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heater: Don't peak into Heater class member variables

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The control classes should not peak into the heater member variables.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-27 14:32:10 -04:00
parent 483c51e864
commit 7e497af184
2 changed files with 32 additions and 23 deletions
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19
klippy/extras/pid_calibrate.py
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@ -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)