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import gras
import numpy
from que import *
class sbhs_controller(gras.Block):
def __init__(self):
gras.Block.__init__(self,
name="sbhs_controller",
in_sig=[numpy.float32],
out_sig=[numpy.float32])
# Initializing FIFO Queues
# Remember Total_Number(Q_Push) should be equal to Total_Number(Q_Pull)
self.q1 = Queue(3) # Queue for Error t_0 .. t_2
self.q2 = Queue(2) # Queue for output o_0 o_1
# Initial queue values
self.t_1 = 0
self.o_0 = 0
def set_parameters(self,p,i,d,a,b,f):
self.proportional = p
self.integtime = i
self.derivtime = d
self.delt = a #del_t
self.setpt = b #set_point
self.n = f #window
def work(self, input_items, output_items):
in0 = input_items[0][0]
out = output_items[0]
# Queue structure
# --> |0|0|0| => |in0|t_1|0|
self.q1.push(self.t_1)
self.q1.push(in0)
# Queue Structure
# --> |0|0| => |self.o_0|0|
self.q2.push(self.o_0)
# Popping
self.t_0 = in0
self.t_1 = self.q1.pop()
self.t_2 = self.q1.pop()
self.o_1 = self.q2.pop()
# Error propogation
print "E(t=t)", self.t_0
print "E(t=t-1)", self.t_1
print "E(t=t-2)", self.t_2
print "-------------------"
# Difference Equation
self.o_0 = ((self.proportional * (in0 - self.t_1)
+(self.delt/self.integtime)*in0
+(self.derivtime/self.delt)*(in0 - 2*self.t_1
+self.t_2 )) + self.o_1 ) * 0.92
out[:1] = self.o_0
self.consume(0,1) # Consumuption from port 0 input_items
self.consume(1,1)
self.produce(0,1) # Produce from port 0 output_items
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