RimsTuner.h

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#ifndef RimsTuner_h
#define RimsTuner_h



#define STEP0VALUE 30.0
#define MEANTEMPTIME        1680000
#define STEADYTIMELENGTH    1800000

#define RELAYSAMPLEFACTOR 15

#define RELAYSTEP 25.0
#define RELAYHYST 1.0

#define MAXSAMPLEPERPERIOD 200

#define MODELPARAMTOL 0.05
#define MAXRELAYPERIOD 8


#include "Arduino.h"
#include "Rims.h"
#include "utility/UIRims.h"


class RimsTuner : public Rims
{
    
public:
    RimsTuner(UIRims* uiRims, byte analogPinTherm, byte ssrPin, 
         double* currentTemp, double* ssrControl, double* settedTemp);
         
    void setFlowSensor(byte pinFlow, float flowFactor, 
                       float lowBound = -1, float upBound = 100,
                       float critalFlow = -1);
    
    
protected : 

    void _initialize();
    void _iterate();
    
    void _refreshTuner();
    
    void        _relayInit();
    bool        _relayAction();
    bool        _relayStartNewPeriod();
    void        _relayEnd();
    
    float _evalAmplitude();
    void  _calcTuningPID(float T, float A);
    
private :
    
    // === RELAY TRESHOLD ===
    unsigned int    _steadySignalSampleQty;
    float           _steadySignalSampleSum;
    float           _relayTreshold;
    
    // === RELAY UNDERSAMPLING ===
    unsigned int    _samplingFactorIndex;
    
    // === RELAY DATA FOR AMPLITUDE AND PERIOD EVALUATION ===
    unsigned int    _signalSampleQty;
    float           _signalSamples[MAXSAMPLEPERPERIOD];
    
    // === RELAY PERIODS AND AMPLITUDES ===
    bool        _halfPeriodCompleted;
    char        _curRelayPerIndex;
    float       _measuredPer    [MAXRELAYPERIOD];   
    float       _measuredAmpl   [MAXRELAYPERIOD];   
    
    // === PID COEFFICIENTS ===
    float   _Kp;
    float   _Ki;
    float   _Kd;
    float   _tauFilter;
    
};
#endif