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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-06-27 14:32:10 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-06-27 14:32:10 -0400 |
| commit | 7e497af184a24d42bfdb62337e01d188cf630a8b (patch) | |
| tree | 306ee5c44d93c61de5b6d28de59cdcf38cce176f /klippy/extras | |
| parent | 483c51e864fd7aeb1adcf3793cffe5e517d026bc (diff) | |
| download | kutter-7e497af184a24d42bfdb62337e01d188cf630a8b.tar.gz kutter-7e497af184a24d42bfdb62337e01d188cf630a8b.tar.xz kutter-7e497af184a24d42bfdb62337e01d188cf630a8b.zip | |
heater: Don't peak into Heater class member variables
The control classes should not peak into the heater member variables.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/pid_calibrate.py | 19 |
1 files changed, 10 insertions, 9 deletions
diff --git a/klippy/extras/pid_calibrate.py b/klippy/extras/pid_calibrate.py index 769d8cbc..292a2b31 100644 --- a/klippy/extras/pid_calibrate.py +++ b/klippy/extras/pid_calibrate.py @@ -47,6 +47,7 @@ TUNE_PID_DELTA = 5.0 class ControlAutoTune: def __init__(self, heater): self.heater = heater + self.heater_max_power = heater.get_max_power() # Heating control self.heating = False self.peak = 0. @@ -60,20 +61,21 @@ class ControlAutoTune: # Heater control def set_pwm(self, read_time, value): if value != self.last_pwm: - self.pwm_samples.append((read_time + self.heater.pwm_delay, value)) + self.pwm_samples.append( + (read_time + self.heater.get_pwm_delay(), value)) self.last_pwm = value self.heater.set_pwm(read_time, value) - def temperature_callback(self, read_time, temp): + def temperature_update(self, read_time, temp, target_temp): self.temp_samples.append((read_time, temp)) - if self.heating and temp >= self.heater.target_temp: + if self.heating and temp >= target_temp: self.heating = False self.check_peaks() elif (not self.heating - and temp <= self.heater.target_temp - TUNE_PID_DELTA): + and temp <= target_temp - TUNE_PID_DELTA): self.heating = True self.check_peaks() if self.heating: - self.set_pwm(read_time, self.heater.max_power) + self.set_pwm(read_time, self.heater_max_power) if temp < self.peak: self.peak = temp self.peak_time = read_time @@ -82,7 +84,7 @@ class ControlAutoTune: if temp > self.peak: self.peak = temp self.peak_time = read_time - def check_busy(self, eventtime): + def check_busy(self, eventtime, last_temp, target_temp): if self.heating or len(self.peaks) < 12: return True return False @@ -99,8 +101,7 @@ class ControlAutoTune: def calc_pid(self, pos): temp_diff = self.peaks[pos][0] - self.peaks[pos-1][0] time_diff = self.peaks[pos][1] - self.peaks[pos-2][1] - max_power = self.heater.max_power - Ku = 4. * (2. * max_power) / (abs(temp_diff) * math.pi) + Ku = 4. * (2. * self.heater_max_power) / (abs(temp_diff) * math.pi) Tu = time_diff Ti = 0.5 * Tu @@ -109,7 +110,7 @@ class ControlAutoTune: Ki = Kp / Ti Kd = Kp * Td logging.info("Autotune: raw=%f/%f Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f", - temp_diff, max_power, Ku, Tu, Kp, Ki, Kd) + temp_diff, self.heater_max_power, Ku, Tu, Kp, Ki, Kd) return Kp, Ki, Kd def calc_final_pid(self): cycle_times = [(self.peaks[pos][1] - self.peaks[pos-2][1], pos) |