Update PID Autotune Code for Driver Code

pykirdy/pid_autotune.py

@@ -6,7 +6,7 @@ import socket
 import json
 import time
 import signal
-from driver.kirdy_async import Kirdy
+from driver.kirdy import Kirdy, FilterConfig
 import asyncio
 
 # Based on hirshmann pid-autotune libiary
@@ -246,57 +246,43 @@ class PIDAutotune:
         return False
 
 
-async def main():
+def main():
     """
-    PID Autotune Tool for Kirdy
+        PID AutoTune Tools for Kirdy
+            The obtained temperature works best at the target temperature specified.
+            Before running PID AutoTune, please 
+                1. Secure the laser diode onto the LD adapter and copper heat sink
+                2. Make sure Kirdy has warmed up and reached thermal equilibrium state
         
-    This tool can tune the PID to be critically damped by adjusting a few parameters.
+        In case of PID Autotune Failure, you can
-    Please be advised that this tool can generate undesired PID response.
+            1. Run the PID Autotune again
-    Make sure you have set the over-temperature protection range properly to protect the laser diode.
+            2. Or increase the lookback period
-
+            3. Or increase the sampling rate
-    PID Autotune Tool Parameters:
-        For the operation theory and implication of each parameters, please refer to this blog post.
-        http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/
-
-        1. lookback: Reference period for local minima/maxima, seconds.
-        2. noiseband: Determines by how much the input value must overshoot/undershoot the setpoint(celsius).
-        3. output_step: Output current step size(amps).
-        4. target_temperature: Target Output Temperature Setpoint.
-        5. apply_params: Apply PID Parameters after pid autotune is successful.
-
-    Kirdy-Related Parameters:
-        1. Thermistor parameters.
-        2. Temperature monitor upper and lower limits.
-        3. Temperature ADC filter type and sampling rate.
-
-    Instructions:
-    Before running the PID Autotune Tool, please:
-        1. Secure the laser diode onto the LD adapter and copper heat sink with thermal paste.
-        2. Ensure Kirdy has warmed up and reached thermal equilibrium.
-
-    After running the PID Autotune Tool:
-        Test the PID parameters and evaluate the PID output behavior.
     """
 
+    # Target temperature of the autotune routine, celsius
     target_temperature = 20
+    # Value by which output will be increased/decreased from zero, amps
     output_step = 1
-    lookback = 5.0
+    # Reference period for local minima/maxima, seconds
-    noiseband = 0.0
+    lookback = 2.0
-    # Apply parameter
+    # Determines by how much the input value must
-    apply_params = True
+    # overshoot/undershoot the setpoint, celsius
+    noiseband = 2.0
 
     kirdy = Kirdy()
-    kirdy_ctrl = Kirdy()
+    kirdy.start_session(host='192.168.1.128', port=1337)
-    await kirdy.start_session(host='192.168.1.131', port=1337, timeout=0.25)
-    await kirdy_ctrl.start_session(host='192.168.1.131', port=1337, timeout=0.25)
 
-    await kirdy_ctrl.laser.set_power_on(False)
+    while not(kirdy.connected()):   
-    await kirdy_ctrl.laser.set_i(0)
+        pass
 
-    await kirdy_ctrl.thermostat.set_power_on(False)
+    kirdy.laser.set_power_on(False)
-    await kirdy_ctrl.thermostat.set_constant_current_control_mode()
+    kirdy.laser.set_i(0)
-    await kirdy_ctrl.thermostat.set_tec_i_out(0)
+
-    await kirdy_ctrl.thermostat.clear_alarm()
+    kirdy.thermostat.set_power_on(False)
+    kirdy.thermostat.set_constant_current_control_mode()
+    kirdy.thermostat.set_tec_i_out(0)
+    kirdy.thermostat.clear_alarm()
     
     class SignalHandler:
         KEEP_PROCESSING = True
@@ -308,53 +294,57 @@ async def main():
             self.KEEP_PROCESSING = False
     signal_handler = SignalHandler()
 
-    # Configure the Thermistor Parameters
+    kirdy.device.set_active_report_mode(False)
-    await kirdy_ctrl.thermostat.set_sh_beta(3950)
-    await kirdy_ctrl.thermostat.set_sh_r0(10.0 * 1000)
-    await kirdy_ctrl.thermostat.set_sh_t0(25)
 
