mirror of
https://github.com/vincentvdwal/crust-craft.git
synced 2026-08-18 17:26:39 +02:00
update modes
This commit is contained in:
Vincent van der Wal
+97
-23
@@ -8,7 +8,7 @@
|
||||
* – Newton's law of cooling when relay is off.
|
||||
* – Small Gaussian noise on each tick for realism.
|
||||
*
|
||||
* Control modes mirror the firmware: manual, pwm, pid.
|
||||
* Control modes mirror the firmware: manual, pwm, preheat, pause, baking.
|
||||
*/
|
||||
|
||||
const TICK_MS = 500; // matches WS_INTERVAL on the firmware
|
||||
@@ -16,6 +16,12 @@ const ROOM_TEMP = 22; // °C ambient
|
||||
const MAX_HEAT_RATE = 14; // °C/s at peak of S-curve
|
||||
const NOISE_AMP = 0.35; // °C peak random noise
|
||||
|
||||
// PI-mode parameters – keep in sync with the firmware (main.cpp)
|
||||
const PAUSE_TEMP = 275; // low keep-warm hold
|
||||
const BAKE_BOOST = 40; // °C added on top of target while baking
|
||||
const BAKE_WAIT_MS = 60 * 1000; // 1 min warm-up before baking
|
||||
const BAKE_DURATION_MS = 3 * 60 * 1000; // 3 min bake, then back to preheat
|
||||
|
||||
/** S-curve heating factor: parabolic 4x(1-x), peaks at x = 0.5. */
|
||||
function heatFactor(temp: number, target: number): number {
|
||||
if (target <= ROOM_TEMP) return 0;
|
||||
@@ -33,12 +39,16 @@ type SensorPayload = {
|
||||
temperature: number;
|
||||
relais: number;
|
||||
target_temp: number;
|
||||
pause_temp: number;
|
||||
bake_boost: number;
|
||||
pwm_on: number;
|
||||
pwm_off: number;
|
||||
pid: number;
|
||||
kp: number;
|
||||
ki: number;
|
||||
kd: number;
|
||||
bake_phase: string;
|
||||
bake_remaining: number;
|
||||
};
|
||||
|
||||
type Command = { cmd: string; value?: number | string };
|
||||
@@ -50,20 +60,25 @@ export class SpoofSocket {
|
||||
readyState: number = WebSocket.CONNECTING;
|
||||
|
||||
private s: SensorPayload = {
|
||||
mode: 'manual',
|
||||
mode: 'preheat',
|
||||
temperature: ROOM_TEMP,
|
||||
relais: 0,
|
||||
target_temp: 460,
|
||||
pause_temp: PAUSE_TEMP,
|
||||
bake_boost: BAKE_BOOST,
|
||||
pwm_on: 2000,
|
||||
pwm_off: 4000,
|
||||
pid: 0,
|
||||
kp: 0.6,
|
||||
ki: 0.1,
|
||||
kd: 0.0
|
||||
kd: 0.0,
|
||||
bake_phase: '',
|
||||
bake_remaining: 0
|
||||
};
|
||||
|
||||
private integral = 0;
|
||||
private lastSwitch = Date.now();
|
||||
private bakeStart = 0;
|
||||
private ticker: ReturnType<typeof setInterval> | null = null;
|
||||
|
||||
constructor() {
|
||||
@@ -98,6 +113,30 @@ export class SpoofSocket {
|
||||
this.onclose?.();
|
||||
}
|
||||
|
||||
private isPidMode(m: string): boolean {
|
||||
return m === 'preheat' || m === 'pause' || m === 'baking';
|
||||
}
|
||||
|
||||
/** Effective setpoint the PI loop drives towards for the current mode. */
|
||||
private activeSetpoint(): number {
|
||||
const s = this.s;
|
||||
if (s.mode === 'pause') return s.pause_temp;
|
||||
if (s.mode === 'baking') return s.target_temp + s.bake_boost;
|
||||
return s.target_temp;
|
||||
}
|
||||
|
||||
private applyMode(m: string): void {
|
||||
const s = this.s;
|
||||
s.mode = m;
|
||||
if (m === 'baking') this.bakeStart = Date.now();
|
||||
if (m === 'manual') {
|
||||
s.relais = 0;
|
||||
this.lastSwitch = Date.now();
|
||||
}
|
||||
// Dump windup when the new target is below the current temp (e.g. -> pause)
|
||||
if (this.isPidMode(m) && this.activeSetpoint() < s.temperature) this.integral = 0;
|
||||
}
|
||||
|
||||
private handle(cmd: string, value?: number | string): void {
|
||||
const s = this.s;
|
||||
switch (cmd) {
|
||||
@@ -105,19 +144,22 @@ export class SpoofSocket {
|
||||
this.emit();
|
||||
break;
|
||||
case 'setTargetTemp':
|
||||
s.target_temp = Number(value);
|
||||
this.integral = 0; // reset integral on setpoint change
|
||||
s.target_temp = Math.max(0, Math.min(600, Number(value)));
|
||||
break;
|
||||
case 'setPauseTemp':
|
||||
s.pause_temp = Math.max(0, Math.min(600, Number(value)));
|
||||
break;
|
||||
case 'setBakeOffset':
|
||||
s.bake_boost = Math.max(0, Math.min(150, Number(value)));
|
||||
break;
|
||||
case 'setMode':
|
||||
s.mode = String(value);
|
||||
if (s.mode === 'manual') s.relais = 0;
|
||||
this.integral = 0;
|
||||
this.applyMode(String(value));
|
||||
break;
|
||||
case 'switchRelais':
|
||||
if (s.mode === 'manual') {
|
||||
s.relais = s.relais ? 0 : 1;
|
||||
this.lastSwitch = Date.now();
|
||||
}
|
||||
// Manual override: take manual control and toggle the relay.
