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93_PWMR.pm : ILookBackCnt, buffer holding previouse temperatures used for PID I-Part calculation
git-svn-id: https://svn.fhem.de/fhem/trunk@10770 2b470e98-0d58-463d-a4d8-8e2adae1ed80
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jamesgo
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@ -28,6 +28,7 @@
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# 26.01.16 GA add implementation of PID regulation
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# 27.01.16 GA add attribute desiredTempFrom to take desiredTemp from another object
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# 04.02.16 GA add DLookBackCnt, buffer holding previouse temperatures used for PID D-Part calculation
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# 08.02.16 GA add ILookBackCnt, buffer holding previouse temperatures used for PID I-Part calculation
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# module for PWM (Pulse Width Modulation) calculation
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@ -36,7 +37,7 @@
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# reference to the PWM object is via IODev
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# PWMR object defines:
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# IODev: reference to PWM
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# factor (also used in PID calculation):
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# factor (also used in Pulse calculation):
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# temperatur difference * factor * cycletime (from PWM) defines on/off periods (pulse)
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# sensor delivering the temperature (temperature is read from reading using a regexp)
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# actor to switch on/off the heating devices (may be a structure if more than on actor..)
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@ -463,7 +464,7 @@ PWMR_Define($$)
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my $name = $hash->{NAME};
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return "syntax: define <name> PWMR <IODev> <factor[,offset]> <tsensor[:reading[:t_regexp]]> <actor>[:<a_regexp_on>] [<window|dummy>[,<window>][:<w_regexp>]] [<usePID 0|1>:<PFactor>:<IFactor>:<DFactor>:<DLookBackCnt>]"
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return "syntax: define <name> PWMR <IODev> <factor[,offset]> <tsensor[:reading[:t_regexp]]> <actor>[:<a_regexp_on>] [<window|dummy>[,<window>][:<w_regexp>]] [<usePID 0|1>:<PFactor>:<IFactor>[,<ILookBackCnt>]:<DFactor>[,<DLookBackCnt>]]"
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if(int(@a) < 6 || int(@a) > 9);
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my $iodevname = $a[2];
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@ -542,17 +543,25 @@ PWMR_Define($$)
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##########
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# check pid definition
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my ($usePID, $PFactor, $IFactor, $DFactor, $DLookBackCnt) = split (":", $pid, 5);
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my ($usePID, $PFactor, $IFactorTemp, $DFactorTemp) = split (":", $pid, 5);
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$IFactorTemp = "0,1" unless (defined ($IFactorTemp));
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$DFactorTemp = "0,1"unless (defined ($DFactorTemp));
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my ($IFactor, $ILookBackCnt) = split (",", $IFactorTemp, 2);
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my ($DFactor, $DLookBackCnt) = split (",", $DFactorTemp, 2);
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$hash->{c_PID_useit} = !defined($usePID) ? -1 : $usePID;
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$hash->{c_PID_PFactor} = !defined($PFactor) ? 0 : $PFactor;
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$hash->{c_PID_IFactor} = !defined($IFactor) ? 0 : $IFactor;
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$hash->{c_PID_DFactor} = !defined($DFactor) ? 0 : $DFactor;
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$hash->{c_PID_ILookBackCnt} = !defined($ILookBackCnt) ? 3 : $ILookBackCnt;
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$hash->{c_PID_DLookBackCnt} = !defined($DLookBackCnt) ? 1 : $DLookBackCnt;
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$hash->{h_deltaTemp} = 0 unless defined ($hash->{h_deltaTemp});
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$hash->{h_deltaTemp_prev} = 0 unless defined ($hash->{h_deltaTemp_prev});
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$hash->{h_pid_integrator} = 0;
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$hash->{h_deltaTemp_D} = 0 unless defined ($hash->{h_deltaTemp_D});
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#$hash->{h_pid_integrator} = 0;
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if ($pid eq "") {
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@ -562,46 +571,68 @@ PWMR_Define($$)
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delete ($hash->{READINGS}{PID_PWMPulse}) if (defined($hash->{READINGS}{PID_PWMPulse}));
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delete ($hash->{READINGS}{PID_PWMOnTime}) if (defined($hash->{READINGS}{PID_PWMOnTime}));
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delete ($hash->{helper}{PID_previousTemps}) if (defined (($hash->{helper}{PID_previousTemps})));
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delete ($hash->{helper}{PID_D_previousTemps}) if (defined (($hash->{helper}{PID_D_previousTemps})));
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#delete ($hash->{h_deltaTemp}) if (defined($hash->{h_deltaTemp}));
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#delete ($hash->{h_pid_integrator}) if (defined($hash->{h_pid_integrator}));
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} else {
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### I-Factor
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# initialize if not yet done
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$hash->{helper}{PID_previousTemps} = [] unless defined (($hash->{helper}{PID_previousTemps}));
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$hash->{helper}{PID_I_previousTemps} = [] unless defined (($hash->{helper}{PID_I_previousTemps}));
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# shorter reference to array
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my $TBuffer = $hash->{helper}{PID_previousTemps};
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my $cnt = ( @{$TBuffer} ); # or scalar @{$TBuffer}
