Sungwoo Kim
distribution-201229
Diff: main.cpp
- Revision:
- 14:8e7590227d22
- Parent:
- 13:747daba9cf59
- Child:
- 15:bd0d12728506
--- a/main.cpp Tue Aug 27 06:50:54 2019 +0000
+++ b/main.cpp Thu Aug 29 07:38:00 2019 +0000
@@ -12,7 +12,9 @@
DigitalOut check_2(PC_3);
AnalogOut dac_1(PA_4);
AnalogOut dac_2(PA_5);
-//AnalogIn adc3(PC_1);
+AnalogIn adc1(PC_4); //pressure_1
+AnalogIn adc2(PB_0); //pressure_2
+AnalogIn adc3(PC_1); //current
// PWM ///////////////////////////////////////////
double dtc_v=0.0;
@@ -49,6 +51,12 @@
State pres_A;
State pres_B;
State cur;
+State valve_pos;
+
+State INIT_Vout;
+State INIT_Valve_Pos;
+State INIT_Pos;
+State INIT_torq;
double V_out=0.0;
double V_rem=0.0; // for anti-windup
@@ -92,6 +100,10 @@
MODE_TEST_CURRENT_CONTROL, //9
MODE_TEST_PWM_CONTROL, //10
+
+ MODE_CURRENT_CONTROL, //11
+ MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
+ MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
//utility
MODE_TORQUE_SENSOR_NULLING = 20, //20
@@ -115,6 +127,10 @@
LED = 1;
pc.baud(9600);
+
+ //eeprom
+ ROM_INIT_DATA();
+ make_delay();
// i2c init
i2c.frequency(400 * 1000); // 0.4 mHz
@@ -143,7 +159,7 @@
Init_TMR3();
TIM3->CR1 ^= TIM_CR1_UDIS;
make_delay();
-
+
// CAN
can.attach(&CAN_RX_HANDLER);
CAN_ID_INIT();
@@ -153,12 +169,11 @@
spi_enc_set_init();
make_delay();
- //eeprom
- ROM_INIT_DATA();
- make_delay();
+
//DAC init
- dac_1 = PRES_A_VREF/3.3;
+ //dac_1 = PRES_A_VREF/3.3;
+ dac_1 = 0.0;
dac_2 = PRES_B_VREF/3.3;
make_delay();
@@ -177,44 +192,39 @@
//spi _ enc
//int a = spi_enc_read();
-
+ //pc.printf("Message received: %d\n", msg.data[0]);
+ //pc.printf("Message received: %d\n", 13);
//i2c
- read_field(i2c_slave_addr1);
+ //read_field(i2c_slave_addr1);
}
}
-int DDV_JOINT_POS_FF(double REF_JOINT_VEL){
-
+int DDV_JOINT_POS_FF(double REF_JOINT_VEL)
+{
+
int i = 0;
int Ref_Valve_Pos_FF = DDV_CENTER;
- for(i=0; i<VALVE_POS_NUM; i++)
- {
- 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)
- {
+ for(i=0; i<VALVE_POS_NUM; i++) {
+ 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) {
Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
- }
- else
- {
+ } else {
Ref_Valve_Pos_FF = ((int) 50.0*(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 + 50*ID_index_array[i-1];
}
break;
}
}
- if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2]))
- {
+ if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Ref_Valve_Pos_FF = VALVE_MAX_POS;
- }
- else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2]))
- {
+ } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Ref_Valve_Pos_FF = VALVE_MIN_POS;
}
return Ref_Valve_Pos_FF;
}
-void VALVE_POS_CONTROL(double REF_VALVE_POS){
+void VALVE_POS_CONTROL(double REF_VALVE_POS)
+{
int i = 0;
valve_pos_err = REF_VALVE_POS - value;
@@ -225,36 +235,44 @@
if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
-
- if(REF_VALVE_POS > VALVE_MAX_POS)
- {
+
+ if(REF_VALVE_POS > VALVE_MAX_POS) {
REF_VALVE_POS = VALVE_MAX_POS;
- }
- else if(REF_VALVE_POS < VALVE_MIN_POS)
- {
+ } else if(REF_VALVE_POS < VALVE_MIN_POS) {
REF_VALVE_POS = VALVE_MIN_POS;
}
-
- for(i=0; i<16; i++)
- {
- if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]))
- {
- if(i==0)
- {
+
+ for(i=0; i<16; i++) {
+ if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
+ if(i==0) {
VALVE_PWM_RAW_FF = (double) 1000.0/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
- }
- else
- {
+ } else {
