forked from M-Labs/kirdy
Update pid autotuner code
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2fe2ef531b
commit
6782cda790
@ -73,7 +73,7 @@
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src = "${self}/pykirdy";
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nativeBuildInputs = [ pkgs.qt6.wrapQtAppsHook ];
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propagatedBuildInputs = [ pkgs.qt6.qtbase ] ++ (with pkgs.python3Packages; [ pyqtgraph pyqt6 qasync pglive aenum]);
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propagatedBuildInputs = [ pkgs.qt6.qtbase ] ++ (with pkgs.python3Packages; [ pyqtgraph pyqt6 qasync pglive aenum sipyco]);
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dontWrapQtApps = true;
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postFixup = ''
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@ -94,7 +94,7 @@
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buildInputs = with pkgs; [
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rust openocd dfu-util glibc
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] ++ (with python3Packages; [
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numpy matplotlib pyqtgraph setuptools pyqt6 qasync pglive aenum
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numpy matplotlib pyqtgraph setuptools pyqt6 qasync pglive aenum sipyco
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]);
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shellHook=
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''
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@ -8,6 +8,7 @@ import time
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import signal
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from driver.kirdy import Kirdy, FilterConfig
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import asyncio
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from sipyco.asyncio_tools import SignalHandler
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# Based on hirshmann pid-autotune libiary
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# See https://github.com/hirschmann/pid-autotune
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@ -76,6 +77,10 @@ class PIDAutotune:
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def setOff(self):
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self._state = PIDAutotuneState.STATE_OFF
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def setFailed(self):
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self._state = PIDAutotuneState.STATE_FAILED
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self._peak_count = 30
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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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@ -246,7 +251,7 @@ class PIDAutotune:
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return False
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def main():
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async def main():
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"""
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PID AutoTune Tools for Kirdy
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The obtained temperature works best at the target temperature specified.
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@ -271,46 +276,46 @@ def main():
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noiseband = 2.0
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kirdy = Kirdy()
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kirdy.start_session(host='192.168.1.128', port=1337)
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kirdy.start_session(host='192.168.1.126', port=1337)
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await kirdy.wait_until_connected()
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while not(kirdy.connected()):
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pass
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kirdy.laser.set_power_on(False)
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kirdy.laser.set_i(0)
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await kirdy.laser.set_power_on(False)
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await kirdy.laser.set_i(0)
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kirdy.thermostat.set_power_on(False)
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kirdy.thermostat.set_constant_current_control_mode()
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kirdy.thermostat.set_tec_i_out(0)
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kirdy.thermostat.clear_alarm()
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await kirdy.thermostat.set_power_on(False)
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await kirdy.thermostat.set_constant_current_control_mode()
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await kirdy.thermostat.set_tec_i_out(0)
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await kirdy.thermostat.clear_alarm()
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class SignalHandler:
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KEEP_PROCESSING = True
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def __init__(self):
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signal.signal(signal.SIGINT, self.exit_gracefully)
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signal.signal(signal.SIGTERM, self.exit_gracefully)
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def exit_gracefully(self, signum, frame):
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self.KEEP_PROCESSING = False
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signal_handler = SignalHandler()
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kirdy.device.set_active_report_mode(False)
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signal_handler.setup()
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async def sig_handling():
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await signal_handler.wait_terminate()
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tuner.setFailed()
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asyncio.create_task(sig_handling())
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await kirdy.device.set_active_report_mode(False)
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# Configure the Thermistor Parameters
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kirdy.thermostat.set_sh_beta(3950)
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kirdy.thermostat.set_sh_r0(10.0 * 1000)
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kirdy.thermostat.set_sh_t0(25)
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await kirdy.thermostat.set_sh_beta(3950)
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await kirdy.thermostat.set_sh_r0(10.0 * 1000)
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await kirdy.thermostat.set_sh_t0(25)
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# Set a large enough temperature range so that it won't trigger overtemperature protection
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kirdy.thermostat.set_temp_mon_upper_limit(target_temperature + 20)
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kirdy.thermostat.set_temp_mon_lower_limit(target_temperature - 20)
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await kirdy.thermostat.set_temp_mon_upper_limit(target_temperature + 20)
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await kirdy.thermostat.set_temp_mon_lower_limit(target_temperature - 20)
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kirdy.thermostat.set_tec_max_cooling_i(output_step)
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kirdy.thermostat.set_tec_max_heating_i(output_step)
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await kirdy.thermostat.set_tec_max_cooling_i(output_step)
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await kirdy.thermostat.set_tec_max_heating_i(output_step)
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# The Polling Rate of Temperature Adc is equal to the PID Update Interval
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kirdy.thermostat.config_temp_adc_filter(FilterConfig.Sinc5Sinc1With50hz60HzRejection.f16sps)
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settings = kirdy.device.get_settings_summary()
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await kirdy.thermostat.config_temp_adc_filter(FilterConfig.Sinc5Sinc1With50hz60HzRejection.f16sps)
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settings = await kirdy.device.get_settings_summary()
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sampling_rate = settings["thermostat"]["temp_adc_settings"]["rate"]
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print("Settings: {0}".format(settings))
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@ -318,10 +323,10 @@ def main():
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tuner = PIDAutotune(target_temperature, output_step,
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lookback, noiseband, 1/sampling_rate)
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kirdy.thermostat.set_power_on(True)
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await kirdy.thermostat.set_power_on(True)
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while True and signal_handler.KEEP_PROCESSING:
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status_report = kirdy.device.get_status_report()
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while True:
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status_report = await kirdy.device.get_status_report()
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temperature = status_report["thermostat"]["temperature"]
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ts = status_report['ts']
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@ -332,19 +337,20 @@ def main():
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break
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tuner_out = tuner.output()
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kirdy.thermostat.set_tec_i_out(float(tuner_out))
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await kirdy.thermostat.set_tec_i_out(float(tuner_out))
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kirdy.thermostat.set_tec_i_out(0)
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kirdy.thermostat.set_power_on(False)
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await kirdy.thermostat.set_tec_i_out(0)
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await kirdy.thermostat.set_power_on(False)
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pid_params = tuner.get_pid_parameters(tuning_rule="tyreus-luyben")
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kirdy.thermostat.set_pid_kp(pid_params.Kp)
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kirdy.thermostat.set_pid_ki(pid_params.Ki)
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kirdy.thermostat.set_pid_kd(pid_params.Kd)
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kirdy.thermostat.set_pid_output_max(1.0)
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kirdy.thermostat.set_pid_output_min(1.0)
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if tuner.state() == PIDAutotuneState.STATE_SUCCEEDED:
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pid_params = tuner.get_pid_parameters(tuning_rule="tyreus-luyben")
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await kirdy.thermostat.set_pid_kp(pid_params.Kp)
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await kirdy.thermostat.set_pid_ki(pid_params.Ki)
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await kirdy.thermostat.set_pid_kd(pid_params.Kd)
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await kirdy.thermostat.set_pid_output_max(1.0)
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await kirdy.thermostat.set_pid_output_min(1.0)
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kirdy.end_session(block=True)
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await kirdy.end_session()
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if __name__ == "__main__":
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main()
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asyncio.run(main())
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