kopia lustrzana https://github.com/jamesgao/kiln_controller
Backend state machine likely finished, need to test
James Gao
rodzic
a1b47bd1b6
commit
59e60eab57
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@ -0,0 +1,94 @@
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import logging
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logger = logging.getLogger("kiln.PID")
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class PID(object):
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"""
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Discrete PID control
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#The recipe gives simple implementation of a Discrete Proportional-Integral-Derivative (PID) controller. PID controller gives output value for error between desired reference input and measurement feedback to minimize error value.
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#More information: http://en.wikipedia.org/wiki/PID_controller
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#
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#cnr437@gmail.com
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#
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####### Example #########
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#
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#p=PID(3.0,0.4,1.2)
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#p.setPoint(5.0)
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#while True:
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# pid = p.update(measurement_value)
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#
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#
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"""
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def __init__(self, P=2.0, I=0.0, D=1.0, Derivator=0, Integrator=0, Integrator_max=500, Integrator_min=-500):
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self.Kp=P
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self.Ki=I
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self.Kd=D
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self.Derivator=Derivator
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self.Integrator=Integrator
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self.Integrator_max=Integrator_max
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self.Integrator_min=Integrator_min
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self.set_point=0.0
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self.error=0.0
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def update(self,current_value):
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"""
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Calculate PID output value for given reference input and feedback
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"""
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self.error = self.set_point - current_value
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self.P_value = self.Kp * self.error
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self.D_value = self.Kd * ( self.error - self.Derivator)
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self.Derivator = self.error
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self.Integrator = self.Integrator + self.error
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if self.Integrator > self.Integrator_max:
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self.Integrator = self.Integrator_max
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elif self.Integrator < self.Integrator_min:
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self.Integrator = self.Integrator_min
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self.I_value = self.Integrator * self.Ki
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PID = self.P_value + self.I_value + self.D_value
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logger.info("P: %f, I: %f, D:%f, Output:%f"%(self.P_value, self.I_value, self.D_value, PID))
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return PID
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def setPoint(self,set_point):
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"""
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Initilize the setpoint of PID
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"""
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self.set_point = set_point
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self.Integrator=0
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self.Derivator=0
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def setIntegrator(self, Integrator):
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self.Integrator = Integrator
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def setDerivator(self, Derivator):
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self.Derivator = Derivator
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def setKp(self,P):
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self.Kp=P
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def setKi(self,I):
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self.Ki=I
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def setKd(self,D):
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self.Kd=D
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def getPoint(self):
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return self.set_point
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def getError(self):
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return self.error
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def getIntegrator(self):
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return self.Integrator
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def getDerivator(self):
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return self.Derivator
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172
kiln/manager.py
172
kiln/manager.py
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@ -5,31 +5,45 @@ import thermo
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import warnings
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import threading
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import traceback
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import logging
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import states
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logger = logging.getLogger("kiln.manager")
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class Manager(threading.Thread):
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def __init__(self):
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def __init__(self, start=states.Idle):
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"""
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Create a Manager instance that manages the electronics for the kiln.
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Fundamentally, this just means that four components need to be connected:
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The thermocouple, the regulator stepper, and PID controller, and the webserver
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Implement a state machine that cycles through States
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"""
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super(Manager, self).__init__()
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self._send = None
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self.monitor = thermo.Monitor(self._send_state)
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self.regulator = stepper.Regulator(self._regulator_error)
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self.thermocouple = thermo.Monitor(self._send_state)
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self.regulator = stepper.Regulator()
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self.profile = None
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self.state = start(self)
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self.state_change = threading.Event()
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self.running = True
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self.start()
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def register(self, webapp):
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self._send = webapp.send
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def notify(self, data):
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if self._send is not None:
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self._send(data)
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else:
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logging.warn("No notifier set, ignoring message: %s"%data)
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def _send_state(self, time, temp):
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profile = None
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if self.profile is not None:
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profile.get_state()
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state = dict(
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output=self.regulator.output
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output=self.regulator.output,
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profile=profile,
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time=time,
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temp=temp,
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@ -37,121 +51,37 @@ class Manager(threading.Thread):
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if self._send is not None:
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self._send(state)
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def _regulator_error(self, msg):
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if self._send is not None:
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self._send(dict())
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def __getattr__(self, name):
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"""Mutates the manager to return State actions
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If the requested attribute is a function, wrap the function
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such that returned objects which are States indicate a state change
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"""
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attr = getattr(self.state, name)
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if hasattr(attr, "__call__"):
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def func(*args, **kwargs):
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self._change_state(attr(*args, **kwargs))
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return func
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return attr
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def _change_state(self, output):
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if isinstance(output, states.State) :
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self.state = output()
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self.state_change.set()
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self.notify(dict(type="change", state=newstate.__name__))
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elif isinstance(output, tuple) and isinstance(output[0], states.State):
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newstate, kwargs = output
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self.state = output(**kwargs)
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self.notify(dict(type="change", state=newstate.__name__))
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elif isinstance(output, dict) and "type" in dict:
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self.notify(output)
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elif output is not None:
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logger.warn("Unknown state output: %s"%output)
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class Profile(object):
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def __init__(self, schedule, monitor, regulator, interval=5, start_time=None, Kp=.025, Ki=.01, Kd=.005):
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self.schedule = schedule
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self.monitor = monitor
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self.interval = interval
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self.start_time = start_time
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if start_time is None:
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self.start_time = time.time()
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self.regulator = regulator
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self.pid = PID(Kp, Ki, Kd)
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self.running = True
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def get_state(self):
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state = dict(
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start_time=self.start_time,
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elapsed=self.elapsed,
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)
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return state
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def run(self):
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while running:
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self._change_state(self.state.run())
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def stop(self):
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self.running = False
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class PID(object):
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"""
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Discrete PID control
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#The recipe gives simple implementation of a Discrete Proportional-Integral-Derivative (PID) controller. PID controller gives output value for error between desired reference input and measurement feedback to minimize error value.
