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Only log the autotuned params

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atse 2023-09-12 17:37:20 +08:00
parent a2c7b0b97a
commit 24006d17bf
1 changed files with 6 additions and 6 deletions
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12
pytec/autotune.py
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@ -222,20 +222,20 @@ class PIDAutotune:
# calculate ultimate gain # calculate ultimate gain
self._Ku = 4.0 * self._outputstep / \ self._Ku = 4.0 * self._outputstep / \
(self._induced_amplitude * math.pi) (self._induced_amplitude * math.pi)
print('Ku: {0}'.format(self._Ku)) logging.debug('Ku: {0}'.format(self._Ku))
# calculate ultimate period in seconds # calculate ultimate period in seconds
period1 = self._peak_timestamps[3] - self._peak_timestamps[1] period1 = self._peak_timestamps[3] - self._peak_timestamps[1]
period2 = self._peak_timestamps[4] - self._peak_timestamps[2] period2 = self._peak_timestamps[4] - self._peak_timestamps[2]
self._Pu = 0.5 * (period1 + period2) / 1000.0 self._Pu = 0.5 * (period1 + period2) / 1000.0
print('Pu: {0}'.format(self._Pu)) logging.debug('Pu: {0}'.format(self._Pu))
for rule in self._tuning_rules: for rule in self._tuning_rules:
params = self.get_pid_parameters(rule) params = self.get_pid_parameters(rule)
print('rule: {0}'.format(rule)) logging.debug('rule: {0}'.format(rule))
print('Kp: {0}'.format(params.Kp)) logging.debug('Kp: {0}'.format(params.Kp))
print('Ki: {0}'.format(params.Ki)) logging.debug('Ki: {0}'.format(params.Ki))
print('Kd: {0}'.format(params.Kd)) logging.debug('Kd: {0}'.format(params.Kd))
return True return True
return False return False