formatting

.gitignore

@@ -6,3 +6,5 @@ out
 klippy/.version
 .history/
 .DS_Store
+ci_build/
+ci_cache/

klippy/extras/heaters.py

@@ -52,11 +52,11 @@ def __init__(self, config, sensor):
         self.last_pwm_value = 0.0
         # Setup control algorithm sub-class
         algos = {
-            'watermark': ControlBangBang,
-            'pid': ControlPID,
-            'pid_v': ControlVelocityPID
+            "watermark": ControlBangBang,
+            "pid": ControlPID,
+            "pid_v": ControlVelocityPID,
         }
-        algo = config.getchoice('control', algos)
+        algo = config.getchoice("control", algos)
         self.control = algo(self, config)
         # Setup output heater pin
         heater_pin = config.get("heater_pin")
@@ -230,9 +230,11 @@ def temperature_update(self, read_time, temp, target_temp):
             self.heater.set_pwm(read_time, 0.0)
 
     def check_busy(self, eventtime, smoothed_temp, target_temp):
-        return smoothed_temp < target_temp-self.max_delta
+        return smoothed_temp < target_temp - self.max_delta
+
     def get_type(self):
-        return 'watermark'
+        return "watermark"
+
 
 ######################################################################
 # Proportional Integral Derivative (PID) control algo
@@ -288,28 +290,33 @@ def temperature_update(self, read_time, temp, target_temp):
 
     def check_busy(self, eventtime, smoothed_temp, target_temp):
         temp_diff = target_temp - smoothed_temp
-        return (abs(temp_diff) > PID_SETTLE_DELTA
-                or abs(self.prev_temp_deriv) > PID_SETTLE_SLOPE)
+        return (
+            abs(temp_diff) > PID_SETTLE_DELTA
+            or abs(self.prev_temp_deriv) > PID_SETTLE_SLOPE
+        )
+
     def get_type(self):
-        return 'pid'
+        return "pid"
+
 
 ######################################################################
 # Velocity (PID) control algo
 ######################################################################
 
+
 class ControlVelocityPID:
     def __init__(self, heater, config):
         self.heater = heater
         self.heater_max_power = heater.get_max_power()
-        self.Kp = config.getfloat('pid_Kp') / PID_PARAM_BASE
-        self.Ki = config.getfloat('pid_Ki') / PID_PARAM_BASE
-        self.Kd = config.getfloat('pid_Kd') / PID_PARAM_BASE
-        self.smooth_time = heater.get_smooth_time() # smoothing window
-        self.temps = [AMBIENT_TEMP] * 3 # temperature readings
-        self.times = [0.] * 3 #temperature reading times
-        self.d1 = 0. # previous smoothed 1st derivative
-        self.d2 = 0. # previous smoothed 2nd derivative
-        self.pwm = 0. # the previous pwm setting
+        self.Kp = config.getfloat("pid_Kp") / PID_PARAM_BASE
+        self.Ki = config.getfloat("pid_Ki") / PID_PARAM_BASE
+        self.Kd = config.getfloat("pid_Kd") / PID_PARAM_BASE
+        self.smooth_time = heater.get_smooth_time()  # smoothing window
+        self.temps = [AMBIENT_TEMP] * 3  # temperature readings
+        self.times = [0.0] * 3  # temperature reading times
+        self.d1 = 0.0  # previous smoothed 1st derivative
+        self.d2 = 0.0  # previous smoothed 2nd derivative
+        self.pwm = 0.0  # the previous pwm setting
 
     def temperature_update(self, read_time, temp, target_temp):
         # update the temp and time lists
@@ -330,33 +337,36 @@ def temperature_update(self, read_time, temp, target_temp):
         # calculate the 2nd derivative: d part in velocity form
         # note the derivative is of the temp and not the error
         # this is to prevent derivative kick
-        d2 = self.temps[-1] - 2.*self.temps[-2] + self.temps[-3]
+        d2 = self.temps[-1] - 2.0 * self.temps[-2] + self.temps[-3]
         d2 = d2 / (self.times[-1] - self.times[-2])
 
         # smooth both the derivatives using a modified moving average
         # that handles unevenly spaced data points
-        n = max(1.,self.smooth_time/(self.times[-1] - self.times[-2]))
-        self.d1 = ((n - 1.) * self.d1 + d1) / n
-        self.d2 = ((n - 1.) * self.d2 + d2) / n
+        n = max(1.0, self.smooth_time / (self.times[-1] - self.times[-2]))
+        self.d1 = ((n - 1.0) * self.d1 + d1) / n
+        self.d2 = ((n - 1.0) * self.d2 + d2) / n
 
         # calculate the output
-        p = self.Kp * -self.d1 # invert sign to prevent derivative kick
+        p = self.Kp * -self.d1  # invert sign to prevent derivative kick
         i = self.Ki * error
-        d = self.Kd * -self.d2 # invert sign to prevent derivative kick
+        d = self.Kd * -self.d2  # invert sign to prevent derivative kick
 
-        self.pwm = max(0., min(self.heater_max_power, self.pwm + p + i + d))
-        if target_temp == 0.:
-            self.pwm = 0.
+        self.pwm = max(0.0, min(self.heater_max_power, self.pwm + p + i + d))
+        if target_temp == 0.0:
+            self.pwm = 0.0
 
         # update the heater
         self.heater.set_pwm(read_time, self.pwm)
 
     def check_busy(self, eventtime, smoothed_temp, target_temp):
         temp_diff = target_temp - smoothed_temp
-        return (abs(temp_diff) > PID_SETTLE_DELTA
-                or abs(self.d1) > PID_SETTLE_SLOPE)
+        return (
+            abs(temp_diff) > PID_SETTLE_DELTA or abs(self.d1) > PID_SETTLE_SLOPE
+        )
+
     def get_type(self):
-        return 'pid_v'
+        return "pid_v"
+
 
 ######################################################################
 # Sensor and heater lookup

klippy/extras/pid_calibrate.py

@@ -50,12 +50,13 @@ def cmd_PID_CALIBRATE(self, gcmd):
             "with these parameters and restart the printer." % (Kp, Ki, Kd)
         )
         # Store results for SAVE_CONFIG
-        configfile = self.printer.lookup_object('configfile')
-        control = 'pid_v' if old_control.get_type() == 'pid_v' else 'pid'
-        configfile.set(heater_name, 'control', control)
-        configfile.set(heater_name, 'pid_Kp', "%.3f" % (Kp,))
-        configfile.set(heater_name, 'pid_Ki', "%.3f" % (Ki,))
-        configfile.set(heater_name, 'pid_Kd', "%.3f" % (Kd,))
+        configfile = self.printer.lookup_object("configfile")
+        control = "pid_v" if old_control.get_type() == "pid_v" else "pid"
+        configfile.set(heater_name, "control", control)
+        configfile.set(heater_name, "pid_Kp", "%.3f" % (Kp,))
+        configfile.set(heater_name, "pid_Ki", "%.3f" % (Ki,))
+        configfile.set(heater_name, "pid_Kd", "%.3f" % (Kd,))
+
 
 TUNE_PID_DELTA = 5.0