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useful_programs [2020/02/21 13:48] – [Debug printing] emozolyakuseful_programs [2020/03/20 10:06] – [3-point control for a valve or servo] emozolyak
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 To determine intermediate positions, a calculated value is used, determined from the characteristics of the 'full path time', which can also be determined experimentally.   To determine intermediate positions, a calculated value is used, determined from the characteristics of the 'full path time', which can also be determined experimentally.  
  
-Below is a variant of 3-point control for a valve with 2 limit switches. +Below is a variant of 3-point control for a valve withoutlimit switches. 
  
 <code lua> <code lua>
-function main (userId)+function valveControl(v)
          
-       -- copy desired Tfeed to valve PID target temp. +    local FULL_PATH_TIME = R(v .. "pathTime") ; local KOEF = 100 / FULL_PATH_TIME 
-    W ( "HeatDistribution.targetTemperature",  R ( "recalcFeedTemp" ))     +    local HOMING_DELAY = R(v .. "homingDelay") * 60 * 60 -- get seconds from hours   
 +     
 +    local auto, autoOpenCmd, autoCloseCmd, now =  
 +          TRUE("auto_mode"), TRUE(v .. "openCmd"), TRUE(v .. "closeCmd"), os.time() 
 +                     
 +local motionTmr = function() -- calc. path quant passed from last call 
  
-now = os.time() -- global +    local quant = 0 
 +    if (autoOpenCmd or autoCloseCmd) then  
 +          quant = (now - R(v .. "motionTmr")) * KOEF ; SET(v .. "valveStatus") -- opening  
 +           
 +          if autoCloseCmd  then   
 +              quant = quant * (-1)          -- closing  
 +              UpdReg(v .. "valveStatus", 2)  
 +          end  
 +    else  
 +          RESET(v .. "valveStatus") 
 +          quant = 0  
 +    end  -- if motion  
 +    UpdReg(v .. "motionTmr", now)     -- запомнить время последнего вызова  
 +    return quant 
 +end -- motionTmr 
  
-local manOpenCmd, manCloseCmd = R("manOpenCmd"), R("manCloseCmd")     -- manual run flags +    local pos = Limiter(Round(R(v .. "curPosition")) + motionTmr(), 0, 100) 
-local autoOpenCmd, autoCloseCmd = R("autoOpenCmd"), R("autoCloseCmd") -- cmds to control valve +    local sp = R(v .. "posSetpoint")  
-local openSw, closeSw = (R("valveOpenSw") == 1) , (R("valveCloseSw") == 1) +
-local pullUpFlag, pullDownFlag = (R("pullUpFlag") == 1 ), (R("pullDownFlag") == 1 )  ;  +
- +
-local curPosition = Round(R("valveCurPos") + MotionTimer(autoOpenCmd, autoCloseCmd, "Tmr5")) ; DEBUG("curPosition calc. as "..curPosition) +
- +
-                -- filtering cur position and check limit sw +
-if (curPosition >= 100) or openSw then  +
-    curPosition = 100  +
-        if openSw then  +
-            W ("pullUpFlag", 1 ) +
-            pullUpFlag = true  +
-        end  +
-end  +
- +
-if ((curPosition < 0) or closeSw) then  +
-    curPosition = 0  +
-        if closeSw then  +
-            W ("pullDownFlag", 1 )  +
-            pullDownFlag = true  +
-        end  +
-end  +
-                            -- pulling +
-if (curPosition == 100) and not (openSw) and not pullUpFlag then  +
-    curPosition = 99  ;                                             DEBUG(" pulling up")  +
-end  +
-if (curPosition == 0 ) and not (closeSw) and not pullDownFlag then  +
-    curPosition = 1   ;                                             DEBUG(" pulling down")  +
-end  +
- +
-W ("valveCurPos", curPosition) -- renew current position +
- +
-                                    -- AUTO MODE ----  +
-local valveSp = R ( "valveSp" )  ;                                     DEBUG("valveSp  "..valveSp)                                      +
-local positionError = (curPosition - valveSp)    +
- +
-if (positionError ~= 0) and ( autoOpenCmd ~= 1) and (autoCloseCmd ~= 1) then  +
-    -- reset pulling flags befor start  +
-    W ("pullDownFlag" , 0 ); W ("pullUpFlag", 0) +
-end  +
- +
-if ( R ( "distribAutoMode") == 1) then +
          