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#More information: http://en.wikipedia.org/wiki/PID_controller
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#
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#cnr437@gmail.com
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#
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####### Example #########
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#
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#p=PID(3.0,0.4,1.2)
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#p.setPoint(5.0)
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#while True:
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# pid = p.update(measurement_value)
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#
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#
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"""
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def __init__(self, P=2.0, I=0.0, D=1.0, Derivator=0, Integrator=0, Integrator_max=500, Integrator_min=-500):
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self.Kp=P
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self.Ki=I
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self.Kd=D
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self.Derivator=Derivator
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self.Integrator=Integrator
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self.Integrator_max=Integrator_max
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self.Integrator_min=Integrator_min
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self.set_point=0.0
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self.error=0.0
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def update(self,current_value):
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"""
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Calculate PID output value for given reference input and feedback
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"""
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self.error = self.set_point - current_value
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self.P_value = self.Kp * self.error
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self.D_value = self.Kd * ( self.error - self.Derivator)
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self.Derivator = self.error
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self.Integrator = self.Integrator + self.error
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if self.Integrator > self.Integrator_max:
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self.Integrator = self.Integrator_max
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elif self.Integrator < self.Integrator_min:
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self.Integrator = self.Integrator_min
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self.I_value = self.Integrator * self.Ki
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PID = self.P_value + self.I_value + self.D_value
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print "PID: %f, %f, %f: %f"%(self.P_value, self.I_value, self.D_value, PID)
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return PID
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def setPoint(self,set_point):
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"""
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Initilize the setpoint of PID
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"""
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self.set_point = set_point
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self.Integrator=0
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self.Derivator=0
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def setIntegrator(self, Integrator):
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self.Integrator = Integrator
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def setDerivator(self, Derivator):
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self.Derivator = Derivator
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def setKp(self,P):
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self.Kp=P
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def setKi(self,I):
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self.Ki=I
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def setKd(self,D):
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self.Kd=D
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def getPoint(self):
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return self.set_point
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def getError(self):
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return self.error
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def getIntegrator(self):
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return self.Integrator
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def getDerivator(self):
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return self.Derivator
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self.state_change.set()
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@ -18,26 +18,27 @@ class ClientSocket(websocket.WebSocketHandler):
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self.parent.sockets.remove(self)
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class DataRequest(tornado.web.RequestHandler):
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def initialize(self, monitor):
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self.monitor = monitor
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def initialize(self, manager):
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self.manager = manager
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def get(self):
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data = self.monitor.history
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output = [dict(time=ts[0], temp=ts[1]) for ts in ]
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data = self.manager.thermocouple.history
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output = [dict(time=ts.time, temp=ts.temp) for ts in data]
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self.write(json.dumps(output))
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class DoAction(tornado.web.RequestHandler):
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def initialize(self, controller):
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self.controller = controller
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def initialize(self, manager):
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self.manager = manager
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def get(self, action):
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pass
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class WebApp(object):
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def __init__(self, monitor, port=8888):
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def __init__(self, manager, port=8888):
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self.handlers = [
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(r"/ws/", ClientSocket, dict(parent=self)),
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(r"/data.json", DataRequest, dict(monitor=monitor)),
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(r"/temperature.json", DataRequest, dict(manager=manager)),
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(r"/do/(.*)", DoAction, dict(manager=manager)),
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(r"/(.*)", tornado.web.StaticFileHandler, dict(path=cwd)),
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]
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self.sockets = []
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@ -55,14 +56,12 @@ class WebApp(object):
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if __name__ == "__main__":
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try:
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import thermo
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monitor = thermo.Monitor()
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import manager
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kiln = manager.Manager()
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app = WebApp(kiln)
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kiln.register(app)
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kiln.start()
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app = WebApp(monitor)
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def send_temp(time, temp):
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app.send(dict(time=time, temp=temp))
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monitor.callback = send_temp
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monitor.start()
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app.run()
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except KeyboardInterrupt:
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monitor.stop()
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kiln.stop()