|
||||
s.mode = 'manual';
|
||||
s.relais = s.relais ? 0 : 1;
|
||||
this.lastSwitch = Date.now();
|
||||
break;
|
||||
case 'setPWMOn':
|
||||
s.pwm_on = Number(value) * 1000;
|
||||
@@ -152,30 +194,45 @@ export class SpoofSocket {
|
||||
s.relais = 1;
|
||||
this.lastSwitch = now;
|
||||
}
|
||||
} else if (s.mode === 'pid') {
|
||||
const error = s.target_temp - s.temperature;
|
||||
this.integral = Math.max(-100, Math.min(100, this.integral + s.ki * error * dt));
|
||||
const output = Math.max(0, Math.min(100, s.kp * error + this.integral));
|
||||
} else if (this.isPidMode(s.mode)) {
|
||||
// Baking = warm-up + bake; when it's all done, return to preheat.
|
||||
if (s.mode === 'baking' && now - this.bakeStart >= BAKE_WAIT_MS + BAKE_DURATION_MS) {
|
||||
this.applyMode('preheat');
|
||||
}
|
||||
|
||||
const error = this.activeSetpoint() - s.temperature;
|
||||
const pTerm = s.kp * error;
|
||||
let output = pTerm + this.integral;
|
||||
|
||||
// Conditional-integration anti-windup (mirrors PIDController::compute)
|
||||
const satHigh = output >= 100 && error > 0;
|
||||
const satLow = output <= 0 && error < 0;
|
||||
if (!satHigh && !satLow) {
|
||||
this.integral = Math.max(-100, Math.min(100, this.integral + s.ki * error * dt));
|
||||
}
|
||||
output = Math.max(0, Math.min(100, pTerm + this.integral));
|
||||
s.pid = output;
|
||||
|
||||
if (output > 0) {
|
||||
if (output >= 100) {
|
||||
s.relais = 1;
|
||||
} else if (output <= 0) {
|
||||
s.relais = 0;
|
||||
} else {
|
||||
const offDelay = s.pwm_on / (output / 100) - s.pwm_on;
|
||||
const elapsed = now - this.lastSwitch;
|
||||
if (s.relais === 1 && offDelay > 0 && elapsed > s.pwm_on) {
|
||||
if (s.relais === 1 && elapsed > s.pwm_on) {
|
||||
s.relais = 0;
|
||||
this.lastSwitch = now;
|
||||
} else if (s.relais === 0 && offDelay > 0 && elapsed > offDelay) {
|
||||
} else if (s.relais === 0 && elapsed > offDelay) {
|
||||
s.relais = 1;
|
||||
this.lastSwitch = now;
|
||||
}
|
||||
} else {
|
||||
s.relais = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// ── thermal model ────────────────────────────────────────────────────
|
||||
if (s.relais) {
|
||||
s.temperature += MAX_HEAT_RATE * heatFactor(s.temperature, s.target_temp) * dt;
|
||||
s.temperature += MAX_HEAT_RATE * heatFactor(s.temperature, this.activeSetpoint()) * dt;
|
||||
} else {
|
||||
s.temperature -= coolingRate(s.temperature) * dt;
|
||||
}
|
||||
@@ -186,6 +243,23 @@ export class SpoofSocket {
|
||||
}
|
||||
|
||||
private emit(): void {
|
||||
this.onmessage?.({ data: JSON.stringify(this.s) });
|
||||
const s = this.s;
|
||||
if (s.mode === 'baking') {
|
||||
const elapsed = Date.now() - this.bakeStart;
|
||||
if (elapsed < BAKE_WAIT_MS) {
|
||||
s.bake_phase = 'wait';
|
||||
s.bake_remaining = Math.max(0, Math.ceil((BAKE_WAIT_MS - elapsed) / 1000));
|
||||
} else {
|
||||
s.bake_phase = 'bake';
|
||||
s.bake_remaining = Math.max(
|
||||
0,
|
||||
Math.ceil((BAKE_WAIT_MS + BAKE_DURATION_MS - elapsed) / 1000)
|
||||
);
|
||||
}
|
||||
} else {
|
||||
s.bake_phase = '';
|
||||
s.bake_remaining = 0;
|
||||
}
|
||||
this.onmessage?.({ data: JSON.stringify(s) });
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user