def action_start(self, w):
if self.usemodel.value:
self.lab = TCLabModel()
else:
self.lab = TCLab()
self.historian = Historian([('T1', lambda: self.lab.T1),
('Q1', self.lab.Q1),
('setpoint', lambda: self.setpoint.value),
('error', lambda: self.pid.e),
('eint', lambda: self.pid.eint),
('dedt', lambda: self.pid.dedt),
('output', lambda: self.pid.output)
])
if self.plotter:
plt.close(self.plotter.fig)
self.plotter = Plotter(self.historian, layout=(('T1', 'setpoint'),
('error',),
('eint',),
('dedt',),
('Q1', 'output') ))
self.timer.start()
self.t = 0
self.start.disabled = True
self.stop.disabled = False
self.action_manual(w)
def action_start(self, w):
if self.usemodel.value:
self.lab = TCLabModel()
else:
self.lab = TCLab()
self.historian = Historian([('T1', lambda: self.lab.T1),
('Q1', self.lab.Q1),
('setpoint', lambda: self.setpoint.value),
('error', lambda: self.pid.e),
('eint', lambda: self.pid.eint),
('dedt', lambda: self.pid.dedt),
('output', lambda: self.pid.output)])
if self.plotter:
plt.close(self.plotter.fig)
self.plotter = Plotter(self.historian,
layout=(('T1', 'setpoint'), ('error', ),
('eint', ), ('dedt', ), ('Q1',
'output')))
self.timer.start()
self.t = 0
self.start.disabled = True
self.stop.disabled = False
self.action_manual(w)
import numpy as np from tclab import TCLab import time import matplotlib.pyplot as plt a = TCLab() # total time points n = 10 * 60 + 1 # min in sec # turn on LED a.LED(100) # store temperatures for plotting T1s = np.ones(n) * a.T2 T2s = np.ones(n) * a.T1 T1sp = np.ones(n) * 25.0 T2sp = np.ones(n) * 25.0 # store heater values Q1s = np.ones(n) Q2s = np.ones(n) # store time tm = np.zeros(n) # set point changes T1sp[5:] = 40.0 T1sp[300:] = 30.0 T2sp[150:] = 30.0 T2sp[450:] = 35.0 # Create plot
import numpy as np import time import matplotlib.pyplot as plt import random # get gekko package with: # pip install gekko from gekko import GEKKO # get tclab package with: # pip install tclab from tclab import TCLab # Connect to Arduino a = TCLab() # Final time tf = 10 # min # number of data points (1 pt every 3 seconds) n = tf * 20 + 1 # Configure heater levels # Percent Heater (0-100%) Q1s = np.zeros(n) Q2s = np.zeros(n) # Heater random steps every 50 sec # Alternate steps by Q1 and Q2 Q1s[3:] = 100.0 Q1s[50:] = 0.0 Q1s[100:] = 80.0 Q2s[25:] = 60.0 Q2s[75:] = 100.0
def test_lock_release():
"""Check that we release the lock"""
with TCLab() as lab:
_ = lab.T1
lab = TCLab()
lab.close()
def test_already_connected():
with pytest.raises(AlreadyConnectedError):
lab = TCLab()
_ = TCLab()
lab.close()
def test_context():
with TCLab() as _:
pass
def test_constructor_port():
"""Raise RuntimeError for an unrecognized port."""
print("TRAVIS" in os.environ)
with pytest.raises(RuntimeError):
with TCLab(port='nonsense') as a:
pass
class PIDGUI:
def __init__(self):
self.t = 0
self.plotter = None
self.pid = PID()
self.timer = tornado.ioloop.PeriodicCallback(self.update, 1000)
self.mode = 'manual'
self.usemodel = Checkbox(description="Use model")
# buttons
self.start = actionbutton('Start', self.action_start)
self.start.disabled = False
self.manual = actionbutton('Manual', self.action_manual)
self.auto = actionbutton('Auto', self.action_auto)
self.stop = actionbutton('Stop', self.action_stop)
buttons = HBox([self.usemodel,
self.start,
self.auto,
self.manual,
self.stop])
# Sliders for heaters
self.gain = slider('Gain', self.action_gain, maxvalue=10)
self.gain.value = 1
self.tau_i = slider(r'$\tau_I$', self.action_tau_i, minvalue=0)
self.tau_i.value = 100
self.tau_d = slider(r'$\tau_D$', self.action_tau_d, maxvalue=10)
parameters = VBox([self.gain, self.tau_i, self.tau_d])
# Setpoint
self.setpoint = slider('Setpoint', self.action_setpoint,
minvalue=20, maxvalue=70)
self.setpoint.value = 30
self.Q1 = slider('Q1', self.action_Q1, disabled=False)
self.gui = VBox([buttons,
parameters,
self.setpoint,
self.Q1
])
def update(self):
self.t += 1
setnow(self.t)
self.plotter.update(self.t)
if self.mode == 'auto':
Q1 = self.pid.update(self.setpoint.value, self.lab.T1)
else:
Q1 = self.Q1.value
self.lab.Q1(Q1)
def action_start(self, w):
if self.usemodel.value:
self.lab = TCLabModel()
else:
self.lab = TCLab()
self.historian = Historian([('T1', lambda: self.lab.T1),
('Q1', self.lab.Q1),
('setpoint', lambda: self.setpoint.value),
('error', lambda: self.pid.e),
('eint', lambda: self.pid.eint),
('dedt', lambda: self.pid.dedt),
('output', lambda: self.pid.output)
])
if self.plotter:
plt.close(self.plotter.fig)
self.plotter = Plotter(self.historian, layout=(('T1', 'setpoint'),
('error',),
('eint',),
('dedt',),
('Q1', 'output') ))
self.timer.start()
self.t = 0
self.start.disabled = True
self.stop.disabled = False
self.action_manual(w)
def action_stop(self, w):
self.timer.stop()
self.lab.close()