VALVE_PWM_RAW_FF = (double) 1000.0*(ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000*ID_index_array[i-1];
}
break;
}
}
- VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
+ V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}
+#define LT_MAX_IDX 57
+double LT_PWM_duty[LT_MAX_IDX] = {-100.0, -80.0, -60.0, -50.0, -40.0, -35.0, -30.0, -25.0, -20.0,
+ -19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0,
+ -9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0,
+ 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0,
+ 11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0,
+ 25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0
+ }; // duty
+double LT_Voltage_Output[LT_MAX_IDX] = {-321.4, -291.3, -261.5, -246.8, -231.7, -223.9, -216.1, -207.9, -198.8,
+ -196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0,
+ -156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0,
+ 12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2,
+ 173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6,
+ 214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7
+ }; // mV
-double PWM_duty_byLT(double Ref_V) {
+double PWM_duty_byLT(double Ref_V)
+{
double PWM_duty = 0.0;
if(Ref_V<LT_Voltage_Output[0]) {
PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
@@ -273,7 +291,7 @@
}
}
}
-
+
return PWM_duty;
}
@@ -293,24 +311,32 @@
if((CNT_TMR4%2)==0) {
- //ADC
+ //Pressure sensor A
+ ADC1->CR2 |= 0x40000000; // adc _ 12bit
+ //while((ADC1->SR & 0b10));
+ double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
+ double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR + 1.0;
+ pres_A.sen = pres_A.sen*(1.0-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
+ //pres_A.sen = (double)ADC1->DR;
+/*
+ //Pressure sensor 1B
+ //ADC2->CR2 |= 0x40000000; // adc _ 12bit
+ while((ADC2->SR & 0b10));
+ double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
+ double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR + 1.0;
+ pres_B.sen = pres_B.sen*(1.0-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
+
+ //Current
ADC3->CR2 |= 0x40000000; // adc _ 12bit
-// a1=ADC1->DR;
// a1=ADC2->DR;
// int raw_cur = ADC3->DR;
while((ADC3->SR & 0b10));
-
double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
+*/
}
- //DAC
-// dac_1 = ADC1->DR;
-// dac_2 = ADC2->DR;
-
-
-
/*******************************************************
*** Timer Counting & etc.
********************************************************/
@@ -325,55 +351,54 @@
extern "C" void TIM3_IRQHandler(void)
{
if ( TIM3->SR & TIM_SR_UIF ) {
-
+
ENC_UPDATE();
- CUR_PRES_A_BAR = (CUR_PRES_A - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR + 1.;
- CUR_PRES_B_BAR = (CUR_PRES_B - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR + 1.;
- //CUR_TORQUE_NM = (CUR_TORQUE - TORQUE_NULL) / (double) TORQUE_SENSOR_PULSE_PER_TORQUE; //
- CUR_TORQUE_NM = CUR_TORQUE; //
- CUR_TORQUE_NM_PRESS = 1. * (CUR_PRES_A_BAR - CUR_PRES_B_BAR);
+ /*
// Reference Loop
switch (REFERENCE_MODE) {
case MODE_REF_NO_ACT: {
break;
}
-
case MODE_REF_DIRECT: {
if (FLAG_REFERENCE_VALVE_PWM) {
- Ref_PWM = (double) REF_PWM;
+ Vout.ref = (double) Vout.ref;
}
if (FLAG_REFERENCE_VALVE_POSITION) {
- Ref_Valve_Pos = (double) REF_VALVE_POSITION;
+ valve_pos.ref = (double) valve_pos.ref;
}
if (FLAG_REFERENCE_JOINT_POSITION) {
- Ref_Joint_Pos = (double) REF_POSITION;
- Ref_Joint_Vel = (double) REF_VELOCITY;
