Add PID solver

pid-solver/pid.py

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+import csv
+import sys
+import argparse
+from os.path import exists
+mode = "BOTH"
+
+parser = argparse.ArgumentParser(description='Find PID values')
+parser.add_argument('filename', metavar='filename', type=str, nargs=1, help='File that will be parsed')
+parser.add_argument('mode', metavar='mode', choices = ["ZN", "CC", "BOTH"], default = "BOTH", nargs=1, help='Type of pid tuning method that will be used')
+args = parser.parse_args()
+
+if (len(sys.argv) < 2):
+    print("Please input filename")
+    sys.exit()
+else: 
+    filename = sys.argv[1]
+if (len(sys.argv) > 2):
+    mode = sys.argv[2]
+    mode = mode.upper()
+
+if not exists(filename):
+    print("Please input a valid file")
+    sys.exit()
+
+if (mode != "BOTH" and mode != "ZN" and mode != "CC"):
+    print("Please pass in a valid method:\n ZN for Ziegler Nichol's Open Loop Method \n CC for the Cohen-Coon Open Loop Method \n BOTH for both of them")
+    sys.exit()
+
+c = 2
+distance = 0.01
+x1 = 0 #
+x2 = -1
+middle_point = -1
+x3 = -1
+t = -1
+l = -1
+max_slope = 0
+
+
+def zn_open(): #Ziegler Nichols Open Loop Method
+    gain_kc = (1.2/k)*t/l
+    reset_time = 2 * l
+    derivative_time = 0.5 * l
+
+    print("ZN gain_kc, reset_time, derivative_time: " + str(gain_kc) + ", " + str(reset_time) + ", " + str(derivative_time))
+
+def cc_open(): #Cohen-Coon Open Loop Method
+    gain_kc = 1.35/(k*(t/l+0.092))
+    reset_time = 2.5*l*(t+0.185*l)/(t+0.611*l)
+    derivative_time = 0.37*l*(t/(t+0.185*l))
+
+    print("CC gain_kc, reset_time, derivative_time: " + str(gain_kc) + ", " + str(reset_time) + ", " + str(derivative_time))
+
+
+
+with open(filename, 'r') as csvfile:
+    datareader = csv.reader(csvfile)
+    datareader_list = list(datareader)[1:] #convert csv to list, get rid of headers at the top
+    setpoint = float(datareader_list[len(datareader_list)-1][2]) #target value we're going towards (setpoint of the final row)
+    for i in range(len(datareader_list)):
+        if i>0: #ignore first point because no points behind it
+            if (float(datareader_list[i][2]) - float(datareader_list[i-1][2]))/(float(datareader_list[i][0]) - float(datareader_list[i-1][0]))>c: #If there's a sudden spike in the setpoint value, we mark this point's x value as x1
+                x1=float(datareader_list[i][0])
+            if abs(float(datareader_list[i][1])-setpoint) < distance and x3 < 0: #If a point's y value is reeaaaally close to the setpoint, we set its x value as x3
+                x3=float(datareader_list[i][0])
+            if i < len(datareader_list) - 1: #ignore last point no points after it
+                 if (float(datareader_list[i+1][1]) - float(datareader_list[i-1][1]))/(float(datareader_list[i+1][0]) - float(datareader_list[i-1][0])) > max_slope: #calculate max slope by doing slope formula on adjacent points
+                    max_slope = (float(datareader_list[i+1][1]) - float(datareader_list[i-1][1]))/(float(datareader_list[i+1][0]) - float(datareader_list[i-1][0]))
+                    middle_point = datareader_list[i] #the point with the max slope
+
+    x2 = (-float(middle_point[1])/max_slope) + float(middle_point[0]) #calculate the x value of the point where the tangent line that goes through middle_point intersects the y axis
+    print("x1, x2, x3: " + str(x1) + ", " + str(x2) + ", " + str(x3))
+    t = x3-x2
+    l = x2-x1
+    print(" ")
+    print("t, l: " + str(t) + ", " + str(l))
+    k= setpoint - float(datareader_list[0][1])
+    print(" ")
+
+    if (mode == "CC"): #parse command line inputs to display the appropriate tuning method
+        cc_open()
+    elif (mode == "ZN"):
+        zn_open()
+    else:
+        cc_open()
+        zn_open()
+
+
+
+
+
+

style.css

@@ -0,0 +1,36 @@
+.styled-table {
+    border-collapse: collapse;
+    margin: 25px 0;
+    font-size: 0.9em;
+    font-family: sans-serif;
+    min-width: 400px;
+    box-shadow: 0 0 20px rgba(0, 0, 0, 0.15);
+}
+
+.styled-table thead tr {
+    background-color: #009879;
+    color: #ffffff;
+    text-align: left;
+}
+
+.styled-table th,
+.styled-table td {
+    padding: 12px 15px;
+}
+
+.styled-table tbody tr {
+    border-bottom: 1px solid #dddddd;
+}
+
+.styled-table tbody tr:nth-of-type(even) {
+    background-color: #f3f3f3;
+}
+
+.styled-table tbody tr:last-of-type {
+    border-bottom: 2px solid #009879;
+}
+
+.styled-table tbody tr.active-row {
+    font-weight: bold;
+    color: #009879;
+}