|
}
|
|
}
|
|
|
|
tc_model_params = {
|
|
"theta" : 20,
|
|
"C" : 4190,
|
|
"M" : 20,
|
|
"L" : 0.01,
|
|
"Td" : 30,
|
|
"kn" : 0.2,
|
|
"gain" : 1.0
|
|
}
|
|
|
|
tc_pot_params = {
|
|
"theta" : 20,
|
|
"C" : 4190,
|
|
"M" : 20,
|
|
"L" : 0.01,
|
|
"Td" : 30,
|
|
"kn" : 0.2,
|
|
"gain" : 1.0
|
|
}
|