jensandClaude Sonnet 4.6
4256622e9d
THRESH_HOLD_IDLE/HOLD_HEAT/IDLE_HEAT/IDLE_HOLD/HEAT_HOLD/HEAT_IDLE in tc_constants.py were hardcoded module-level constants shared by every controller instance, so tuning the IDLE/HOLD/HEAT hysteresis required a code change. Replace them with DEFAULT_THRESHOLDS plus an optional TempCtrl.Thresholds config section, merged at construction time in TempControllerBase.__init__ so configs that omit the section keep behaving exactly as before. Documented the new section in config.json.templ; left config.json.sim without it to exercise the default-fallback path. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
65 lines
899 B
Templ
65 lines
899 B
Templ
{
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"Controller" : {
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"dt": 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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"Kalman": {
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"var_P" : 1.0,
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"var_Q" : 0.0001,
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"var_R" : 1.0
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},
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"Hold": {
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"kp": 0.4,
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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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"Thresholds": {
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"HoldIdle": 0.1,
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"HoldHeat": 1.0,
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"IdleHeat": 1.0,
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"IdleHold": 0.1,
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"HeatHold": 1.0,
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"HeatIdle": 1.0
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}
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},
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"Model": {
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"theta": 20,
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"C": 4190,
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"M": 25,
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"L": 0.05,
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"Td": 15,
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"kn": 0.2,
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"gain" : 0.8
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},
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"Plant": {
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"theta": 20,
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"C": 4190,
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"M": 25,
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"L": 0.05,
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"Td": 15,
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"kn": 0.2,
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"gain" : 0.8
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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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