HydroBot/hydrobot-software Changeset - da6947ec7d99

Changeset - da6947ec7d99

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matthewreed - 9 years ago 2016-08-07 18:19:07

Added cron task check to set correct state when starting up. Also added untested PID control for outputs.

3 files changed with 127 insertions and 5 deletions:

PID.py

hydrobot.py

hydrobot_can.json

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PID.py

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@@ new file 100644 @@
 import time
 class PID:
     def __init__(self, setpoint = 0):
         self.setpoint = float(setpoint)
         self.Kp = 0
         self.Ki = 0
         self.Kd = 0
         self.min_out = 0
         self.max_out = 1000
         self.Reset()
     def SetMin(self, min_out):
         self.min_out = min_out
     def SetMax(self, max_out):
         self.max_out = max_out
     def SetSetpoint(self, setpoint):
         self.setpoint = float(setpoint)
     def SetKp(self, Kp):
         self.Kp = float(Kp)
     def SetKi(self, Ki):
         self.Ki = float(Ki)
     def SetKd(self, Kd):
         self.Kd = float(Kd)
     def Reset(self):
         self.current_time = time.time()
         self.last_time = self.current_time
         self.last_error = 0
         self.Cp = 0
         self.Ci = 0
         self.Cd = 0
     def Update(self, value):
         print("PID input: " + str(value))
         error = self.setpoint - value
         self.current_time = time.time()
         dt = self.current_time - self.last_time
         de = error - self.last_error
         self.Cp = self.Kp * error
         self.Ci += error * dt
         self.Cd = 0
         if dt > 0:
             self.Cd = de/dt
         self.last_time = self.current_time
         self.last_error = error
         output = self.Cp + (self.Ki * self.Ci) + (self.Kd * self.Cd)
         if output > self.max_out:
             output = self.max_out
         if output < self.min_out:
             output = self.min_out
         print("PID output: " + str(output))
         return output

hydrobot.py

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@@ @@ -6,10 +6,12 @@ import configparser @@
 import datetime
 from canard import can, messaging
 from canard.hw import socketcan
 from canard.hw import cantact
 from canard.file import jsondb
 from influxdb import InfluxDBClient
 from influxdb import SeriesHelper
 from apscheduler.schedulers.background import BackgroundScheduler
 import PID
 #TODO
 #fix temperature offsets
@@ @@ -80,6 +82,8 @@ class CanBus: @@
         self.database = database
         self.dev = socketcan.SocketCanDev("can0")
         #self.dev = cantact.CantactDev("/dev/ttyACM8")
         #self.dev.set_bitrate(500000)
         parser = jsondb.JsonDbParser()
         self.msgdb = parser.parse('hydrobot_can.json')
@@ @@ -123,6 +127,7 @@ class CanBus: @@
         self.dev.send(self.relay_send_msg.encode())
     def set_output(self, module, output, state):
         print("Output! " + module + " " + output + " " + str(state))
         msg = self.msgdb.lookup_message(module)
         msg.lookup_signal(output).value = state
         self.dev.send(msg.encode())
@@ @@ -165,13 +170,48 @@ class Scheduler: @@
                     if item[0] == 'off_duration':
                         off_duration = ast.literal_eval(item[1])
                 if trigger == 'cron':
                     self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 1], day = on_time[0], day_of_week = on_time[1], hour = on_time[2], minute = on_time[3], second = on_time[4])
                     self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 0], day = off_time[0], day_of_week = off_time[1], hour = off_time[2], minute = off_time[3], second = off_time[4])
                     on_job = self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 1], day = on_time[0], day_of_week = on_time[1], hour = on_time[2], minute = on_time[3], second = on_time[4])
                     off_job = self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 0], day = off_time[0], day_of_week = off_time[1], hour = off_time[2], minute = off_time[3], second = off_time[4])
                     #evalute the current state of the cron trigger and set output on if needed
                     if on_job.next_run_time > off_job.next_run_time:
                         self.canbus.set_output(module, output, 1)
                 if trigger == 'interval':
                     self.apscheduler.add_job(self.interval_off, trigger, [module, output, section + "_off", section + "_on", on_duration], id = section + "_off", weeks = off_duration[0], days = off_duration[1], hours = off_duration[2], minutes = off_duration[3], seconds = off_duration[4])
                     timer = self.apscheduler.add_job(self.interval_on, trigger, [module, output, section + "_off", section + "_on", off_duration], id = section + "_on", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
                     timer.pause()
             if "pid" in section:
                 items = config.items(section)
                 for item in items:
                     if item[0] == 'module_out':
                         module_out = item[1]
                     if item[0] == 'output':
                         signal_out = item[1]
                     if item[0] == 'module_in':
                         module_in = item[1]
                     if item[0] == 'input':
                         signal_in = item[1]
                     if item[0] == 'kp':
                         kp = item[1]
                     if item[0] == 'ki':
                         ki = item[1]
                     if item[0] == 'kd':
                         kd = item[1]
                     if item[0] == 'rate':
                         rate = item[1]
                     if item[0] == 'setpoint':
                         setpoint = item[1]
                 pid = PID.PID(float(setpoint))
                 pid.SetKp(kp)
                 pid.SetKi(ki)
                 pid.SetKd(kd)
                 pid.Reset()
                 self.apscheduler.add_job(self.process_PID, "interval", [pid, module_out, signal_out, module_in, signal_in], seconds = int(rate))
     def interval_off(self, module, output, timer_off, timer_on, on_duration):
         self.canbus.set_output(module, output, 1)
         self.apscheduler.get_job(timer_on).reschedule("interval", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
@@ @@ -188,6 +228,15 @@ class Scheduler: @@
         if DEBUG_TIMER:
             print("Turning " + timer_off + "! " + str(datetime.datetime.now().time()))
     def process_PID(self, pid, module_out, signal_out, module_in, signal_in):
         msg = self.canbus.msgdb.lookup_message(module_in)
         input_reading = msg.lookup_signal(signal_in).value
         input_reading = 19
         pid_out = pid.Update(input_reading)
         if pid_out > 0:
             self.canbus.set_output(module_out, signal_out, 1)
             run_time = datetime.datetime.now() + datetime.timedelta(milliseconds=pid_out)
             self.apscheduler.add_job(self.canbus.set_output, "date", run_date=run_time, args=[module_out, signal_out, 0])
 def func():
     print(1)
@@ @@ -205,8 +254,8 @@ def main(): @@
     scheduler.start()
     while True:
         time.sleep(1)
         canbus.dev.send(can.Frame(0x7FF, 8, [0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88]))
         time.sleep(0.001)
 if __name__ == "__main__":

hydrobot_can.json

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@@ @@ -46,7 +46,7 @@ @@
         "id": "0x206",
         "signals": { "0": {"name": "Temperature", "bit_length": 8, "factor": 0.5, "offset": 40, "unit": "C"},
                     "8": {"name": "Nothing", "bit_length": 16, "factor": 1, "offset": 0, "unit": ""},
-                    "16": {"name": "PercentFull", "bit_length": 8, "factor": 1, "offset": 0, "unit": "%"}
+                    "32": {"name": "PercentFull", "bit_length": 8, "factor": 1, "offset": 0, "unit": "%"}
+                   }
+        }

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