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my $IBuffer = $hash->{helper}{PID_I_previousTemps};
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my $Icnt = ( @{$IBuffer} ); # or scalar @{$IBuffer}
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# reference
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Log3 ($hash, 3, "org reference is $hash->{helper}{PID_previousTemps} short is $TBuffer, cnt is ". scalar @{$TBuffer}." (starting from 0)");
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Log3 ($hash, 3, "content of TBuffer is @{$TBuffer}");
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#Log3 ($hash, 3, "org reference IBuffer is $hash->{helper}{PID_I_previousTemps} short is $IBuffer, cnt is ". scalar @{$IBuffer}." (starting from 0)");
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Log3 ($hash, 4, "content of IBuffer is @{$IBuffer}");
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# cut Buffer if it is too large
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while (scalar @{$IBuffer} > $hash->{c_PID_DLookBackCnt}) {
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my $v = shift @{$IBuffer};
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# Log3 ($hash, 3, "shift $v from IBuffer");
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}
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# Log3 ($hash, 3, "IBuffer contains ".scalar @{$IBuffer}." elements");
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### D-Factor
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# initialize if not yet done
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$hash->{helper}{PID_D_previousTemps} = [] unless defined (($hash->{helper}{PID_D_previousTemps}));
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# shorter reference to array
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my $DBuffer = $hash->{helper}{PID_D_previousTemps};
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my $Dcnt = ( @{$DBuffer} ); # or scalar @{$DBuffer}
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# reference
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#Log3 ($hash, 3, "org reference DBuffer is $hash->{helper}{PID_D_previousTemps} short is $DBuffer, cnt is ". scalar @{$DBuffer}." (starting from 0)");
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Log3 ($hash, 4, "content of DBuffer is @{$DBuffer}");
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# for my $i ( 0 .. $cnt -1 ) {
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# Log3 ($hash, 3, "value $i $TBuffer->[$i]");
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# Log3 ($hash, 3, "value $i $DBuffer->[$i]");
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# }
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#
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# push @{$TBuffer}, $TBuffer->[1] + $TBuffer->[0];
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# push @{$DBuffer}, $DBuffer->[1] + $DBuffer->[0];
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#
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# for my $i ( 0 .. @{$TBuffer} -1 ) {
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# Log3 ($hash, 3, "value after push $i $TBuffer->[$i]");
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# for my $i ( 0 .. @{$DBuffer} -1 ) {
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# Log3 ($hash, 3, "value after push $i $DBuffer->[$i]");
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# }
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#
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# shift @{$TBuffer};
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# shift @{$DBuffer};
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#
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# for my $i ( 0 .. @{$TBuffer} -1 ) {
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# Log3 ($hash, 3, "value after shift $i $TBuffer->[$i]");
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# for my $i ( 0 .. @{$DBuffer} -1 ) {
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# Log3 ($hash, 3, "value after shift $i $DBuffer->[$i]");
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# }
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# cut Buffer if it is too large
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while (scalar @{$TBuffer} > $hash->{c_PID_DLookBackCnt}) {
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my $v = shift @{$TBuffer};
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# Log3 ($hash, 3, "shift $v from TBuffer");
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while (scalar @{$DBuffer} > $hash->{c_PID_DLookBackCnt}) {
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my $v = shift @{$DBuffer};
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# Log3 ($hash, 3, "shift $v from DBuffer");
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}
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# Log3 ($hash, 3, "TBuffer contains ".scalar @{$TBuffer}." elements");
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# Log3 ($hash, 3, "DBuffer contains ".scalar @{$DBuffer}." elements");
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}
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@ -879,25 +910,49 @@ PWMR_ReadRoom(@)
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$PWMOnTime = "00:00";
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}
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# PID calculation
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my $TBuffer = $room->{helper}{PID_previousTemps};
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push @{$TBuffer}, $temperaturV;
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### PID calculation
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my $DBuffer = $room->{helper}{PID_D_previousTemps};
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push @{$DBuffer}, $temperaturV;
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my $IBuffer = $room->{helper}{PID_I_previousTemps};
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push @{$IBuffer}, $temperaturV;
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# cut I-Buffer if it is too large
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while (scalar @{$IBuffer} > $room->{c_PID_ILookBackCnt}) {
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my $v = shift @{$IBuffer};
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#Log3 ($room, 3, "shift $v from IBuffer");
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}
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#Log3 ($room, 3, "IBuffer contains ".scalar @{$IBuffer}." elements");
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# cut D-Buffer if it is too large
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while (scalar @{$DBuffer} > $room->{c_PID_DLookBackCnt}) {
