pytec: clean up styling issues
parent
14a027c0f0
commit
6ea41d5cc8
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@ -1,8 +1,8 @@
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import math
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import logging
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from time import time
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from collections import deque, namedtuple
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from enum import Enum
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from pytec.client import Client
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# Based on hirshmann pid-autotune libiary
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@ -10,6 +10,7 @@ from pytec.client import Client
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# Which is in turn based on a fork of Arduino PID AutoTune Library
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# See https://github.com/t0mpr1c3/Arduino-PID-AutoTune-Library
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class PIDAutotuneState(Enum):
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STATE_OFF = 'off'
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STATE_RELAY_STEP_UP = 'relay step up'
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@ -17,10 +18,11 @@ class PIDAutotuneState(Enum):
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STATE_SUCCEEDED = 'succeeded'
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STATE_FAILED = 'failed'
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class PIDAutotune():
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class PIDAutotune:
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PIDParams = namedtuple('PIDParams', ['Kp', 'Ki', 'Kd'])
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PEAK_AMPLITUDE_TOLERANCE = 0.05
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PEAK_AMPLITUDE_TOLERANCE = 0.05
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_tuning_rules = {
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"ziegler-nichols": [0.6, 1.2, 0.075],
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@ -31,10 +33,11 @@ class PIDAutotune():
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"no-overshoot": [0.2, 0.4, 0.0667]
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}
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def __init__(self, setpoint, out_step=10, lookback=60, noiseband=0.5, sampletime=1.2):
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def __init__(self, setpoint, out_step=10, lookback=60,
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noiseband=0.5, sampletime=1.2):
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if setpoint is None:
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raise ValueError('setpoint must be specified')
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self._inputs = deque(maxlen=round(lookback / sampletime))
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self._setpoint = setpoint
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self._outputstep = out_step
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@ -52,11 +55,11 @@ class PIDAutotune():
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self._induced_amplitude = 0
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self._Ku = 0
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self._Pu = 0
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def state(self):
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"""Get the current state."""
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return self._state
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def output(self):
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"""Get the last output value."""
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return self._output
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@ -129,7 +132,7 @@ class PIDAutotune():
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self._inputs.append(input_val)
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# we don't want to trust the maxes or mins until the input array is full
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# we don't trust the maxes or mins until the input array is full
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if len(self._inputs) < self._inputs.maxlen:
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return False
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@ -164,14 +167,16 @@ class PIDAutotune():
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abs_max = self._peaks[-2]
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abs_min = self._peaks[-2]
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for i in range(0, len(self._peaks) - 2):
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self._induced_amplitude += abs(self._peaks[i] - self._peaks[i+1])
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self._induced_amplitude += abs(self._peaks[i]
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- self._peaks[i+1])
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abs_max = max(self._peaks[i], abs_max)
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abs_min = min(self._peaks[i], abs_min)
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self._induced_amplitude /= 6.0
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# check convergence criterion for amplitude of induced oscillation
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amplitude_dev = ((0.5 * (abs_max - abs_min) - self._induced_amplitude)
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amplitude_dev = ((0.5 * (abs_max - abs_min)
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- self._induced_amplitude)
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/ self._induced_amplitude)
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logging.debug('amplitude: {0}'.format(self._induced_amplitude))
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@ -179,7 +184,7 @@ class PIDAutotune():
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if amplitude_dev < PIDAutotune.PEAK_AMPLITUDE_TOLERANCE:
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self._state = PIDAutotuneState.STATE_SUCCEEDED
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# if the autotune has not already converged
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# terminate after 10 cycles
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if self._peak_count >= 20:
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@ -192,7 +197,8 @@ class PIDAutotune():
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logging.debug('peak finding successful')
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# calculate ultimate gain
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self._Ku = 4.0 * self._outputstep / (self._induced_amplitude * math.pi)
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self._Ku = 4.0 * self._outputstep / \
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(self._induced_amplitude * math.pi)
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print('Ku: {0}'.format(self._Ku))
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# calculate ultimate period in seconds
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@ -206,12 +212,12 @@ class PIDAutotune():
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print('rule: {0}'.format(rule))
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print('Kp: {0}'.format(params.Kp))
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print('Ki: {0}'.format(params.Ki))
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print('Kd: {0}'.format(params.Kd))
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print('Kd: {0}'.format(params.Kd))
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return True
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return False
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def init_tuner(self, inputValue, timestamp):
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def init_tuner(self, input_value, timestamp):
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self._peak_type = 0
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self._peak_count = 0
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self._output = 0
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@ -224,6 +230,7 @@ class PIDAutotune():
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self._peak_timestamps.append(timestamp)
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self._state = PIDAutotuneState.STATE_RELAY_STEP_UP
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def main():
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# Auto tune parameters
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# Thermostat channel
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@ -234,17 +241,19 @@ def main():
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output_step = 1
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# Reference period for local minima/maxima, seconds
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lookback = 3
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# Determines by how much the input value must overshoot/undershoot the setpoint, celcius
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# Determines by how much the input value must
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# overshoot/undershoot the setpoint, celcius
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noiseband = 1.5
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# logging.basicConfig(level=logging.DEBUG)
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tec = Client()
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tec = Client()
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data = next(tec.report_mode())
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ch = data[channel]
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tuner = PIDAutotune(target_temperature, output_step, lookback, noiseband, ch['interval'])
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tuner = PIDAutotune(target_temperature, output_step,
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lookback, noiseband, ch['interval'])
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for data in tec.report_mode():
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try:
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@ -255,13 +264,15 @@ def main():
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if (tuner.run(temperature, ch['time'])):
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break
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tunerOut = tuner.output()
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tuner_out = tuner.output()
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tec.set_param("pwm", channel, "i_set" , tunerOut)
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tec.set_param("pwm", channel, "i_set", tuner_out)
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except:
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except KeyError:
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pass
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tec.set_param("pwm", channel, "i_set" , channel)
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tec.set_param("pwm", channel, "i_set", 0)
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if __name__ == "__main__": main()
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if __name__ == "__main__":
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main()
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