-    # Set a large enough temperature range so that it won't trigger over-temperature protection
+    # Configure the Thermistor Parameters
-    await kirdy_ctrl.thermostat.set_temp_mon_upper_limit(target_temperature + 20)
+    kirdy.thermostat.set_sh_beta(3950)
-    await kirdy_ctrl.thermostat.set_temp_mon_lower_limit(target_temperature - 20)
+    kirdy.thermostat.set_sh_r0(10.0 * 1000)
-    await kirdy_ctrl.thermostat.set_tec_max_cooling_i(output_step)
+    kirdy.thermostat.set_sh_t0(25)
-    await kirdy_ctrl.thermostat.set_tec_max_heating_i(output_step)
+
+    # Set a large enough temperature range so that it won't trigger overtemperature protection
+    kirdy.thermostat.set_temp_mon_upper_limit(target_temperature + 20)
+    kirdy.thermostat.set_temp_mon_lower_limit(target_temperature - 20)
+
+    kirdy.thermostat.set_tec_max_cooling_i(output_step)
+    kirdy.thermostat.set_tec_max_heating_i(output_step)
 
     # The Polling Rate of Temperature Adc is equal to the PID Update Interval
-    settings = await kirdy_ctrl.device.get_settings_summary()
+    kirdy.thermostat.config_temp_adc_filter(FilterConfig.Sinc5Sinc1With50hz60HzRejection.f16sps)
+    settings = kirdy.device.get_settings_summary()
     sampling_rate = settings["thermostat"]["temp_adc_settings"]["rate"]
 
-    await kirdy_ctrl.thermostat.set_power_on(True)
+    print("Settings: {0}".format(settings))
 
     tuner = PIDAutotune(target_temperature, output_step,
                         lookback, noiseband, 1/sampling_rate)
 
-    async for status_report in kirdy.report_mode():
+    kirdy.thermostat.set_power_on(True)
-        if signal_handler.KEEP_PROCESSING:
-            temperature = status_report["thermostat"]["temperature"]
-            ts = status_report['ts']
-            print("Ts: {0} Temperature: {1} degree".format(ts, temperature))
 
-            if (tuner.run(temperature, ts / 1000.0)):
+    while True and signal_handler.KEEP_PROCESSING:
-                print(tuner._state)
+        status_report = kirdy.device.get_status_report()
-                kirdy.stop_report_mode()
         
-            tuner_out = tuner.output()
+        temperature = status_report["thermostat"]["temperature"]
-            print("PID Autotuner Output: {0}A".format(tuner_out))
+        ts = status_report['ts']
-            await kirdy_ctrl.thermostat.set_tec_i_out(tuner_out)
+        print("Ts: {0} Current Temperature: {1} degree".format(ts, temperature))
-        else:
-            kirdy.stop_report_mode()
         
-    await kirdy_ctrl.thermostat.set_tec_i_out(0)
+        if (tuner.run(temperature, ts / 1000.0)):
-    await kirdy_ctrl.thermostat.set_power_on(False)
+            print(tuner._state)
+            break
 
-    if apply_params:
+        tuner_out = tuner.output()
-        kp, ki, kd = tuner.get_tec_pid()
+        kirdy.thermostat.set_tec_i_out(float(tuner_out))
-        await kirdy_ctrl.thermostat.set_pid_kp(kp)
-        await kirdy_ctrl.thermostat.set_pid_ki(ki)
-        await kirdy_ctrl.thermostat.set_pid_kd(kd)
     
-    await kirdy.end_session()
+    kirdy.thermostat.set_tec_i_out(0)
-    await kirdy_ctrl.end_session()
+    kirdy.thermostat.set_power_on(False)
+
+    pid_params = tuner.get_pid_parameters(tuning_rule="tyreus-luyben")
+    kirdy.thermostat.set_pid_kp(pid_params.Kp)
+    kirdy.thermostat.set_pid_ki(pid_params.Ki)
+    kirdy.thermostat.set_pid_kd(pid_params.Kd)
+    kirdy.thermostat.set_pid_output_max(1.0)
+    kirdy.thermostat.set_pid_output_min(1.0)
+
+    kirdy.end_session(block=True)
 
 if __name__ == "__main__":
-    asyncio.run(main())
+    main()