remove globals from mayuresh

Author: markgarnold

tools/pidmayuresh.py

@@ -2,9 +2,6 @@
 import math
 import concore
 dT = 0.1
-global freq
-Prev_Error = 0
-I = 0
 
 sp = concore.tryparam('sp', 67.5)
 Kp = concore.tryparam('Kp', 0.075)
@@ -14,8 +11,9 @@
 sigout = concore.tryparam('sigout',True)
 cin = concore.tryparam('cin', 'hr')
 
-def  pid_controller(Prev_Error, I, ym):
-    global freq
+def  pid_controller(state, ym, sp, Kp, Ki, Kd, sigout, cin, low, up):
+    Prev_Error = state[0]
+    I = state[1]
     if cin == 'hr':
         Error = sp - ym[1]
     elif cin == 'map':
@@ -29,24 +27,26 @@ def  pid_controller(Prev_Error, I, ym):
     amp = Kp*P + Ki*I + Kd*D
     Prev_Error = Error      
     if sigout:
-        amp = 3.0/(1.0 + math.exp(amp))
-    ustar = np.array([amp,freq])    
-    return (Prev_Error, I, ustar)
+        amp = (up-low)/(1.0 + math.exp(amp)) + low
+    state = [Prev_Error, I]
+    return (state, amp)
 
 
 concore.default_maxtime(150)
 concore.delay = 0.02
 init_simtime_ym = "[0.0, 70.0,91]"
 ym = np.array(concore.initval(init_simtime_ym))
+state = [0.0, 0.0]
 print("Mayuresh's PID controller: sp is "+str(sp))
 print(concore.params)
 while(concore.simtime<concore.maxtime):
     while concore.unchanged():
         ym = concore.read(1,"ym",init_simtime_ym)
     ym = np.array(ym)
-    (Prev_Error, I, ustar) =  pid_controller(Prev_Error, I, ym)
-    print(str(concore.simtime) + " u="+str(ustar) + "ym="+str(ym))
-    concore.write(1,"u",list(ustar),delta=0)
+    (state,amp) =  pid_controller(state,ym,sp,Kp,Ki,Kd,sigout,cin,0,3)
+    u = np.array([amp,freq])    
+    print(str(concore.simtime) + " u="+str(u) + "ym="+str(ym))
+    concore.write(1,"u",list(u),delta=0)
 
 
 

tools/pidmayuresh2.py

@@ -0,0 +1,52 @@
+import numpy as np
+import math
+import concore
+dT = 0.1
+global freq
+Prev_Error = 0
+I = 0
+
+sp = concore.tryparam('sp', 67.5)
+Kp = concore.tryparam('Kp', 0.075)
+Ki = concore.tryparam('Ki', 0.02)
+Kd = concore.tryparam('Kd', 0.005)
+freq = concore.tryparam('freq',30)
+sigout = concore.tryparam('sigout',True)
+cin = concore.tryparam('cin', 'hr')
+
+def  pid_controller(Prev_Error, I, ym):
+    global freq
+    if cin == 'hr':
+        Error = sp - ym[1]
+    elif cin == 'map':
+        Error = sp - ym[0]
+    else:
+        print('invalid control input '+cin)
+        quit()
+    P = Error
+    I = I + Error*dT 
+    D = (Error - Prev_Error )/dT	
+    amp = Kp*P + Ki*I + Kd*D
+    Prev_Error = Error      
+    if sigout:
+        amp = 3.0/(1.0 + math.exp(amp))
+    ustar = np.array([amp,freq])    
+    return (Prev_Error, I, ustar)
+
+
+concore.default_maxtime(150)
+concore.delay = 0.02
+init_simtime_ym = "[0.0, 70.0,91]"
+ym = np.array(concore.initval(init_simtime_ym))
+print("Mayuresh's PID controller: sp is "+str(sp))
+print(concore.params)
+while(concore.simtime<concore.maxtime):
+    while concore.unchanged():
+        ym = concore.read(1,"ym",init_simtime_ym)
+    ym = np.array(ym)
+    (Prev_Error, I, ustar) =  pid_controller(Prev_Error, I, ym)
+    print(str(concore.simtime) + " u="+str(ustar) + "ym="+str(ym))
+    concore.write(1,"u",list(ustar),delta=0)
+
+
+