def in_state(self, dt):
# TODO: Does manual control work like this? Or is it perhaps a separate state?
if self._context.pump_manual_mode:
self._context.pump_speed = self._context.manual_target_speed
else:
# TODO: Figure out real correlation
self._context.pump_speed = 30 * (self._context.temperature_rate / 50.0)
# Handle "cooling too fast" error
if self._context.pump_speed > 30:
self._context.pump_speed = 30
self._context.pump_overspeed = True
else:
self._context.pump_speed = int(self._context.pump_speed)
self._context.pump_overspeed = False
# Approach target temperature at set temperature rate
# TODO: Should be based on pump speed somehow
self._context.temperature = approaches.linear(self._context.temperature, self._context.temperature_limit,
self._context.temperature_rate / 60.0, dt)
def in_state(self, dt):
self._context.position = approaches.linear(self._context.position, self._context.target,
self._context.speed, dt)
def in_state(self, dt):
self._context.phase = approaches.linear(self._context.phase,
self._context.target_phase,
self._phase_locking_speed, dt)
def in_state(self, dt):
self._context.speed = approaches.linear(self._context.speed,
self._context.target_speed,
self._acceleration, dt)
def in_state(self, dt):
self._context.parking_position = approaches.linear(
self._context.parking_position,
self._context.target_parking_position, self._parking_speed, dt)
def in_state(self, dt):
# Approach target temperature at set temperature rate
self._context.temperature = approaches.linear(self._context.temperature, self._context.temperature_limit,
self._context.temperature_rate / 60.0, dt)