-    W ("manOpenCmd", 0 ) -- clear manual cmds +    local uShoot, oShoot = (pos < sp), (pos > sp) 
-    W ("manCloseCmd", 0)     +
          
-    if (positionError == 0)  then  +    local homingOut = TRUE(v .. "homingTmr_out") 
-        W ("autoOpenCmd", 0 ) +    local homing = Timer(not homingOut, HOMING_DELAY, FULL_PATH_TIME * 2, v .. "homingTmr") 
-        W ("autoCloseCmd", 0)  +    if not homingOut and homing then  
-    elseif (positionError > 0)   then  +        AddInfoMessage("Started homing for valve " .. v)
-                                    DEBUG("GO DOWN because positionError = "..positionError) ; DEBUG(" math.abs error <= 0.5 "..math.abs(positionError)) +
-        W ("autoOpenCmd", 0 ) +
-        W ("autoCloseCmd", 1) -- GO DOWN +
-         +
-    elseif (positionError < 0)  then  +
-                                    DEBUG("GO UP because positionError = "..positionError) ; DEBUG(" math.abs error <= 0.5 "..math.abs(positionError)) +
-        W ("autoOpenCmd", 1 ) -- GO UP +
-        W ("autoCloseCmd", 0)  +
-    else  +
-                                    DEBUG("Undefined if !!! in valve control ")+
     end      end 
-                                  --- MANUAL MODE -----  
-else                 
-                                  -- just copy manual cmd to valve auto cmd 
-    W ("autoOpenCmd", manOpenCmd ) 
-    W ("autoCloseCmd", manCloseCmd) 
          
-     if not openSw then  +    OUT(auto and uShoot and not homing or (not auto and TRUE(v .. "manOpenCmd")), v .. "openCmd") 
-        W ("autoOpenCmd", manOpenCmd )  +    OUT(auto and oShoot or homing or (not auto and TRUE(v .. "manCloseCmd")),  v .. "closeCmd") 
-    else  +    UpdReg(v .. "curPosition", pos)
-        W ("manOpenCmd", 0 ) +
-        W ("autoOpenCmd", 0 ) +
-        W ("valveCurPos", 100) -- renew position after open limit sw +
-    end  +
-    if not closeSw then  +
-        W ("autoCloseCmd", manCloseCmd)  +
-    else  +
-        W ("manCloseCmd", 0)  +
-        W ("autoCloseCmd", 0)  +
-        W ("valveCurPos", 0) -- renew position after close limit sw +
-    end  +
-    +
-end  +
- +
-end -- main  +
- +
-function MotionTimer(openCmd, downCmd, tmrAlias) +
- +
-local FULL_PATH_TIME = 180 -- sec. full path time +
-local KOEF = 100 / FULL_PATH_TIME +
-local quant = 0  +
---[[                 bool        string  +
-remembers start time +
-recalc. micro path from the previous call if was in motion +
-adds micro path to current position  +
---                                                  open = true                                       ]]  +
-    local motion = { flag = ((openCmd == 1) or (downCmd == 1)), dir = (openCmd == 1), lastTimeStamp = R(tmrAlias)} +
-    DEBUG(" motion.flag = "..tostring(motion.flag).." dir  "..tostring(motion.dir)..os.date("%c", lastTimeStamp))  +
-    local outAlias = tmrAlias.."_out" +
-    local curTmrState = (R(outAlias) == 1) ; DEBUG("cur "..tmrAlias.." State =  "..tostring(curTmrState)) +
-                                                 +
-    if motion.flag then  +
-      quant = (now - R(tmrAlias)) * KOEF +
-          if not motion.dir then  +
-              quant = quant * (-1)  +
-          end  +
-                                                     DEBUG("quant calculated as = "..quant) +
-      W (outAlias, 1) -- "in motion" flag +
-                                                     +
-    else  +
-                    DEBUG("no motion lasts = ") +
-      W (outAlias, 0)   +
-      quant = 0  +
-    end  -- if +
          
-W (tmrAlias, now)     -- rememeber last call time  +    DBG("auto sp pos autoOpenCmd autoCloseCmd uShoot oShoot ", '|',  
-return quant +           auto, sp, Round(pos, 1), autoOpenCmd, autoCloseCmd, uShoot, oShoot) 
- +end
-end -- function +
 </code> </code>
  
useful_programs.txt · Last modified: 2024/03/19 09:39 by emozolyak
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