M-Labs/thermostat
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BREAKING: PID Refactor #68

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sb10q merged 6 commits from pid_refactor into master 2022-02-24 20:16:47 +08:00
Conversation 1 Commits 6 Files Changed 8 +5 -6
2 changed files with 5 additions and 6 deletions
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10
pytec/autotune.py
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@ -77,8 +77,8 @@ class PIDAutotune:
""" """
divisors = self._tuning_rules[tuning_rule] divisors = self._tuning_rules[tuning_rule]
kp = self._Ku * divisors[0] kp = self._Ku * divisors[0]
ki = divisors[1] * self._Ku / self._Pu / 0.12 ki = divisors[1] * self._Ku / self._Pu
kd = divisors[2] * self._Ku * self._Pu * 0.12 kd = divisors[2] * self._Ku * self._Pu
return PIDAutotune.PIDParams(kp, ki, kd) return PIDAutotune.PIDParams(kp, ki, kd)
def run(self, input_val, time_input): def run(self, input_val, time_input):
@ -114,9 +114,9 @@ class PIDAutotune:
# set output # set output
if (self._state == PIDAutotuneState.STATE_RELAY_STEP_UP): if (self._state == PIDAutotuneState.STATE_RELAY_STEP_UP):
self._output = self._initial_output + self._outputstep
elif self._state == PIDAutotuneState.STATE_RELAY_STEP_DOWN:
self._output = self._initial_output - self._outputstep self._output = self._initial_output - self._outputstep
elif self._state == PIDAutotuneState.STATE_RELAY_STEP_DOWN:
self._output = self._initial_output + self._outputstep
# respect output limits # respect output limits
self._output = min(self._output, self._out_max) self._output = min(self._output, self._out_max)
@ -223,7 +223,7 @@ def main():
# Thermostat channel # Thermostat channel
channel = 0 channel = 0
# Target temperature of the autotune routine, celcius # Target temperature of the autotune routine, celcius
target_temperature = 30 target_temperature = 20
# Value by which output will be increased/decreased from zero, amps # Value by which output will be increased/decreased from zero, amps
output_step = 1 output_step = 1
# Reference period for local minima/maxima, seconds # Reference period for local minima/maxima, seconds

1
src/channel_state.rs
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@ -3,7 +3,6 @@ use uom::si::{
f64::{ f64::{
ElectricPotential, ElectricPotential,
ElectricalResistance, ElectricalResistance,
ElectricCurrent,
ThermodynamicTemperature, ThermodynamicTemperature,
Time, Time,
}, },