public void WriteTemperatureDisplays(PIDParameter _pidParameter)
{
//Console.WriteLine("write PID params");
// if (!hardwareEnabled) return;
var red2 = segDisplays["red2"];
var green2 = segDisplays["green2"];
if (red2.IsReady)
{
//.WriteLine("write PID red2: " + _pidParameter.LastValue + "C");
if (_pidParameter.Target < 100)
{
red2.WriteDouble(_pidParameter.Target.ToString("00.0C"), false);
}
else
{
red2.WriteDouble(_pidParameter.Target.ToString("000C"), false);
}
}
if (green2.IsReady)
{
if (_pidParameter.LastValue < 100)
{
green2.WriteDouble(_pidParameter.LastValue.ToString("00.0C"), false);
}
else
{
green2.WriteDouble(_pidParameter.LastValue.ToString("000C"), false);
}
}
}
public AutoTunePID(PIDParameter _setParams)
{
lastInputs = new double[101];
peaks = new double[10];
running = false;
peakCount = 0;
PIDparams = _setParams;
lastTime = DateTime.Now;
oStep = 30;
}
private void ResetParams(PIDParameter _setParams)
{
PIDparams = _setParams;
}
//const string pidFileName = "pidParameters.json";
//private string pidStorePath;
//public PIDState PIDStatus
//{
// get { return _pidStatus; }
// private set { _pidStatus = value; }
//}
public PIDControlModule(IHubContext <PIDHub> hub, IConfiguration configuration, TemperatureModule temperatureControlModule, HardwareIOModule hardwareIOModule, DisplayManager displayManager)
{
UseTuning = false;
//_pidStatus = PIDState.Stopped;
Hub = hub;
_temperatureControlModule = temperatureControlModule;
_hardwareIOModule = hardwareIOModule;
_displayManager = displayManager;
prevElState = false;
//pidStorePath = Path.Combine(env.ContentRootPath, pidFileName);
// StoreProvider = new JsonStoreProvider(configuration);
//StoreProvider.SetStoreName("pidModule");
PIDParameter parameters;
List <PIDParameter> p = new List <PIDParameter>();
// = StoreProvider.LoadStore<PIDParameter>();
if (p.Count > 0)
{
parameters = p[0];
}
else
{
//set default parameters...
parameters = new PIDParameter()
{
Name = "PID",
Kd = 0.01,
Ki = 10,
Kp = 4000,
WindowSize = 10000,
Target = 40,
LastOutput = 0,
LastValue = 0
};
p.Add(parameters);
//StoreProvider.SaveStore<PIDParameter>(p);
}
activeSensorID = _temperatureControlModule.GetSavedProbes().Find(sensor => sensor.DefaultSelected).SensorId;
op = new PIDOperationalParameters();
op.State = PIDState.Stopped;
op.Params = parameters;
pidController = new PIDController(op.Params.Kp, op.Params.Ki, op.Params.Kd, 1);
pidController.SetOutputLimits(0, parameters.WindowSize);
pidController.Setup(PIDMode.AUTOMATIC, op.Params.Target);
autoTune = new AutoTunePID(parameters);
if (UseTuning)
{
UseTuning = false;
SetupAutoTune();
UseTuning = true;
}
_windowStart = DateTime.Now;
_timer = new Timer(TimerTick, null, _tickInterval, _tickInterval);
// temperatureControlModule.TemperatureChanged += TemperatureControlModule_TemperatureChanged;
}
private async void TimerTick(object state)
{
DateTime current = DateTime.Now;
double tempReading = _temperatureControlModule.Readings[activeSensorID];
if (tempReading != op.Params.LastValue)
{
op.Params.LastValue = tempReading;
_displayManager.WriteTemperatureDisplays(op.Params);
}
if (current.Subtract(_windowStart).TotalMilliseconds > op.Params.WindowSize)
{
_windowStart = current;
await this.Hub.Clients.All.SendAsync("pid_ping", op);
}
if (UseTuning)
{
int i = autoTune.Runtime();
if (i != 0)
{
UseTuning = false;
