private async Task PIDTask()
{
var pid = new PIDController(
(float)BrewProfileSettings.Instance.PIDKp,
(float)BrewProfileSettings.Instance.PIDKi,
(float)BrewProfileSettings.Instance.PIDKd,
100f,
0f);
long previousMillisec = StartupTimer.Instance.Millis();
while (IsRunning)
{
if (CurrentStep == null)
{
await Task.Delay(10);
continue;
}
bool isBoiling = CurrentStep.Type == Objects.StepType.Boil;
pid.SetPoint = (float)CurrentStep.Temperature;
pid.ProcessVariable = (float)TemperatureController.Instance.Controller.Temperature;
float output = pid.ControlVariable(StartupTimer.Instance.Millis() - previousMillisec);
previousMillisec = StartupTimer.Instance.Millis();
//Check the output and see if we need to trigger the heater on or off
if (output >= 100 || isBoiling)
{
_ssrHeaterHandler.Switch(SSRState.On);
}
else
{
_ssrHeaterHandler.Switch(SSRState.Off);
}
if (Utilities.IsDesktopComputer())
{
(TemperatureController.Instance.Controller as TemperatureSensorMock)?
.MockMode(_ssrHeaterHandler.State == SSRState.On ? SensorMockMode.Increase : SensorMockMode.Decrease);
}
//Debug.WriteLine($"PID output: {output}, temperature: {pid.SetPoint}");
await Task.Delay(500);
}
}