# FIXME: At the moment restarting requires all the axes to be rebuilt
# So we can't allow start again.
self.start.disabled = True
self.auto.disabled = True
self.manual.disabled = True
self.stop.disabled = True
def action_auto(self, w):
self.mode = 'auto'
self.manual.disabled = False
self.auto.disabled = True
self.Q1.disabled = True
self.setpoint.disabled = False
self.gain.disabled = False
self.tau_i.disabled = False
self.tau_d.disabled = False
def action_manual(self, w):
self.mode = 'manual'
self.manual.disabled = True
self.auto.disabled = False
self.Q1.disabled = False
self.setpoint.disabled = True
self.gain.disabled = True
self.tau_i.disabled = True
self.tau_d.disabled = True
def action_gain(self, w):
self.pid.K = self.gain.value
def action_tau_i(self, w):
self.pid.taui = self.tau_i.value
def action_tau_d(self, w):
self.pid.taud = self.tau_d.value
def action_setpoint(self, w):
pass
def action_Q1(self, w):
pass
class PIDGUI:
def __init__(self):
self.t = 0
self.plotter = None
self.pid = PID()
self.timer = tornado.ioloop.PeriodicCallback(self.update, 1000)
self.mode = 'manual'
self.usemodel = Checkbox(description="Use model")
# buttons
self.start = actionbutton('Start', self.action_start)
self.start.disabled = False
self.manual = actionbutton('Manual', self.action_manual)
self.auto = actionbutton('Auto', self.action_auto)
self.stop = actionbutton('Stop', self.action_stop)
buttons = HBox(
[self.usemodel, self.start, self.auto, self.manual, self.stop])
# Sliders for heaters
self.gain = slider('Gain', self.action_gain, maxvalue=10)
self.gain.value = 1
self.tau_i = slider(r'$\tau_I$', self.action_tau_i, minvalue=0)
self.tau_i.value = 100
self.tau_d = slider(r'$\tau_D$', self.action_tau_d, maxvalue=10)
parameters = VBox([self.gain, self.tau_i, self.tau_d])
# Setpoint
self.setpoint = slider('Setpoint',
self.action_setpoint,
minvalue=20,
maxvalue=70)
self.setpoint.value = 30
self.Q1 = slider('Q1', self.action_Q1, disabled=False)
self.gui = VBox([buttons, parameters, self.setpoint, self.Q1])
def update(self):
self.t += 1
setnow(self.t)
self.plotter.update(self.t)
if self.mode == 'auto':
Q1 = self.pid.update(self.setpoint.value, self.lab.T1)
else:
Q1 = self.Q1.value
self.lab.Q1(Q1)
def action_start(self, w):
if self.usemodel.value:
self.lab = TCLabModel()
else:
self.lab = TCLab()
self.historian = Historian([('T1', lambda: self.lab.T1),
('Q1', self.lab.Q1),
('setpoint', lambda: self.setpoint.value),
('error', lambda: self.pid.e),
('eint', lambda: self.pid.eint),
('dedt', lambda: self.pid.dedt),
('output', lambda: self.pid.output)])
if self.plotter:
plt.close(self.plotter.fig)
self.plotter = Plotter(self.historian,
layout=(('T1', 'setpoint'), ('error', ),
('eint', ), ('dedt', ), ('Q1',
'output')))
self.timer.start()
self.t = 0
self.start.disabled = True
self.stop.disabled = False
self.action_manual(w)
def action_stop(self, w):
self.timer.stop()
self.lab.close()
# FIXME: At the moment restarting requires all the axes to be rebuilt
# So we can't allow start again.
self.start.disabled = True
self.auto.disabled = True
self.manual.disabled = True
self.stop.disabled = True
def action_auto(self, w):
self.mode = 'auto'
self.manual.disabled = False
self.auto.disabled = True
self.Q1.disabled = True
self.setpoint.disabled = False
self.gain.disabled = False
self.tau_i.disabled = False
self.tau_d.disabled = False
def action_manual(self, w):
self.mode = 'manual'
self.manual.disabled = True
self.auto.disabled = False
self.Q1.disabled = False
self.setpoint.disabled = True
self.gain.disabled = True
self.tau_i.disabled = True
self.tau_d.disabled = True
def action_gain(self, w):
self.pid.K = self.gain.value
def action_tau_i(self, w):
self.pid.taui = self.tau_i.value
def action_tau_d(self, w):
self.pid.taud = self.tau_d.value
def action_setpoint(self, w):
pass
def action_Q1(self, w):
pass