}
if (!UseTuning)
{
PIDParameter p = autoTune.GetTuningValues();
Console.WriteLine("Tuning Finished...");
Console.WriteLine("KP: " + p.Kp);
Console.WriteLine("KI: " + p.Ki);
Console.WriteLine("KD: " + p.Kd);
_hardwareIOModule.SetHeatingElement(false);
return;
}
}
else
{
pidController.Compute(tempReading);
}
double newOutput;
if (UseTuning)
{
newOutput = autoTune.GetOutput();
}
else
{
newOutput = pidController.PIDOutput;
}
if (!UseTuning)
{
if (pidController.PIDOutput != op.Params.LastOutput)
{
op.Params.LastOutput = newOutput;
await this.Hub.Clients.All.SendAsync("pid_ping", op);
// Console.WriteLine("New Output: " + newOutput);
}
}
else
{
if (autoTune.Output != op.Params.LastOutput)
{
op.Params.LastOutput = autoTune.Output;
Console.WriteLine("Using:");
PIDParameter p = autoTune.GetTuningValues();
Console.WriteLine("KP: " + p.Kp);
Console.WriteLine("KI: " + p.Ki);
Console.WriteLine("KD: " + p.Kd);
}
}
if ((newOutput > 100) && (newOutput > current.Subtract(_windowStart).TotalMilliseconds))
{
if (!prevElState)
{
prevElState = true;
op.ElementState = prevElState;
await this.Hub.Clients.All.SendAsync("pid_change", "CONTROL", "ON");
_hardwareIOModule.SetHeatingElement(prevElState);
}
}
else
{
if (prevElState)
{
prevElState = false;
op.ElementState = prevElState;
_hardwareIOModule.SetHeatingElement(prevElState);
await this.Hub.Clients.All.SendAsync("pid_change", "CONTROL", "OFF");
}
}
//if (now - windowStartTime > WindowSize)
//{ //time to shift the Relay Window
// windowStartTime += WindowSize;
//}
//if ((onTime > 100) && (onTime > (now - windowStartTime)))
//{
// digitalWrite(RelayPin, HIGH);
//}
//else
//{
// digitalWrite(RelayPin, LOW);
//}
// if (counterTick == 10)
//{
//counterTick = 0;
// await this.Hub.Clients.All.SendAsync("pid_ping", op);
//}
//wtf
// activeSensorID
// output will be a value between 0 and 5000
//if (current - _windowStart > TimeSpan.FromMilliseconds(op.Params.WindowSize))
//{
// _windowStart = current;
// await this.Hub.Clients.All.SendAsync("pid_change", "NEWWINDOW", op.Params.WindowSize);
// //Console.WriteLine("new window");
//}
// Console.WriteLine("total milis: " + (current - _windowStart).TotalMilliseconds);
//Console.WriteLine("pid output:" + pidController.PIDOutput);
//if (pidController.PIDOutput > (current - _windowStart).TotalMilliseconds)
//{
// Console.WriteLine("ON");
// //if (op.State == PIDState.Started)
// //{
// _hardwareIOModule.SetHeatingElement(true);
// //}
// await this.Hub.Clients.All.SendAsync("pid_change", "CONTROL", "ON");
//}
//else
//{
// Console.WriteLine("OFF");
// //if (op.State == PIDState.Started)
// //{
// _hardwareIOModule.SetHeatingElement(false);
// //}
// await this.Hub.Clients.All.SendAsync("pid_change", "CONTROL", "OFF");
//}
//void loop()
//{
// sensors.requestTemperatures();
// Input = sensors.getTempCByIndex(0);
// Serial.print("Temperature: ");
// Serial.println(Input);
// myPID.Compute();
// /************************************************
// * turn the output pin on/off based on pid output
// ************************************************/
// if (millis() - windowStartTime > WindowSize)
// {e
// //time to shift the Relay Window
// windowStartTime += WindowSize;
// }
// if (Output < millis() - windowStartTime)
// digitalWrite(RELAY_PIN, HIGH);
// else
// digitalWrite(RELAY_PIN, LOW);
//}
// if()
}