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@ -1,7 +1,9 @@
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"""Based on the pattern provided here:
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http://python-3-patterns-idioms-test.readthedocs.org/en/latest/StateMachine.html
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"""
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import time
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import traceback
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import PID
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class State(object):
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def __init__(self, machine):
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@ -9,16 +11,17 @@ class State(object):
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def run(self):
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"""Action that must be continuously run while in this state"""
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pass
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self.parent.state_change.clear()
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self.parent.state_change.wait()
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class Idle(State):
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def ignite(self):
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_ignite(self.parent.regulator, self.parent.notify)
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return Lit,
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return Lit
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def start(self):
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def start(self, **kwargs):
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_ignite(self.parent.regulator, self.parent.notify)
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return Running,
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return Running, kwargs
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class Lit(State):
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def set(self, value):
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@ -28,19 +31,38 @@ class Lit(State):
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except:
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self.parent.notify(dict(type="error", msg=traceback.format_exc()))
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def start(self, schedule, interval=5, start_time=None):
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return Running, dict(schedule=schedule, interval=interval, start_time=start_time)
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def start(self, **kwargs):
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return Running, kwargs
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def stop(self):
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_shutoff(self.parent.regulator, self.parent.notify)
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return Idle,
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return Idle
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class Running(State):
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def __init__(self, parent, schedule, interval=5, start_time=None, Kp=.025, Ki=.01, Kd=.005):
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self.schedule = schedule
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self.thermocouple = parent.thermocouple
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self.interval = interval
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self.start_time = start_time
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if start_time is None:
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self.start_time = time.time()
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self.regulator = parent.regulator
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self.pid = PID.PID(Kp, Ki, Kd)
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self.running = True
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super(Running, self).__init__(parent)
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@property
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def elapsed(self):
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''' Returns the elapsed time from start in seconds'''
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return time.time() - self.start_time
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return time.time() - self.start_time
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@property
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def _info(self):
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return dict(type="profile",
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output=pid_out,
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start_time=self.start_time,
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elapsed=self.elapsed,
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)
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def run(self):
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now = time.time()
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@ -54,24 +76,26 @@ class Running(State):
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setpoint = frac * (temp1 - temp0) + temp0
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self.pid.setPoint(setpoint)
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temp = self.monitor.temperature
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temp = self.thermocouple.temperature
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pid_out = self.pid.update(temp)
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if pid_out < 0: pid_out = 0
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if pid_out > 1: pid_out = 1
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self.regulator.set(pid_out, block=True)
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self.parent.notify(self.info)
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if ts > self.schedule[-1][0]:
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self.parent.notify(dict(type="profile",status="complete"))
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_shutoff(self.parent.regulator, self.parent.notify)
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return Idle,
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time.sleep(self.interval - (time.time()-now))
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def pause(self):
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return Lit,
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return Lit
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def stop(self):
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_shutoff(self.parent.regulator, self.parent.notify)
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return Idle,
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return Idle
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def _ignite(regulator, notify):
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@ -5,7 +5,7 @@ import warnings
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import Queue
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import logging
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logger = logging.get_logger("Stepper")
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logger = logging.getLogger("kiln.Stepper")
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try:
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from RPi import GPIO
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@ -175,6 +175,9 @@ class Regulator(threading.Thread):
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self.ignite_pin = ignite_pin
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if ignite_pin is not None:
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GPIO.setup(ignite_pin, OUT)
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self.flame_pin = flame_pin
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if flame_pin is not None:
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GPIO.setup(flame_pin, IN)
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def exit():
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if self.current != 0:
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@ -215,4 +218,9 @@ class Regulator(threading.Thread):
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@property
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def output(self):
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return (self.current - self.min) / (self.max - self.min)
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return (self.current - self.min) / (self.max - self.min)
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def run(self):
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"""Check the status of the flame sensor"""
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#since the flame sensor does not yet exist, we'll save this for later
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pass
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Ładowanie…
Reference in New Issue