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WIP: adding autotune

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topquark12 2022-06-06 23:18:44 +08:00 committed by Egor Savkin
parent 3e1168dfc4
commit ba39af4dfa
1 changed files with 25 additions and 9 deletions
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32
pytec/tecQT.py
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@ -4,6 +4,8 @@ from pyqtgraph.parametertree import Parameter, ParameterTree, ParameterItem, reg
import numpy as np
import pyqtgraph as pg
from pytec.client import Client
from enum import Enum
from autotune import PIDAutotune, PIDAutotuneState
rec_len = 1000
refresh_period = 20
@ -35,7 +37,6 @@ TECparams = [ [
]},
] for _ in range(2)]
GUIparams = [[
{'name': 'Disable Output', 'type': 'action', 'tip': 'Disable Output'},
{'name': 'Constant Current', 'type': 'group', 'children': [
@ -57,10 +58,18 @@ GUIparams = [[
{'name': 'kP', 'type': 'float', 'value': 0, 'step': 0.1},
{'name': 'kI', 'type': 'float', 'value': 0, 'step': 0.1},
{'name': 'kD', 'type': 'float', 'value': 0, 'step': 0.1},
{'name': 'PID Auto Tune', 'expanded': False, 'type': 'group', 'children': [
{'name': 'Target Temperature', 'type': 'float', 'value': 20, 'step': 0.1, 'siPrefix': True, 'suffix': 'C'},
{'name': 'Test Current', 'type': 'float', 'value': 1, 'step': 0.1, 'siPrefix': True, 'suffix': 'A'},
{'name': 'Temperature Swing', 'type': 'float', 'value': 1.5, 'step': 0.1, 'siPrefix': True, 'suffix': 'C'},
{'name': 'Run', 'type': 'action', 'tip': 'Run'},
]},
]},
{'name': 'Save', 'type': 'action', 'tip': 'Save'},
{'name': 'Save to flash', 'type': 'action', 'tip': 'Save to flash'},
] for _ in range(2)]
autoTuneState = [PIDAutotuneState.STATE_OFF, 'idle']
## If anything changes in the tree, print a message
def change(param, changes, ch):
print("tree changes:")
@ -120,7 +129,10 @@ def change(param, changes, ch):
if (childName == 'PID Config.kD'):
tec.set_param('pid', ch, 'kd', data)
if (childName == 'Save'):
if (childName == 'PID Config.PID Auto Tune.Run'):
autoTuneState[ch] = 'triggered'
if (childName == 'Save to flash'):
tec.save_config()
def change0(param, changes):
@ -174,6 +186,7 @@ def TECsync():
for data in tec.report_mode():
for children in parents['children']:
children['value'] = data[channel][children['tag']]
print(data[channel][children['tag']])
if quit:
break
if parents['tag'] == 'pwm':
@ -190,7 +203,6 @@ def TECsync():
children['value'] = tec.get_pid()[channel]['target']
def refreshTreeParam(tempTree:dict, channel:int) -> dict:
# tempTree['children']['Constant Current']['value'] = not TECparams[channel][0]['children'][0]['value']
tempTree['children']['Constant Current']['children']['Set Current']['value'] = TECparams[channel][1]['children'][3]['value']
tempTree['children']['Temperature PID']['value'] = TECparams[channel][0]['children'][0]['value']
tempTree['children']['Temperature PID']['children']['Set Temperature']['value'] = TECparams[channel][4]['children'][0]['value']
@ -214,6 +226,11 @@ def updateData():
ch0currentGraph.update(data, cnt)
ch1currentGraph.update(data, cnt)
for state in autoTuneState:
if state == 'triggered':
state = 'tuning'
if quit:
break
cnt += 1
@ -238,12 +255,8 @@ if __name__ == '__main__':
paramList = [Parameter.create(name='GUIparams', type='group', children=GUIparams[0]),
Parameter.create(name='GUIparams', type='group', children=GUIparams[1])]
paramList[0].sigTreeStateChanged.connect(change0)
print(paramList[0].children())
ch0Tree = ParameterTree()
ch0Tree.setParameters(paramList[0], showTop=False)
paramList[1].sigTreeStateChanged.connect(change1)
ch1Tree = ParameterTree()
ch1Tree.setParameters(paramList[1], showTop=False)
@ -251,6 +264,9 @@ if __name__ == '__main__':
paramList[0].restoreState(refreshTreeParam(paramList[0].saveState(), 0))
paramList[1].restoreState(refreshTreeParam(paramList[1].saveState(), 1))
paramList[0].sigTreeStateChanged.connect(change0)
paramList[1].sigTreeStateChanged.connect(change1)
layout.addWidget(ch0Tree, 1, 1, 1, 1)
layout.addWidget(ch1Tree, 2, 1, 1, 1)