def run(self):
print "Thread PID no", self.taskid, "is readry!\n > Based on James Ward's PID algorithm"
drive = 0.0
lastdrive = 0.0
#based on James Ward's PID algorithm
while not self._stopevent.isSet():
#PID computation
#timestamp
next = time.time()
#get current boiler temp
latestTemp = self.maximBoiler.getTemp()
#controle de la chaudiere
lastdrive = drive
#if temperature read is correct, start algorithm
if (latestTemp > 0.5):
#calculate next time step
next += self.m_timeStep
#get current target temperature
cTargetTemp = self.getTargetTemp()
#calculate PID update
#boost mode only if boiler target temp is higher than 100C (ECO mode is 90)
if ((BOILER_BOOST_MODE == 1) and (cTargetTemp > 100)):
tgroupe = self.maximGroupe.getTemp()
#stop the boost mode when group temp is higher than boiler temp - 30C (approximate)
bBoostLimit = cTargetTemp - 30
#boost boiler target temperature if we are under a certain value
if ((tgroupe > 0.5) and (tgroupe < bBoostLimit)):
drive = self.pid_update(BOILER_MAX_TEMP - latestTemp,
latestTemp)
else:
drive = self.pid_update(cTargetTemp - latestTemp,
latestTemp)
else:
drive = self.pid_update(cTargetTemp - latestTemp,
latestTemp)
#drive = self.pid_update( self.getTargetTemp() - latestTemp, latestTemp )
#clamp the output power to sensible range
if (drive > 1.0):
drive = 1.0
if (drive < 0.0):
drive = 0.0
#update the boiler power (with PWM) if last state changed
if (drive != lastdrive):
drv = int(drive * 100)
self.setCurrentDrive(drv)
SSRControl.setBoilerPWM(drv)
#wait the remaining time (typically, slot = 1 second)
remain = next - time.time()
if (remain > 0.0):
self._stopevent.wait(remain)
def run(self):
print "Thread PID no", self.taskid, "is readry!\n > Based on James Ward's PID algorithm"
drive = 0.0
lastdrive = 0.0
#based on James Ward's PID algorithm
while not self._stopevent.isSet():
#PID computation
#timestamp
next = time.time()
#get current boiler temp
latestTemp = self.maximBoiler.getTemp()
#controle de la chaudiere
lastdrive = drive
#if temperature read is correct, start algorithm
if ( latestTemp > 0.5 ):
#calculate next time step
next += self.m_timeStep
#get current target temperature
cTargetTemp = self.getTargetTemp()
#calculate PID update
#boost mode only if boiler target temp is higher than 100C (ECO mode is 90)
if((BOILER_BOOST_MODE == 1) and (cTargetTemp > 100)):
tgroupe = self.maximGroupe.getTemp()
#stop the boost mode when group temp is higher than boiler temp - 30C (approximate)
bBoostLimit = cTargetTemp - 30
#boost boiler target temperature if we are under a certain value
if ((tgroupe > 0.5) and (tgroupe < bBoostLimit)):
drive = self.pid_update( BOILER_MAX_TEMP - latestTemp, latestTemp )
else:
drive = self.pid_update( cTargetTemp - latestTemp, latestTemp )
else:
drive = self.pid_update( cTargetTemp - latestTemp, latestTemp )
#drive = self.pid_update( self.getTargetTemp() - latestTemp, latestTemp )
#clamp the output power to sensible range
if ( drive > 1.0 ):
drive = 1.0
if ( drive < 0.0 ):
drive = 0.0
#update the boiler power (with PWM) if last state changed
if ( drive != lastdrive ):
drv = int(drive * 100)
self.setCurrentDrive( drv )
SSRControl.setBoilerPWM( drv )
#wait the remaining time (typically, slot = 1 second)
remain = next - time.time()
if ( remain > 0.0 ):
self._stopevent.wait(remain)
def quitApplicationNicely():
done = True
#be sure to shut down the boiler as well
SSRControl.setBoilerPWM(0)
saveSettings()
task1.stop()
task2.stop()
task3.stop()
task4.stop()
task5.stop()
task7.stop()
task6PID.stop()
time.sleep(0.1)
pygame.quit()
sys.exit(0)
def quitApplicationNicely():
done = True
#be sure to shut down the boiler as well
SSRControl.setBoilerPWM(0)
saveSettings()
task1.stop()
# task2.stop()
# task3.stop()
task4.stop()
task5.stop()
task7.stop()
task6PID.stop()
task8.stop()
time.sleep(0.1)
pygame.quit()
sys.exit(0)
def run(self):
print "Thread PID no", self.taskid, "is readry!\n > PID pump power!"
drive = 0.0
lastdrive = 0.0
#based on James Ward's PID algorithm
while not self._stopevent.isSet():
#get user entry
# rlist, _, _ = select([sys.stdin], [], [], 0.005)
rlist = 0
if rlist:
cP = cI = cD = 0.0
s = sys.stdin.readline()
try:
sP, sI, sD = s.split(" ")
cP = float(sP)
cI = float(sI)
cD = float(sD)
except ValueError:
print "Error conversion, NaN"
# print "Entered:",s," cP=",cP," cI=",cI," cD=",cD
# print "***********************************************************"
# print "oldP=",self.m_pGain,"oldI=",self.m_iGain,"oldD=",self.m_dGain
# print "newcP=",cP," cI=",cI," cD=",cD
# print "***********************************************************"
self.m_pGain = cP
self.m_iGain = cI
self.m_dGain = cD
#PID computation
#timestamp
next = time.time()
#get current pressure
latestPressure = self.dataPump.getRange()
#controle de la pompe
lastdrive = drive
#calculate next time step
next += self.m_timeStep
#get current target pressure
cTargetPressure = self.getTargetPressure()
#calculate PID update
drive = self.pid_update(cTargetPressure - latestPressure,
latestPressure, 0)
#clamp the output power to sensible range
if (drive > self.m_PIDBASE):
drive = self.m_PIDBASE
if (drive < -self.m_PIDBASE):
drive = -self.m_PIDBASE
#update the pump power (with PWM) if last state changed
if (1): #drive != lastdrive ):
drv = self.m_latestPower + drive
# drv = 50 + drive
if (drv < 50):
drv = 50
if (drv > 100):
drv = 100
#reduce pump power at lower pressures when going up
if ((cTargetPressure < 11)
and (cTargetPressure > latestPressure)):
if (cTargetPressure == 10):
maxdrive = 50 + 25
if (cTargetPressure == 9):
maxdrive = 50 + 22
if (cTargetPressure == 8):
maxdrive = 50 + 19
if (cTargetPressure < 8):
maxdrive = 50 + (cTargetPressure +
(cTargetPressure + 1))
#SANS CAFE
#target=4 max=7
#target=5 max=8
#target=6 max=9
#target=7 max=10
#target=8 max=12
#target=9 max=15
#target=10 max=20
if (drv > maxdrive):
drv = maxdrive
print "Bar/", latestPressure, "/Target/", cTargetPressure, "/Real drv% to SSR/", drv, "/raw drive/", drive
#SSRControl.setPumpPWM( 50 + (drv/2) )
#moyenne
#drv = (drv + self.m_latestPower + self.m_latestPower2)/3
self.setCurrentDrive(drv)
if (self.m_latestPower != drv):
SSRControl.setPumpPWM(drv)
self.m_latestPower2 = self.m_latestPower
self.m_latestPower = drv
#wait the remaining time (typically, slot = 1 second)
remain = next - time.time()
if (remain > 0.0):
# print "sleeping ", remain
self._stopevent.wait(remain)