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my $v = shift @{$DBuffer};
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#Log3 ($room, 3, "shift $v from DBuffer");
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}
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#Log3 ($room, 3, "DBuffer contains ".scalar @{$DBuffer}." elements");
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$room->{h_PID_I_previousTemps} = join (" ", @{$IBuffer});
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$room->{h_PID_D_previousTemps} = join (" ", @{$DBuffer});
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my $deltaTempPID = $desiredTemp - $temperaturV;
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$room->{h_deltaTemp} = sprintf ("%.1f", -1 * $deltaTempPID);
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$room->{h_deltaTemp_prev} = sprintf ("%.1f", -1 * ($desiredTemp - $TBuffer->[0]));
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$room->{h_deltaTemp_D} = sprintf ("%.1f", -1 * ($desiredTemp - $DBuffer->[0]));
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# cut Buffer if it is too large
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while (scalar @{$TBuffer} > $room->{c_PID_DLookBackCnt}) {
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my $v = shift @{$TBuffer};
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#Log3 ($room, 3, "shift $v from TBuffer");
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my $ISum = 0;
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foreach my $t (@{$IBuffer}) {
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$ISum += ($desiredTemp - $t);
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}
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#Log3 ($room, 3, "TBuffer contains ".scalar @{$TBuffer}." elements");
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$room->{h_PID_previousTemps} = join (" ", @{$TBuffer});
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#$ISum = $ISum / scalar @{$IBuffer};
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$ISum = $ISum;
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#my $deltaTempPID = $desiredTemp - $temperaturV;
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#my $IVal = $room->{c_PID_IFactor} * $deltaTempPID + $room->{h_pid_integrator};
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my $PVal = $room->{c_PID_PFactor} * $deltaTemp;
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my $IVal = $room->{c_PID_IFactor} * $deltaTempPID + $room->{h_pid_integrator};
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my $DVal = $room->{c_PID_DFactor} * ($room->{h_deltaTemp_prev} - $room->{h_deltaTemp});
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my $IVal = $room->{c_PID_IFactor} * $ISum;
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my $DVal = $room->{c_PID_DFactor} * ($room->{h_deltaTemp_D} - $room->{h_deltaTemp});
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$PVal = minNum (1, sprintf ("%.2f", $PVal));
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$IVal = minNum (1, sprintf ("%.2f", $IVal));
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@ -905,7 +960,7 @@ PWMR_ReadRoom(@)
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$IVal = maxNum (-1, $IVal);
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$room->{h_pid_integrator} = $IVal;
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#$room->{h_pid_integrator} = $IVal;
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my $newpulsePID = ($PVal + $IVal + $DVal);
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$newpulsePID = minNum ($MaxPulse, sprintf ("%.2f", $newpulsePID));
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@ -1277,7 +1332,7 @@ PWMR_Boost(@)
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<b>Define</b>
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<ul>
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<code>define <name> PWMR <IODev> <factor[,offset]> <tsensor[:reading:[t_regexp]]> <actor>[:<a_regexp_on>] [<window|dummy>[,<window>[:<w_regexp>]] [<usePID 0|1>:<PFactor>:<IFactor>:<DFactor>:<DLookBackCnt>]<br></code>
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<code>define <name> PWMR <IODev> <factor[,offset]> <tsensor[:reading:[t_regexp]]> <actor>[:<a_regexp_on>] [<window|dummy>[,<window>[:<w_regexp>]] [<usePID 0|1>:<PFactor>:<IFactor>[,<ILookBackCnt>]:<DFactor>,[<DLookBackCnt>]<br></code>
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<br>
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Define a calculation object with the following parameters:<br>
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@ -1310,14 +1365,15 @@ PWMR_Boost(@)
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<i>w_regexp</i> defines a regular expression to be applied to the reading. Default is '.*Open.*'.<br>
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</li>
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<li><usePID 0|1>:<PFactor>:<IFactor>:<DFactor>:<DLookBackCnt><br>
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<li><usePID 0|1>:<PFactor>:<IFactor>[,<ILookBackCnt>]:<DFactor>[,<DLookBackCnt>]<br>
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<i>usePID 0|1</i>: 0 .. calculate Pulse based on PID but do not use it. 1 .. calculate Pulse based on PID and use it.<br>
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<i>PFactor</i>: Konstant for P.<br>
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<i>IFactor</i>: Konstant for I.<br>
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<i>DFactor</i>: Konstant for D.<br>
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<i>ILookBackCnt</i>: Buffer size to store previous temperatures. For I calculation all values will be used. Default is 3.<br>
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<i>DLookBackCnt</i>: Buffer size to store previous temperatures. For D calculation actual and oldest temperature will be used. Default is 1.<br>
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Internals c_PID_PFactor, c_PID_IFactor, c_PID_DFactor and c_PID_useit will reflect the above configuration values.<br>
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Internals h_deltaTemp h_deltaTemp_prev, h_pid_integrator will store the values needed for calculation of the next PID value.<br>
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Internals h_deltaTemp h_deltaTemp_D store the values needed for calculation of the next PID value.<br>
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Readings PID_DVal, PID_IVal, PID_PVal, PID_PWMOnTime and PID_PWMPulse will reflect the actual calculated PID values and Pulse.<br>
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</li>
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