distribution-201229

Dependencies:   mbed FastPWM

Revision:
54:647072f5307a
Parent:
52:8ea76864368a
Child:
55:b25725257569
--- a/main.cpp	Wed Feb 19 05:48:57 2020 +0000
+++ b/main.cpp	Tue Feb 25 12:56:39 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
@@ -137,6 +128,7 @@
     MODE_DDV_POS_VS_PWM_ID = 30,                           //30
     MODE_DDV_DEADZONE_AND_CENTER,                       //31
     MODE_DDV_POS_VS_FLOWRATE,                           //32
+    MODE_SYSTEM_ID,                                     //33
 };
 
 int main()
@@ -192,7 +184,7 @@
     //Timer priority
     NVIC_SetPriority(TIM3_IRQn, 2);
 //    NVIC_SetPriority(TIM2_IRQn, 3);
-    NVIC_SetPriority(TIM4_IRQn, 4);
+    NVIC_SetPriority(TIM4_IRQn, 3);
 
     //can.reset();
     can.filter(msg.id, 0xFFFFF000, CANStandard);
@@ -340,81 +332,84 @@
     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
         ********************************************************/
 
-
-        //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);
-
-
+        //Encoder
+        if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
+            ENC_UPDATE();
+        }
 
         //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
+        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 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 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
         float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
         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_1k;
+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;
 
 extern "C" void TIM3_IRQHandler(void)
 {
     if (TIM3->SR & TIM_SR_UIF ) {
-        ENC_UPDATE();
+
+        if ((OPERATING_MODE&0b110) == 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) {
+            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;
@@ -437,385 +432,26 @@
         }
 
 
-
-        // 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;
-
-                pos.err = pos.ref - pos.sen; //[pulse]
-                vel.err = vel.ref - vel.sen; //[pulse/s]
-                double torq_ref = 0.0f;
-                torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
-
-                // 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;
+        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;
+        }
 
 
-                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));
 
-                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);
-
-                break;
-            }
-
-            case MODE_VALVE_OPEN_LOOP: {
-                V_out = (float) Vout.ref;
-                break;
-            }
+        // UTILITY MODE ------------------------------------------------------------
 
-            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) {
@@ -841,61 +477,11 @@
 
                     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: {
@@ -983,7 +569,6 @@
                     pos.ref_home_pos = pos.sen;
                     vel.ref_home_pos = 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);
                     if(cnt_findhome%cnt_check_enc == 0) {
@@ -992,7 +577,6 @@
                         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;
@@ -1000,7 +584,7 @@
                         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 + 2.0f;
                         else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
@@ -1049,7 +633,7 @@
                         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;
                     }
                 }
 
@@ -1153,7 +737,7 @@
                         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;
@@ -1251,7 +835,7 @@
                     }
                     //ROM_RESET_DATA();
                     ID_index = 0;
-                    CONTROL_MODE = MODE_NO_ACT;
+                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                 }
 
 
@@ -1488,7 +1072,7 @@
                                 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
                                 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
 
-                                CONTROL_MODE = MODE_NO_ACT;
+                                CONTROL_UTILITY_MODE = MODE_NO_ACT;
                                 DZ_index = 1;
                             }
                         }
@@ -1564,42 +1148,194 @@
                         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&0b110) == 0) { //Moog Valve
+                    I_REF = valve_pos.ref;
+                } else if ((OPERATING_MODE&0b110) == 1) { //KNR Valve
+                    V_out = valve_pos.ref;
+                } else { //SW Valve
+                    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.err * 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));
+
+                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;
+            }
 
             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) == 0 || (OPERATING_MODE&0b110) == 1) { //Moog Valve or KNR Valve
+            
+            ////////////////////////////////////////////////////////////////////////////
+            ////////////////////////////  CURRENT CONTROL //////////////////////////////
+            ////////////////////////////////////////////////////////////////////////////
+            if (CURRENT_CONTROL_MODE) {
+                double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (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_CURRENT_mA;
+                I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
+
+
+                // Moog Valve Current Control Gain
+                double R_model = 539.0f; // 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 & 0x02) == 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 * I_ERR + KI_I * 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 * TMR_FREQ_5k); // Unit : mV
+                double V_MAX = 12000.; // 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 * DT_TMR3;
+                } 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 * DT_TMR3;
+                }
+                Cur_Valve_Open_pulse = CUR_CURRENT_mA / 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 + 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);
+
+            // Dead Zone Cancellation (Electrical dead-zone)
+            if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
+            else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
+            else V_out = CUR_PWM_lin;
+        }
+        
+        
 
         /*******************************************************
         ***     PWM
@@ -1611,10 +1347,6 @@
         }
         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;
@@ -1634,57 +1366,61 @@
 
 
         
-        if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k / CAN_FREQ) == 0) {
-
-        // Position, Velocity, and Torque (ID:1200)
-        if (flag_data_request[0] == HIGH) {
-            if ((OPERATING_MODE & 0x01) == 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));
-                }
-            } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
-                if (SENSING_MODE == 0) {
-                    CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
-                } else if (SENSING_MODE == 1) {
-                    CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
+        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 (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));
+                    }
+                } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
+                    if (SENSING_MODE == 0) {
+                        CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
+                    } else if (SENSING_MODE == 1) {
+                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.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);
+            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));
             }
-            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)
-        }
+            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)
+            }
 
-        if (flag_data_request[3] == HIGH) {
-            //PWM
-            CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
-        }
+            if (flag_data_request[3] == HIGH) {
+                //PWM
+                CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
+            }
 
-        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);
-        }
+            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);
+            }
 
-        // Others : Reference position, Reference FT, PWM, Current  (ID:1300)
+            // Others : Reference position, Reference FT, PWM, Current  (ID:1300)
 //        if (flag_data_request[1] == HIGH) {
 //            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);
+            //}
 
-        TMR2_COUNT_CAN_TX = 0;
-    }
+            TMR2_COUNT_CAN_TX = 0;
+        }
+        TMR2_COUNT_CAN_TX++;
 
 
 
@@ -1757,39 +1493,39 @@
 //}
 
 
-
-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;
-    }
-}
+//
+//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;
+//    }
+//}