diff options
Diffstat (limited to 'klippy/heater.py')
| -rw-r--r-- | klippy/heater.py | 36 |
1 files changed, 22 insertions, 14 deletions
diff --git a/klippy/heater.py b/klippy/heater.py index 4591b2b4..0376ed56 100644 --- a/klippy/heater.py +++ b/klippy/heater.py @@ -76,9 +76,13 @@ class Heater: self.last_temp = temp self.last_temp_time = read_time self.can_extrude = (temp >= self.min_extrude_temp) - self.control.temperature_callback(read_time, temp) + self.control.temperature_update(read_time, temp, self.target_temp) #logging.debug("temp: %.3f %f = %f", read_time, temp) # External commands + def get_pwm_delay(self): + return self.pwm_delay + def get_max_power(self): + return self.max_power def set_temp(self, print_time, degrees): if degrees and (degrees < self.min_temp or degrees > self.max_temp): raise error("Requested temperature (%.1f) out of range (%.1f:%.1f)" @@ -93,7 +97,8 @@ class Heater: return self.last_temp, self.target_temp def check_busy(self, eventtime): with self.lock: - return self.control.check_busy(eventtime) + return self.control.check_busy( + eventtime, self.last_temp, self.target_temp) def set_control(self, control): with self.lock: old_control = self.control @@ -122,19 +127,20 @@ class Heater: class ControlBangBang: def __init__(self, heater, config): self.heater = heater + self.heater_max_power = heater.get_max_power() self.max_delta = config.getfloat('max_delta', 2.0, above=0.) self.heating = False - def temperature_callback(self, read_time, temp): - if self.heating and temp >= self.heater.target_temp+self.max_delta: + def temperature_update(self, read_time, temp, target_temp): + if self.heating and temp >= target_temp+self.max_delta: self.heating = False - elif not self.heating and temp <= self.heater.target_temp-self.max_delta: + elif not self.heating and temp <= target_temp-self.max_delta: self.heating = True if self.heating: - self.heater.set_pwm(read_time, self.heater.max_power) + self.heater.set_pwm(read_time, self.heater_max_power) else: self.heater.set_pwm(read_time, 0.) - def check_busy(self, eventtime): - return self.heater.last_temp < self.heater.target_temp-self.max_delta + def check_busy(self, eventtime, last_temp, target_temp): + return last_temp < target_temp-self.max_delta ###################################################################### @@ -147,17 +153,19 @@ PID_SETTLE_SLOPE = .1 class ControlPID: def __init__(self, heater, config): self.heater = heater + self.heater_max_power = heater.get_max_power() self.Kp = config.getfloat('pid_Kp') / PID_PARAM_BASE self.Ki = config.getfloat('pid_Ki') / PID_PARAM_BASE self.Kd = config.getfloat('pid_Kd') / PID_PARAM_BASE self.min_deriv_time = config.getfloat('pid_deriv_time', 2., above=0.) - imax = config.getfloat('pid_integral_max', heater.max_power, minval=0.) + imax = config.getfloat('pid_integral_max', self.heater_max_power, + minval=0.) self.temp_integ_max = imax / self.Ki self.prev_temp = AMBIENT_TEMP self.prev_temp_time = 0. self.prev_temp_deriv = 0. self.prev_temp_integ = 0. - def temperature_callback(self, read_time, temp): + def temperature_update(self, read_time, temp, target_temp): time_diff = read_time - self.prev_temp_time # Calculate change of temperature temp_diff = temp - self.prev_temp @@ -167,14 +175,14 @@ class ControlPID: temp_deriv = (self.prev_temp_deriv * (self.min_deriv_time-time_diff) + temp_diff) / self.min_deriv_time # Calculate accumulated temperature "error" - temp_err = self.heater.target_temp - temp + temp_err = target_temp - temp temp_integ = self.prev_temp_integ + temp_err * time_diff temp_integ = max(0., min(self.temp_integ_max, temp_integ)) # Calculate output co = self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv #logging.debug("pid: %f@%.3f -> diff=%f deriv=%f err=%f integ=%f co=%d", # temp, read_time, temp_diff, temp_deriv, temp_err, temp_integ, co) - bounded_co = max(0., min(self.heater.max_power, co)) + bounded_co = max(0., min(self.heater_max_power, co)) self.heater.set_pwm(read_time, bounded_co) # Store state for next measurement self.prev_temp = temp @@ -182,8 +190,8 @@ class ControlPID: self.prev_temp_deriv = temp_deriv if co == bounded_co: self.prev_temp_integ = temp_integ - def check_busy(self, eventtime): - temp_diff = self.heater.target_temp - self.heater.last_temp + def check_busy(self, eventtime, last_temp, target_temp): + temp_diff = target_temp - last_temp return (abs(temp_diff) > PID_SETTLE_DELTA or abs(self.prev_temp_deriv) > PID_SETTLE_SLOPE) |