Fixed custom-PID response time after being above setpoint #752
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* Adds grip and ungrip fns to hwp-supervisor and safety checks * Adds check of boresight angle * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Expose supervisor control state info with rest of hwp state * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Add current_state_type to spin control function * Adds ACU blocking flag and handshake to HWP Supervisor * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix typo and register gripper tasks * Adds ACU blocking flag timestamp and timeout * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Adds acu instance id default and `--no-acu` option * Adds checks on pid last update time for gripper safety * Adds better logging to ensure_grip_safety --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: ykyohei <38639108+ykyohei@users.noreply.github.com>
* Created a new agent.py which dynamically reconnects sometimes, but still has some errors * Fixed the code to dynamically reconnect. See the relevant DAQ discussion for more. * Removed numpy * Removed the commented out call for psu.test() as it ended up being unnecessary * Removed status messages and added logging as per daq-discussions#106 * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Made the easy changes * Made the easy changes * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Merged main * Changed the nested logic to use elif * Finished requested changes * Changed the reconnect logic again. * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Uncommented the correct drivers. * Remove extra local drivers import * Remove extra word added to comment I think this snuck in during a git merge, looks like a 'git' command got added to the comment in 4567a0b. --------- Co-authored-by: simonscryo <simonscryo@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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what the heck did I do how does this PR have HWP changes in it |
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haha oops I think I'm dumb and PRd commits from main into my branch whoops |
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Fixed the slow response time the custom PID had to going under the setpoint after it was above the setpoint for a long time.
Description
Updated the I term in the custom_PID function so it could no longer go negative.
Being above the setpoint for a long time would cause the I value to become very negative.
It would take a long time for the custom_PID to overcome that large negative value so the PID would be effectively off for that time.
Motivation and Context
This issue was prominent after IV curves when the IV curves would heat the whole focal plane above the setpoint
The PID could take upwards of 30 mins to come back online after IV curves because of this.
The custom PID should respond in <5 minutes now, depending on the I value it is set to.
It is not perfect but this relatively simple solution doesn't affect normal PID operations and should improve functionality a lot.
How Has This Been Tested?
I tested this code on both satp1 and satp2.
For satp2 I simple heated the FPA and then dropped the setpoint to something very low.
The FP was above the setpoint for a few minutes while the FPA cooled. The PID then responded nearly instantly after the FPA dipped below the setpoint and turned the heater on immediately (slowly because the I value was untuned and low).
On satp1 I ran multiple IVs with the updated code. The new custom_PID function turned back on immediately after the IVs were finished and resumed a normal PID operating temperature in < 5minutes after they were done (instead of the ~30 minutes without the changes). I also ran a test scan for 15 minutes with the new custom_PID function to make sure the changes did not affect the operation. The custom_PID operated normally as intended during the scans.
Types of changes
Checklist: