Kim GiJeong
eeprom_test
Diff: main.cpp
- Revision:
- 62:851cf7b7aa7a
- Parent:
- 61:7572762e3837
- Child:
- 63:a3c7f31742c9
diff -r 7572762e3837 -r 851cf7b7aa7a main.cpp
--- a/main.cpp Fri Apr 10 02:00:46 2020 +0000
+++ b/main.cpp Tue May 12 06:23:22 2020 +0000
@@ -64,15 +64,6 @@
State INIT_Pos;
State INIT_torq;
-float V_out=0.0f;
-float V_rem=0.0f; // for anti-windup
-float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
-
-float PWM_out=0.0f;
-
-int timer_while = 0;
-int while_index = 0;
-
extern int CID_RX_CMD;
extern int CID_RX_REF_POSITION;
extern int CID_RX_REF_VALVE_POS;
@@ -129,7 +120,7 @@
MODE_TORQUE_SENSOR_NULLING = 20, //20
MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
MODE_FIND_HOME, //22
- MODE_VALVE_GAIN_SETTING, //23
+ MODE_VALVE_GAIN_SETTING, //23
MODE_PRESSURE_SENSOR_NULLING, //24
MODE_PRESSURE_SENSOR_CALIB, //25
MODE_ROTARY_FRICTION_TUNING, //26
@@ -137,15 +128,22 @@
MODE_DDV_POS_VS_PWM_ID = 30, //30
MODE_DDV_DEADZONE_AND_CENTER, //31
MODE_DDV_POS_VS_FLOWRATE, //32
+ MODE_SYSTEM_ID, //33
};
+void SystemClock_Config(void);
+
int main()
{
/*********************************
*** Initialization
*********************************/
- //LED = 1;
- //pc.baud(9600);
+ HAL_Init();
+// SystemClock_Config();
+
+
+// LED = 1;
+// pc.baud(9600);
// i2c init
i2c.frequency(400 * 1000); // 0.4 mHz
@@ -191,7 +189,7 @@
//Timer priority
NVIC_SetPriority(TIM3_IRQn, 2);
-// NVIC_SetPriority(TIM2_IRQn, 3);
+ //NVIC_SetPriority(TIM2_IRQn, 3);
NVIC_SetPriority(TIM4_IRQn, 3);
//can.reset();
@@ -202,11 +200,13 @@
make_delay();
//DAC init
-// dac_1 = PRES_A_VREF / 3.3f;
-// dac_2 = PRES_B_VREF / 3.3f;
- dac_1 = TORQUE_VREF / 3.3f;
- dac_2 = 0.0f;
- dac_1 = 0.0f;
+ if (SENSING_MODE == 0) {
+ dac_1 = TORQUE_VREF / 3.3f;
+ dac_2 = 0.0f;
+ } else if (SENSING_MODE == 1) {
+ dac_1 = PRES_A_VREF / 3.3f;
+ dac_2 = PRES_B_VREF / 3.3f;
+ }
make_delay();
for (int i=0; i<50; i++) {
@@ -220,17 +220,19 @@
*** Program is operating!
*************************************/
while(1) {
- if(timer_while==1000) {
+ if(timer_while==1000 && OPERATING_MODE==5) {
+// if(timer_while==1000) {
//i2c
read_field(i2c_slave_addr1);
if(DIR_VALVE_ENC < 0) value = 1023 - value;
-// if(LED==1) {
-// LED=0;
-// } else
-// LED = 1;
+ // if(LED==1) {
+ // LED=0;
+ // } else
+ // LED = 1;
timer_while = 0;
}
timer_while ++;
+ //pc.printf("%d\n", value);
}
}
@@ -243,15 +245,15 @@
if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
if(i==0) {
if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
- Ref_Valve_Pos_FF = DDV_CENTER;
+ Ref_Valve_Pos_FF = (float) VALVE_CENTER;
} else {
- Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
+ Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
}
} else {
if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
- Ref_Valve_Pos_FF = DDV_CENTER;
+ Ref_Valve_Pos_FF = (float) VALVE_CENTER;
} else {
- Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
+ Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
}
}
break;
@@ -263,7 +265,7 @@
Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
}
- Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER);
+ Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
return Ref_Valve_Pos_FF;
}
@@ -298,7 +300,7 @@
break;
}
}
- V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
+ Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}
#define LT_MAX_IDX 57
@@ -309,12 +311,12 @@
11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
}; // duty
-float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
- -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
- -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
- 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
- 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
- 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
+float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
+ -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
+ -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
+ 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
+ 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
+ 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
}; // mV
float PWM_duty_byLT(float Ref_V)
@@ -341,52 +343,82 @@
return PWM_duty;
}
+
+
+
+
/*******************************************************************************
TIMER INTERRUPT
*******************************************************************************/
float FREQ_TMR4 = (float)FREQ_20k;
float DT_TMR4 = (float)DT_20k;
+long CNT_TMR4 = 0;
+int TMR4_FREQ_10k = (int)FREQ_10k;
extern "C" void TIM4_IRQHandler(void)
{
-
if (TIM4->SR & TIM_SR_UIF ) {
/*******************************************************
*** Sensor Read & Data Handling
********************************************************/
+ //Encoder
+ if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
+ ENC_UPDATE();
+ }
- //Using LoadCell
-// ADC1->CR2 |= 0x40000000; // adc _ 12bit
-// //while((ADC1->SR & 0b10));
-// float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
-// float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
-// torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
+ ADC1->CR2 |= 0x40000000;
+ if (SENSING_MODE == 0) {
+ // Torque Sensing (0~210)bar =============================================
+ float pres_A_new = (((float) ADC1->DR) - 2047.5f);
+ double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
+ pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
+ torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
+// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
+//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
+// float pres_A_new = ((float)ADC1->DR);
+// pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
+// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
+
- //Pressure sensor A
- ADC1->CR2 |= 0x40000000; // adc _ 12bit
- //while((ADC1->SR & 0b10));
- float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
-// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
- float pres_A_new = ((float)ADC1->DR);
- pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
- torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
+ } else if (SENSING_MODE == 1) {
+ // Pressure Sensing (0~210)bar =============================================
+ float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
+ float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
+ double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
+ pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
+ pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
+ CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
+ CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
+ if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
+ torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
+ } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
+ torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
+ }
+ }
- //Pressure sensor 1B
- //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
- //float pres_B_new = ((float)ADC2->DR);
- //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
- //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
-
+// //Pressure sensor A
+// ADC1->CR2 |= 0x40000000; // adc _ 12bit
+// //while((ADC1->SR & 0b10));
+// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
+// float pres_A_new = ((float)ADC1->DR);
+// pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
+// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
+//
+//
+// //Pressure sensor B
+// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
+// float pres_B_new = ((float)ADC2->DR);
+// pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
+// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
//Current
//ADC3->CR2 |= 0x40000000; // adc _ 12bit
-// a1=ADC2->DR;
//int raw_cur = ADC3->DR;
//while((ADC3->SR & 0b10));
float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
@@ -394,29 +426,34 @@
cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
//cur.sen = raw_cur;
- /*******************************************************
- *** Timer Counting & etc.
- ********************************************************/
- //CNT_TMR4++;
+ CNT_TMR4++;
}
TIM4->SR = 0x0; // reset the status register
}
int j =0;
-//unsigned long CNT_TMR3 = 0;
-//float FREQ_TMR3 = (float)FREQ_5k;
float FREQ_TMR3 = (float)FREQ_5k;
float DT_TMR3 = (float)DT_5k;
-//float DT_TMR3 = (float)DT_1k;
int cnt_trans = 0;
double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
-int canfreq = CAN_FREQUENCY;
+int can_rest =0;
extern "C" void TIM3_IRQHandler(void)
{
if (TIM3->SR & TIM_SR_UIF ) {
- ENC_UPDATE();
+
+ if (((OPERATING_MODE&0b110)>>1) == 0) {
+ K_v = 0.4f; // Moog (LPM >> mA) , 100bar
+ mV_PER_mA = 500.0f; // 5000mV/10mA
+ mV_PER_pulse = 0.5f; // 5000mV/10000pulse
+ mA_PER_pulse = 0.001f; // 10mA/10000pulse
+ } else if (((OPERATING_MODE&0b110)>>1) == 1) {
+ K_v = 0.5f; // KNR (LPM >> mA) , 100bar
+ mV_PER_mA = 166.6666f; // 5000mV/30mA
+ mV_PER_pulse = 0.5f; // 5000mV/10000pulse
+ mA_PER_pulse = 0.003f; // 30mA/10000pulse
+ }
if(MODE_POS_FT_TRANS == 1) {
alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
@@ -431,400 +468,34 @@
if((float) cnt_trans * DT_TMR3 > 3.0f )
MODE_POS_FT_TRANS = 0;
} else if(MODE_POS_FT_TRANS == 2) {
- alpha_trans = 1.0;
+ alpha_trans = 1.0f;
cnt_trans = 0;
} else {
- alpha_trans = 0.0;
+ alpha_trans = 0.0f;
cnt_trans = 0;
}
+ int UTILITY_MODE = 0;
+ int CONTROL_MODE = 0;
+
+ if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
+ UTILITY_MODE = CONTROL_UTILITY_MODE;
+ CONTROL_MODE = MODE_NO_ACT;
+ } else {
+ CONTROL_MODE = CONTROL_UTILITY_MODE;
+ UTILITY_MODE = MODE_NO_ACT;
+ }
+
+
- // CONTROL LOOP ------------------------------------------------------------
-
- switch (CONTROL_MODE) {
- case MODE_NO_ACT: {
- V_out = 0.0f;
- break;
- }
-
- case MODE_VALVE_POSITION_CONTROL: {
- VALVE_POS_CONTROL(valve_pos.ref);
- break;
- }
-
- case MODE_JOINT_CONTROL: {
-
- float VALVE_POS_RAW_FORCE_FB = 0.0f;
-
-
- double torq_ref = 0.0f;
- //if(TMR3_COUNT_TEST % (int) (50) == 0){
- pos.err = pos.ref - pos.sen; //[pulse]
- vel.err = vel.ref - vel.sen; //[pulse/s]
- torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f - D_DAMPER * vel.sen * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
- //torq_ref_logging = torq_ref
- //}
-
- // torque feedback
- torq.err = torq_ref - torq.sen; //[pulse]
- torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse]
-// if (torq.err_sum > 1000) torq.err_sum = 1000;
-// if (torq.err_sum<-1000) torq.err_sum = -1000;
-
-
- VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f
- + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref));
+ // UTILITY MODE ------------------------------------------------------------
- if (VALVE_POS_RAW_FORCE_FB >= 0) {
- valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
- } else {
- valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
- }
-
- if(I_GAIN_JOINT_TORQUE != 0){
- double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * (float) TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f;
- if(valve_pos.ref>VALVE_MAX_POS){
- double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
- valve_pos_rem = valve_pos_rem * Ka;
- valve_pos.ref = VALVE_MAX_POS;
- torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
- }
- else if(valve_pos.ref < VALVE_MIN_POS){
- double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
- valve_pos_rem = valve_pos_rem * Ka;
- valve_pos.ref = VALVE_MIN_POS;
- torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
- }
- }
-
- VALVE_POS_CONTROL(valve_pos.ref);
-
- //TMR3_COUNT_TEST++;
-
- break;
- }
-
-
- case MODE_VALVE_OPEN_LOOP: {
- V_out = (float) Vout.ref;
- break;
- }
-
- case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
- float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
- //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
- float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
- //int DDV_JOINT_CAN = 0;
- // feedback input for position control
- pos.err = pos.ref - (float) pos.sen;
- pos.err_diff = pos.err - pos.err_old;
- pos.err_old = pos.err;
- pos.err_sum += pos.err;
- if (pos.err_sum > 1000) pos.err_sum = 1000;
- if (pos.err_sum<-1000) pos.err_sum = -1000;
- VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum/(float) ENC_PULSE_PER_POSITION + (float) D_GAIN_JOINT_POSITION * pos.err_diff/(float) ENC_PULSE_PER_POSITION;
-
-
- //Ref_Joint_Vel = Ref_Vel_Test;
- // feedforward input for position control
- // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
- // float K_ff = 0.9f;
- // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
- // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
- // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
-
- //torque feedback
- torq.err = - torq.ref + torq.sen;
- torq.err_diff = torq.err - torq.err_old;
- torq.err_old = torq.err;
- torq.err_sum += torq.err;
- if (torq.err_sum > 1000) torq.err_sum = 1000;
- if (torq.err_sum<-1000) torq.err_sum = -1000;
- VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
- VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
-
-// valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
- valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref);
-
- if (valve_pos.ref >= 0) {
- valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS;
- } else if(valve_pos.ref < 0) {
- valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_MINUS;
- }
- VALVE_POS_CONTROL(valve_pos.ref);
-
-
+ switch (UTILITY_MODE) {
+ case MODE_NO_ACT: {
break;
}
-// case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
-//
-// break;
-// }
-
-// case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
-// pos.err = pos.ref - (float) pos.sen;
-// pos.err_diff = pos.err - pos.err_old;
-// pos.err_old = pos.err;
-// pos.err_sum += pos.err;
-// if (pos.err_sum > 1000) pos.err_sum = 1000;
-// if (pos.err_sum<-1000) pos.err_sum = -1000;
-// VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff)/(float) ENC_PULSE_PER_POSITION;
-//
-// torq.err = torq.ref - torq.sen;
-// torq.err_diff = torq.err - torq.err_old;
-// torq.err_old = torq.err;
-// torq.err_sum += torq.err;
-// if (torq.err_sum > 1000) torq.err_sum = 1000;
-// if (torq.err_sum<-1000) torq.err_sum = -1000;
-// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
-//
-// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
-//
-// V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
-//
-// CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
-// CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
-// if (DIR_VALVE > 0) {
-// if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
-// else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
-// else VALVE_FF_VOLTAGE = 0;
-// } else {
-// if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
-// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
-// else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
-// else VALVE_FF_VOLTAGE = 0;
-// }
-// // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
-//
-// if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
-// else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
-//
-// V_out = V_out + VALVE_FF_VOLTAGE;
-// break;
-// }
-
-// case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
-//
-// pos.err = pos.ref - (float) pos.sen;
-// pos.err_diff = pos.err - pos.err_old;
-// pos.err_old = pos.err;
-// pos.err_sum += pos.err;
-// if (pos.err_sum > 1000) pos.err_sum = 1000;
-// if (pos.err_sum<-1000) pos.err_sum = -1000;
-// VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
-//
-// torq.err = torq.ref - torq.sen;
-// torq.err_diff = torq.err - torq.err_old;
-// torq.err_old = torq.err;
-// torq.err_sum += torq.err;
-// if (torq.err_sum > 1000) torq.err_sum = 1000;
-// if (torq.err_sum<-1000) torq.err_sum = -1000;
-// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
-//
-// valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
-// VALVE_POS_CONTROL(valve_pos.ref);
-//
-// break;
-// }
-
-// case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
-//
-// break;
-// }
-
-
-// case MODE_TEST_CURRENT_CONTROL: {
-// if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
-// TMR3_COUNT_IREF = 0;
-// }
-// TMR3_COUNT_IREF++;
-//
-// // Set Current Reference
-// float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
-// float I_REF_MID = 0.0f;
-// if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
-// I_REF = I_REF_MID + 1.0f;
-// } else {
-// I_REF = I_REF_MID - 1.0f;
-// }
-//// float T = 1.0; // wave period
-//// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
-//// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
-//
-// if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
-// //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
-// }
-// break;
-// }
-
-// case MODE_TEST_PWM_CONTROL: {
-// if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
-// TMR3_COUNT_IREF = 0;
-// }
-// TMR3_COUNT_IREF++;
-//
-// // Set PWM reference
-// float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
-// //float I_REF_MID = 0.0f;
-// if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
-// CUR_PWM = 1000;
-// } else {
-// CUR_PWM = -1000;
-// }
-//
-// if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
-// //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
-// }
-// break;
-// }
-
-
-// case MODE_CURRENT_CONTROL: {
-//
-// cur.ref = cur.ref; // Unit : mA
-// CurrentControl();
-// break;
-// }
-
-// case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
-// float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
-// float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
-// float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
-// float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
-//
-// // feedback input for position control
-// pos.err = pos.ref - pos.sen;
-// float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
-// float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
-// pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
-// pos.err_old = pos.err;
-// I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
-//
-// // feedforward input for position control
-// float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
-// float K_ff = 1.3f;
-// float K_v = 0.0f;
-// if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
-// if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
-// I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
-//
-// // feedback input for position control
-// I_REF_FORCE_FB = 0.0f;
-//
-// // feedforward input for position control
-// I_REF_FORCE_FF = 0.0f;
-//
-// cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
-//
-// CurrentControl();
-//
-// break;
-// }
-
-// case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
-// //float T_REF = 0.0; // Torque Reference
-// float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
-// float I_REF_VC = 0.; // I_REF for velocity compensation
-//
-// // feedback input for position control
-// //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
-// //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
-// //float K_spring = 0.7f;
-// //float D_damper = 0.02f;
-//// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
-//
-// // torque feedback
-// torq.err = torq.ref - torq.sen;
-// // torq.err_diff = torq.err - torq.err_old;
-// // torq.err_old = torq.err;
-// torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
-// I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
-//
-// // velocity compensation for torque control
-// float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
-// float K_vc = 1.5f; // Velocity comp. gain
-// float K_v = 0.0f; // Valve gain
-// if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
-// if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
-// I_REF_VC = K_vc*K_v*Joint_Vel_Act;
-//
-// cur.ref = I_REF_VC + I_REF_FORCE_FB;
-// // cur.ref = I_REF_FORCE_FB;
-//
-// float I_MAX = 10.0f; // Maximum Current : 10mV
-// float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
-// if(cur.ref > I_MAX) {
-// float I_rem = cur.ref-I_MAX;
-// I_rem = Ka*I_rem;
-// cur.ref = I_MAX;
-// torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
-// } else if(cur.ref < -I_MAX) {
-// float I_rem = cur.ref-(-I_MAX);
-// I_rem = Ka*I_rem;
-// cur.ref = -I_MAX;
-// torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
-// }
-//
-// CurrentControl();
-//
-//
-// /*
-// float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
-// float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
-// float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
-// float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
-//
-// // feedback input for position control
-// pos.err = pos.ref - pos.sen;
-// float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
-// float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
-// pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
-// pos.err_old = pos.err;
-// I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
-//
-// // feedforward input for position control
-// float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
-// float K_ff = 1.3f;
-// float K_v = 0.0f;
-// if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
-// if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
-// I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
-//
-// // feedback input for position control
-// I_REF_FORCE_FB = 0.0f;
-//
-// // feedforward input for position control
-// I_REF_FORCE_FF = 0.0f;
-//
-// cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
-//
-// CurrentControl();
-// */
-//
-// break;
-// }
-
case MODE_TORQUE_SENSOR_NULLING: {
// DAC Voltage reference set
if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
@@ -834,77 +505,27 @@
CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
CUR_TORQUE_sum = 0;
- TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
+ TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
- if (TORQUE_VREF < 0) TORQUE_VREF = 0;
+ if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
dac_1 = TORQUE_VREF / 3.3f;
}
} else {
- CONTROL_MODE = MODE_NO_ACT;
+ CONTROL_UTILITY_MODE = MODE_NO_ACT;
TMR3_COUNT_TORQUE_NULL = 0;
CUR_TORQUE_sum = 0;
CUR_TORQUE_mean = 0;
ROM_RESET_DATA();
- //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
-
- //pc.printf("%f\n", TORQUE_VREF);
dac_1 = TORQUE_VREF / 3.3f;
}
TMR3_COUNT_TORQUE_NULL++;
break;
-
-
-
- // // DAC Voltage reference set
-// if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
-// CUR_PRES_A_sum += pres_A.sen;
-// CUR_PRES_B_sum += pres_B.sen;
-//
-// if (TMR3_COUNT_PRES_NULL % 10 == 0) {
-// CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
-// CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
-// CUR_PRES_A_sum = 0;
-// CUR_PRES_B_sum = 0;
-//
-// float VREF_NullingGain = 0.0003f;
-// PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
-// PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
-//
-// if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
-// if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
-// if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
-// if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
-//
-// dac_1 = PRES_A_VREF / 3.3f;
-// dac_2 = PRES_B_VREF / 3.3f;
-// }
-// } else {
-// CONTROL_MODE = MODE_NO_ACT;
-// TMR3_COUNT_PRES_NULL = 0;
-// CUR_PRES_A_sum = 0;
-// CUR_PRES_B_sum = 0;
-// CUR_PRES_A_mean = 0;
-// CUR_PRES_B_mean = 0;
-//
-// ROM_RESET_DATA();
-//
-// dac_1 = PRES_A_VREF / 3.3f;
-// dac_2 = PRES_B_VREF / 3.3f;
-// //pc.printf("nulling end");
-// }
-// TMR3_COUNT_PRES_NULL++;
-// break;
-
-
-
-
-
}
// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
@@ -989,19 +610,17 @@
cnt_findhome = 0;
cnt_vel_findhome = 0;
//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
- pos.ref_home_pos = pos.sen;
- vel.ref_home_pos = 0.0f;
+ pos.ref = pos.sen;
+ vel.ref = 0.0f;
FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
- CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
- int cnt_check_enc = (TMR_FREQ_5k/500);
+ int cnt_check_enc = (TMR_FREQ_5k/20);
if(cnt_findhome%cnt_check_enc == 0) {
FINDHOME_POSITION = pos.sen;
FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
FINDHOME_POSITION_OLD = FINDHOME_POSITION;
}
cnt_findhome++;
- //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
if (abs(FINDHOME_VELOCITY) <= 1) {
cnt_vel_findhome = cnt_vel_findhome + 1;
@@ -1009,26 +628,24 @@
cnt_vel_findhome = 0;
}
- if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
+ if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
//REFERENCE_MODE = MODE_REF_NO_ACT;
- //if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + (float) ENC_PULSE_PER_POSITION / (float) 512.0f;
- if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 8.0f;
-// else pos.ref_home_pos = pos.ref_home_pos - (float) ENC_PULSE_PER_POSITION / (float) 512.0f;
- else pos.ref_home_pos = pos.ref_home_pos - 8.0f;
- pos.err = pos.ref_home_pos - pos.sen;
- float VALVE_POS_RAW_POS_FB = 0.0f;
- VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
- valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
- VALVE_POS_CONTROL(valve_pos.ref);
+ if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
+ else pos.ref = pos.ref - 12.0f;
- //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
- //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
- //// L velocity >> mA convert
- //if(I_REF>5.0f) I_REF = 5.0f;
- //if(I_REF<-5.0f) I_REF = -5.0f;
- //FLAG_CURRNET_CONTROL = true;
+// pos.err = pos.ref_home_pos - pos.sen;
+// float VALVE_POS_RAW_POS_FB = 0.0f;
+// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
+// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
+// VALVE_POS_CONTROL(valve_pos.ref);
+
+ CONTROL_MODE = MODE_JOINT_CONTROL;
+ alpha_trans = 0.0f;
+
+
} else {
ENC_SET(HOMEPOS_OFFSET);
+// ENC_SET_ZERO();
INIT_REF_POS = HOMEPOS_OFFSET;
REF_POSITION = 0;
REF_VELOCITY = 0;
@@ -1038,18 +655,82 @@
cnt_findhome = 0;
cnt_vel_findhome = 0;
FINDHOME_STAGE = FINDHOME_ZEROPOSE;
+
+
+ cnt_findhome = 0;
+ pos.ref = 0.0f;
+ vel.ref = 0.0f;
+ pos.ref_home_pos = 0.0f;
+ vel.ref_home_pos = 0.0f;
+ //FINDHOME_STAGE = FINDHOME_INIT;
+ //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
+
+
}
} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
int T_move = 2*TMR_FREQ_5k;
- pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
- vel.ref_home_pos = 0.0f;
-
+ pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
+ //pos.ref = 0.0f;
+ vel.ref = 0.0f;
+
// input for position control
- pos.err = pos.ref_home_pos - (float)pos.sen;
- float VALVE_POS_RAW_POS_FB = 0.0f;
- VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
- valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
- VALVE_POS_CONTROL(valve_pos.ref);
+
+// CONTROL_MODE = MODE_JOINT_CONTROL;
+ alpha_trans = 0.0f;
+
+ double torq_ref = 0.0f;
+ pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
+ vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
+ pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
+
+ if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
+
+ double I_REF_POS = 0.0f;
+ double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
+ double I_REF_VC = 0.0f; // I_REF for velocity compensation
+
+ double temp_vel_pos = 0.0f;
+ double temp_vel_torq = 0.0f;
+ double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
+
+ if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
+ temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
+ // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
+ } else if ((OPERATING_MODE && 0x01) == 1) {
+ temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
+ // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
+ }
+ if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
+ else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
+
+ I_REF = I_REF_POS;
+
+
+
+ } else {
+ float VALVE_POS_RAW_FORCE_FB = 0.0f;
+ VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
+
+ if (VALVE_POS_RAW_FORCE_FB >= 0) {
+ valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
+ } else {
+ valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
+ }
+
+ VALVE_POS_CONTROL(valve_pos.ref);
+
+ V_out = (float) Vout.ref;
+
+ }
+
+
+
+
+// pos.err = pos.ref - (float)pos.sen;
+// float VALVE_POS_RAW_POS_FB = 0.0f;
+// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
+// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
+// VALVE_POS_CONTROL(valve_pos.ref);
cnt_findhome++;
if (cnt_findhome >= T_move) {
@@ -1060,7 +741,7 @@
pos.ref_home_pos = 0.0f;
vel.ref_home_pos = 0.0f;
FINDHOME_STAGE = FINDHOME_INIT;
- CONTROL_MODE = MODE_JOINT_CONTROL;
+ CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
}
}
@@ -1138,7 +819,6 @@
// }
//
// }
-
case MODE_PRESSURE_SENSOR_NULLING: {
// DAC Voltage reference set
if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
@@ -1152,8 +832,8 @@
CUR_PRES_B_sum = 0;
float VREF_NullingGain = 0.0003f;
- PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
- PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
+ PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
+ PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
@@ -1164,7 +844,7 @@
dac_2 = PRES_B_VREF / 3.3f;
}
} else {
- CONTROL_MODE = MODE_NO_ACT;
+ CONTROL_UTILITY_MODE = MODE_NO_ACT;
TMR3_COUNT_PRES_NULL = 0;
CUR_PRES_A_sum = 0;
CUR_PRES_B_sum = 0;
@@ -1229,12 +909,13 @@
// }
case MODE_DDV_POS_VS_PWM_ID: {
+ CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
VALVE_ID_timer = VALVE_ID_timer + 1;
if(VALVE_ID_timer < TMR_FREQ_5k*1) {
- V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
+ Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
- V_out = 1000.0f*(ID_index_array[ID_index]);
+ Vout.ref = 1000.0f*(ID_index_array[ID_index]);
} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
VALVE_POS_TMP = 0;
data_num = 0;
@@ -1242,6 +923,8 @@
data_num = data_num + 1;
VALVE_POS_TMP = VALVE_POS_TMP + value;
} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
+ Vout.ref = 0.0f;
+ } else {
VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
VALVE_ID_timer = 0;
ID_index= ID_index +1;
@@ -1260,9 +943,9 @@
VALVE_POS_AVG_OLD = VALVE_MIN_POS;
}
}
- //ROM_RESET_DATA();
+ ROM_RESET_DATA();
ID_index = 0;
- CONTROL_MODE = MODE_NO_ACT;
+ CONTROL_UTILITY_MODE = MODE_NO_ACT;
}
@@ -1270,27 +953,27 @@
}
case MODE_DDV_DEADZONE_AND_CENTER: {
-
+ CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
VALVE_DZ_timer = VALVE_DZ_timer + 1;
if(first_check == 0) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
- V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
+ Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
- V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
+ Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_plus_end = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
- V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
+ Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
- V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
+ Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_minus_end = pos.sen;
} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
- V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
- V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
data_num = data_num + 1;
VALVE_POS_TMP = VALVE_POS_TMP + value;
} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
- V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
DDV_POS_AVG = VALVE_POS_TMP / data_num;
START_POS = pos.sen;
VALVE_POS_TMP = 0;
@@ -1303,18 +986,15 @@
} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = DDV_POS_AVG;
VALVE_POS_CONTROL(valve_pos.ref);
- if(CUR_VELOCITY >= 0)
- VEL_POINT = VEL_POINT + 1;
- else
- VEL_POINT = VEL_POINT - 1;
+
} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = DDV_POS_AVG;
VALVE_POS_CONTROL(valve_pos.ref);
FINAL_POS = pos.sen;
- if((FINAL_POS - START_POS)>100) {
+ if((FINAL_POS - START_POS)>200) {
DZ_case = 1;
- } else if((FINAL_POS - START_POS)<-100) {
+ } else if((FINAL_POS - START_POS)<-200) {
DZ_case = -1;
} else {
DZ_case = 0;
@@ -1322,7 +1002,6 @@
CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
- VEL_POINT = 0;
first_check = 1;
DZ_DIRECTION = 1;
VALVE_DZ_timer = 0;
@@ -1334,7 +1013,9 @@
} else {
if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
- V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
+ //CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
@@ -1345,10 +1026,7 @@
valve_pos.ref = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(valve_pos.ref);
- if(CUR_VELOCITY >= 0)
- VEL_POINT = VEL_POINT + 1;
- else
- VEL_POINT = VEL_POINT - 1;
+
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
@@ -1361,8 +1039,6 @@
DZ_DIRECTION = 1 * DZ_case;
}
- VEL_POINT = 0;
-
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
@@ -1375,54 +1051,54 @@
}
} else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
- V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
+ //CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
- valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
+ valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
if(valve_pos.ref <= VALVE_MIN_POS) {
valve_pos.ref = VALVE_MIN_POS;
} else if(valve_pos.ref >= VALVE_MAX_POS) {
valve_pos.ref = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(valve_pos.ref);
- if(CUR_VELOCITY >= 0)
- VEL_POINT = VEL_POINT + 1;
- else
- VEL_POINT = VEL_POINT - 1;
+
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
+ Vout.ref = 0.0f;
+ } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>100) {
- DZ_DIRECTION = -1;
+ DZ_DIRECTION = 1 * DZ_case;
} else if((FINAL_POS - START_POS)<-100) {
- DZ_DIRECTION = 1;
+ DZ_DIRECTION = -1 * DZ_case;
} else {
- DZ_DIRECTION = 1;
+ DZ_DIRECTION = -1 * DZ_case;
}
- VEL_POINT = 0;
-
-
VALVE_DZ_timer = 0;
- DZ_index= DZ_index *2;
+ DZ_index= DZ_index * 2;
if(DZ_index >= 128) {
SECOND_DZ = valve_pos.ref;
- DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
+ VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
first_check = 0;
VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
ROM_RESET_DATA();
- CONTROL_MODE = MODE_NO_ACT;
+ CONTROL_UTILITY_MODE = MODE_NO_ACT;
DZ_index = 1;
}
}
} else if(DZ_case == 0 && DZ_NUM ==1) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
- V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
+ //CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
@@ -1433,10 +1109,7 @@
valve_pos.ref = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(valve_pos.ref);
- if(CUR_VELOCITY >= 0)
- VEL_POINT = VEL_POINT + 1;
- else
- VEL_POINT = VEL_POINT - 1;
+
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
@@ -1448,8 +1121,6 @@
} else {
DZ_DIRECTION = 1;
}
-
- VEL_POINT = 0;
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
@@ -1462,7 +1133,9 @@
}
} else {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
- V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
+ //CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
@@ -1473,33 +1146,33 @@
valve_pos.ref = VALVE_MAX_POS - 1;
}
VALVE_POS_CONTROL(valve_pos.ref);
- if(CUR_VELOCITY >= 0)
- VEL_POINT = VEL_POINT + 1;
- else
- VEL_POINT = VEL_POINT - 1;
+
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
+ Vout.ref = 0.0f;
+ } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
- if(VEL_POINT >= 0)
- DZ_DIRECTION = -1;
- else
+
+ if((FINAL_POS - START_POS)>100) {
DZ_DIRECTION = 1;
- if(abs(FINAL_POS - START_POS) < 100)
+ } else if((FINAL_POS - START_POS)<-100) {
+ DZ_DIRECTION = -1;
+ } else {
DZ_DIRECTION = 1;
-
- VEL_POINT = 0;
-
+ }
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
SECOND_DZ = valve_pos.ref;
- DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
+ VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
first_check = 0;
VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
- CONTROL_MODE = MODE_NO_ACT;
+ ROM_RESET_DATA();
+
+ CONTROL_UTILITY_MODE = MODE_NO_ACT;
DZ_index = 1;
}
}
@@ -1509,39 +1182,42 @@
}
case MODE_DDV_POS_VS_FLOWRATE: {
+ CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
VALVE_FR_timer = VALVE_FR_timer + 1;
if(first_check == 0) {
if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
- V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
+ Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
- V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
+ Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_plus_end = pos.sen;
// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
- V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
+ Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
- V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
+ Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_minus_end = pos.sen;
first_check = 1;
VALVE_FR_timer = 0;
- valve_pos.ref = DDV_CENTER;
+ valve_pos.ref = (float) VALVE_CENTER;
ID_index = 0;
max_check = 0;
min_check = 0;
}
} else {
if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
- V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
+ pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
+ CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
data_num = 0;
- valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
+ valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
START_POS = pos.sen;
} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
- valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
+ valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
data_num = data_num + 1;
if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
@@ -1551,6 +1227,7 @@
} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
FINAL_POS = pos.sen;
one_period_end = 1;
+ V_out = 0.0f;
}
if(one_period_end == 1) {
@@ -1561,7 +1238,6 @@
}
JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
- //ROM_RESET_DATA();
VALVE_FR_timer = 0;
one_period_end = 0;
ID_index= ID_index +1;
@@ -1571,50 +1247,269 @@
if(max_check == 1 && min_check == 1) {
VALVE_POS_NUM = ID_index;
- //ROM_RESET_DATA();
+ ROM_RESET_DATA();
ID_index = 0;
first_check = 0;
VALVE_FR_timer = 0;
- CONTROL_MODE = MODE_NO_ACT;
+ CONTROL_UTILITY_MODE = MODE_NO_ACT;
// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
}
}
break;
}
+ case MODE_SYSTEM_ID: {
+ freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
+ valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
+ CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
+ cnt_sysid++;
+ if (freq_sysid_Iref >= 300) {
+ cnt_sysid = 0;
+ CONTROL_UTILITY_MODE = MODE_NO_ACT;
+ }
+ break;
+ }
+
+
+
+ default:
+ break;
+ }
+
+ // CONTROL MODE ------------------------------------------------------------
+
+ switch (CONTROL_MODE) {
+ case MODE_NO_ACT: {
+ V_out = 0.0f;
+ break;
+ }
+
+ case MODE_VALVE_POSITION_CONTROL: {
+ if (OPERATING_MODE == 5) { //SW Valve
+ VALVE_POS_CONTROL(valve_pos.ref);
+ V_out = Vout.ref;
+ } else if (CURRENT_CONTROL_MODE == 0) { //PWM
+ V_out = valve_pos.ref;
+ } else {
+ I_REF = valve_pos.ref * 0.001f;
+ }
+
+ break;
+ }
+
+ case MODE_JOINT_CONTROL: {
+ double torq_ref = 0.0f;
+ pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
+ vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
+ pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
+
+ //K & D Low Pass Filter
+ float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
+ K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
+ D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
+
+ torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
+
+ // torque feedback
+ torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
+ torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
+
+ if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
+
+ double I_REF_POS = 0.0f;
+ double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
+ double I_REF_VC = 0.0f; // I_REF for velocity compensation
+
+ double temp_vel_pos = 0.0f;
+ double temp_vel_torq = 0.0f;
+ double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
+
+ if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
+ temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
+ // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
+ } else if ((OPERATING_MODE && 0x01) == 1) {
+ temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
+ // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
+ }
+ if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
+ else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
+
+ // velocity compensation for torque control
+ if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
+ I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
+ // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
+ temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
+ // L feedforward velocity
+ } else if ((OPERATING_MODE && 0x01) == 1) {
+ I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
+ // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
+ temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
+ // L feedforward velocity
+ }
+ if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
+ else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
+ // L velocity(rad/s or mm/s) >> I_ref(mA)
+ // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
+ // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
+
+ I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
+
+ // Anti-windup for FT
+ if (I_GAIN_JOINT_TORQUE != 0) {
+ double I_MAX = 10.0f; // Maximum Current : 10mV
+ double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
+ if (I_REF > I_MAX) {
+ double I_rem = I_REF - I_MAX;
+ I_rem = Ka*I_rem;
+ I_REF = I_MAX;
+ torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
+ } else if (I_REF < -I_MAX) {
+ double I_rem = I_REF - (-I_MAX);
+ I_rem = Ka*I_rem;
+ I_REF = -I_MAX;
+ torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
+ }
+ }
+
+ } else {
+ float VALVE_POS_RAW_FORCE_FB = 0.0f;
+
+ VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
+ + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
+
+ if (VALVE_POS_RAW_FORCE_FB >= 0) {
+ valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
+ } else {
+ valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
+ }
+
+ if(I_GAIN_JOINT_TORQUE != 0) {
+ double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
+ if(valve_pos.ref>VALVE_MAX_POS) {
+ double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
+ valve_pos_rem = valve_pos_rem * Ka;
+ valve_pos.ref = VALVE_MAX_POS;
+ torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
+ } else if(valve_pos.ref < VALVE_MIN_POS) {
+ double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
+ valve_pos_rem = valve_pos_rem * Ka;
+ valve_pos.ref = VALVE_MIN_POS;
+ torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
+ }
+ }
+
+ VALVE_POS_CONTROL(valve_pos.ref);
+
+// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
+ V_out = (float) Vout.ref;
+
+ }
+
+ break;
+ }
+
+ case MODE_VALVE_OPEN_LOOP: {
+ V_out = (float) Vout.ref;
+ break;
+ }
+
default:
break;
}
-// if (FLAG_VALVE_OUTPUT_CALIB) {
-// // Valve Dead Zone (Mechanical dead-zone canceling)
-// // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
-// // if (V_out > 0.) {
-// // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
-// // } else if (V_out < 0.) {
-// // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
-// // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
-// // } else VALVE_PWM_VALVE_DZ = (int) V_out;
-//
-// if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
-// else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
-//
-// VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
-//
-// // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
-// float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
-// float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
-//
-// if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
-// else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
-// else V_out = CUR_PWM_DZ;
-// } else {
-// V_out = V_out;
-// }
+
+ if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
+
+ ////////////////////////////////////////////////////////////////////////////
+ //////////////////////////// CURRENT CONTROL //////////////////////////////
+ ////////////////////////////////////////////////////////////////////////////
+ if (CURRENT_CONTROL_MODE) {
+ double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
+ I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
+
+ I_ERR = I_REF_fil - cur.sen;
+ I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
+
+
+ // Moog Valve Current Control Gain
+ double R_model = 500.0f; // ohm
+ double L_model = 1.2f;
+ double w0 = 2.0f * 3.14f * 150.0f;
+ double KP_I = 0.1f * L_model*w0;
+ double KI_I = 0.1f * R_model*w0;
+
+ // KNR Valve Current Control Gain
+ if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
+ R_model = 163.0f; // ohm
+ L_model = 1.0f;
+ w0 = 2.0f * 3.14f * 80.0f;
+ KP_I = 1.0f * L_model*w0;
+ KI_I = 0.08f * R_model*w0;
+ }
+
+ double FF_gain = 1.0f;
+
+ VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
+ // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
+ I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
+ I_REF_fil_old = I_REF_fil;
+// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
+ VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
+ double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
+ double Ka = 3.0f / KP_I;
+ if (VALVE_PWM_RAW > V_MAX) {
+ V_rem = VALVE_PWM_RAW - V_MAX;
+ V_rem = Ka*V_rem;
+ VALVE_PWM_RAW = V_MAX;
+ I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
+ } else if (VALVE_PWM_RAW < -V_MAX) {
+ V_rem = VALVE_PWM_RAW - (-V_MAX);
+ V_rem = Ka*V_rem;
+ VALVE_PWM_RAW = -V_MAX;
+ I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
+ }
+ Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
+ } else {
+ VALVE_PWM_RAW = I_REF * mV_PER_mA;
+ Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
+ }
+
+ ////////////////////////////////////////////////////////////////////////////
+ ///////////////// Dead Zone Cancellation & Linearization //////////////////
+ ////////////////////////////////////////////////////////////////////////////
+ // Dead Zone Cancellation (Mechanical Valve dead-zone)
+ if (FLAG_VALVE_DEADZONE) {
+ if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
+ else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
+
+ VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
+
+ } else {
+ VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
+ }
+
+ // Output Voltage Linearization
+ double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
+ double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
+
+ // Dead Zone Cancellation (Electrical dead-zone)
+ if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
+ else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
+ else V_out = (float) (CUR_PWM_lin);
+ }
+
+// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
+// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
+// else V_out = V_out;
+
/*******************************************************
*** PWM
********************************************************/
+ if(DIR_VALVE<0){
+ V_out = -V_out;
+ }
+
if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
@@ -1622,10 +1517,6 @@
}
PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
- // Saturation of output voltage to 5.0V
-// if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
-// else if (PWM_out < -0.41667) PWM_out=-0.41667;
-
// Saturation of output voltage to 12.0V
if(PWM_out > 1.0f) PWM_out=1.0f;
else if (PWM_out < -1.0f) PWM_out=-1.0f;
@@ -1643,50 +1534,65 @@
TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
+ if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
-
- if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/canfreq) == 0) {
-// if (TMR2_COUNT_CAN_TX % 10 == 0) {
// Position, Velocity, and Torque (ID:1200)
if (flag_data_request[0] == HIGH) {
- if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
+ if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
if (SENSING_MODE == 0) {
CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
} else if (SENSING_MODE == 1) {
- CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
+ CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
}
- } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
+ } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
if (SENSING_MODE == 0) {
- CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen*10.0f));
+ CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen));
} else if (SENSING_MODE == 1) {
- CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
+ CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
}
}
}
if (flag_data_request[1] == HIGH) {
//valve position
double t_value = 0;
- if(value>=DDV_CENTER) {
- t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
+// if(valve_pos.ref>=(float) VALVE_CENTER) {
+// t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
+// } else {
+// t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
+// }
+ if(OPERATING_MODE==5) {
+ t_value = (double) value;
+ } else if(CURRENT_CONTROL_MODE==1) {
+ t_value = cur.sen;
} else {
- t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
+ t_value = V_out;
}
- CAN_TX_TORQUE((int16_t) (t_value));
+ CAN_TX_TORQUE((int16_t) (t_value)); //1300
+ //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
+ //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
}
+
if (flag_data_request[2] == HIGH) {
//pressure A and B
- CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
+ CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
+ }
+
+ //If it doesn't rest, below can can not work.
+ for (can_rest = 0; can_rest < 10000; can_rest++) {
+ ;
}
if (flag_data_request[3] == HIGH) {
//PWM
- CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
+ CAN_TX_PWM((int16_t) value); //1500
}
-
+ //for (i = 0; i < 10000; i++) {
+// ;
+// }
if (flag_data_request[4] == HIGH) {
//valve position
- CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
+ CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
}
// Others : Reference position, Reference FT, PWM, Current (ID:1300)
@@ -1694,122 +1600,59 @@
// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
// }
//if (flag_delay_test == 1){
- //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
+ //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
//}
TMR2_COUNT_CAN_TX = 0;
}
TMR2_COUNT_CAN_TX++;
-
-
}
TIM3->SR = 0x0; // reset the status register
}
-
+void SystemClock_Config(void)
+{
+ RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+ RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-//unsigned long CNT_TMR5 = 0;
-//float FREQ_TMR5 = (float)FREQ_500;
-//float DT_TMR5 = (float)DT_500;
-//extern "C" void TIM2_IRQHandler(void)
-//{
-// LED = 1;
-// if (TIM2->SR & TIM_SR_UIF ) {
-//
-// //CAN ----------------------------------------------------------------------
-// if (flag_data_request[0] == HIGH) {
-// //position+velocity
-// CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
-// }
-//
-// if (flag_data_request[1] == HIGH) {
-// //valve position
-// double t_value = 0;
-// if(value>=DDV_CENTER) {
-// t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
-// } else {
-// t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
-// }
-// CAN_TX_TORQUE((int16_t) (t_value));
-// }
-//
-// if (flag_data_request[2] == HIGH) {
-// //pressure A and B
-// CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
-// //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
-// // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
-// // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
-// // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
-//
-// }
-//
-// if (flag_data_request[3] == HIGH) {
-// //PWM
-// CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
-// // CAN_TX_PWM((int16_t) cnt_vel_findhome);
-// // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
-// // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
-//
-// }
-//
-// if (flag_data_request[4] == HIGH) {
-// //valve position
-// CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
-// //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
-//
-// //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
-// // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
-// // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
-// // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
-// // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
-// }
-//
-//
-// }
-// TIM2->SR = 0x0; // reset the status register
-//}
+ /** Configure the main internal regulator output voltage
+ */
+ __HAL_RCC_PWR_CLK_ENABLE();
+ __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+ /** Initializes the CPU, AHB and APB busses clocks
+ */
+ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+ RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+ RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+ RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+ RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
+ RCC_OscInitStruct.PLL.PLLM = 8; //8
+ RCC_OscInitStruct.PLL.PLLN = 180;//180
+ RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+ RCC_OscInitStruct.PLL.PLLQ = 2;
+ RCC_OscInitStruct.PLL.PLLR = 2;
+ if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
+ //Error_Handler();
+ }
+ /** Activate the Over-Drive mode
+ */
+ if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
+ //Error_Handler();
+ }
+ /** Initializes the CPU, AHB and APB busses clocks
+ */
+ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+ |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+ RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+ RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+ RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
+ RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
-
-
-void CurrentControl()
-{
- cur.err = cur.ref - cur.sen;
- cur.err_int = cur.err_int + cur.err*DT_TMR4;
- cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
- cur.err_old = cur.err;
-
- float R_model = 150.0f; // ohm
- float L_model = 0.3f;
- float w0 = 2.0f*3.14f*90.0f;
- float KP_I = L_model*w0;
- float KI_I = R_model*w0;
- float KD_I = 0.0f;
-
- float FF_gain = 0.0f;
- V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
- // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
- V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
-
- float Ka = 5.0f/KP_I;
- if(V_out > V_MAX) {
- V_rem = V_out-V_MAX;
- V_rem = Ka*V_rem;
- V_out = V_MAX;
- cur.err_int = cur.err_int - V_rem*DT_5k;
- } else if(V_out < -V_MAX) {
- V_rem = V_out-(-V_MAX);
- V_rem = Ka*V_rem;
- V_out = -V_MAX;
- cur.err_int = cur.err_int - V_rem*DT_5k;
+ if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
+ //Error_Handler();
}
-}
-
-
-
-
-
-
-
-
+ HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
+ HAL_RCC_MCOConfig(RCC_MCO2, RCC_MCO2SOURCE_SYSCLK, RCC_MCODIV_2);
+}
\ No newline at end of file