+ pos.ref = (double) pos.ref;
+ vel.ref = (double) vel.ref;
}
if (FLAG_REFERENCE_JOINT_TORQUE) {
- Ref_Joint_Torq = (double) REF_TORQUE;
+ torq.ref = (double) torq.ref;
+ }
+ if (FLAG_REFERENCE_CURRENT) {
+ cur.ref = ((double)cur.ref);
}
break;
}
-
+
case MODE_REF_COS_INC: {
if (FLAG_REFERENCE_VALVE_PWM) {
- Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_PWM;
+ Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Vout.ref;
}
if (FLAG_REFERENCE_VALVE_POSITION) {
- Ref_Valve_Pos = ((double) REF_VALVE_POSITION - (double) INIT_REF_VALVE_POS)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_VALVE_POS;
+ valve_pos.ref = ((double) valve_pos.ref - (double) INIT_Valve_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Valve_Pos.ref;
}
if (FLAG_REFERENCE_JOINT_POSITION) {
- Ref_Joint_Pos = ((double) REF_POSITION - (double) INIT_REF_POS)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_POS;
- Ref_Joint_Vel = 0.0;
+ pos.ref = ((double) pos.ref - (double) INIT_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Pos.ref;
+ vel.ref = 0.0;
}
if (FLAG_REFERENCE_JOINT_TORQUE) {
- Ref_Joint_Torq = ((double) REF_TORQUE - (double) INIT_REF_TORQUE)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_TORQUE;
+ torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_torq.ref;
}
- TMR2_COUNT_REFERENCE++;
- if (TMR2_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
- REFERENCE_MODE = MODE_REF_DIRECT;
- TMR2_COUNT_REFERENCE = 0;
+ TMR3_COUNT_REFERENCE++;
+ if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
+ //REFERENCE_MODE = MODE_REF_DIRECT;
+ TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
+ //TMR3_COUNT_REFERENCE = 0;
}
break;
}
@@ -381,217 +406,209 @@
case MODE_REF_LINE_INC: {
if (FLAG_REFERENCE_VALVE_PWM) {
- Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_PWM;
+ Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_Vout.ref;
}
if (FLAG_REFERENCE_VALVE_POSITION) {
- Ref_Valve_Pos = ((double) REF_VALVE_POSITION - (double) INIT_REF_VALVE_POS)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_VALVE_POS;
+ valve_pos.ref = ((double) valve_pos.ref - (double) INIT_valve_pos.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_valve_pos.ref;
}
if (FLAG_REFERENCE_JOINT_POSITION) {
- Ref_Joint_Pos = ((double) REF_POSITION - (double) INIT_REF_POS)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_POS;
- Ref_Vel_Test = ((double) REF_POSITION - (double) INIT_REF_POS) / (double) REF_MOVE_TIME_5k * (double) TMR_FREQ_5k; // pulse/sec
- //Ref_Vel_Test = 10;
+ pos.ref = ((double) pos.ref - (double) INIT_REF_POS)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_POS;
+ vel.ref = ((double) pos.ref - (double) INIT_REF_POS) / (double) REF_MOVE_TIME_5k * (double) TMR_FREQ_5k; // pulse/sec
}
if (FLAG_REFERENCE_JOINT_TORQUE) {
- Ref_Joint_Torq = ((double) REF_TORQUE - (double) INIT_REF_TORQUE)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_TORQUE;
+ torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_torq.ref;
}
- TMR2_COUNT_REFERENCE++;
- if (TMR2_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
+ TMR3_COUNT_REFERENCE++;
+ if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
//REFERENCE_MODE = MODE_REF_DIRECT;
- Ref_Vel_Test = 1;
- TMR2_COUNT_REFERENCE = REF_MOVE_TIME_5k;
- //TMR2_COUNT_REFERENCE = 0;
+ TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
+ //TMR3_COUNT_REFERENCE = 0;
}
break;
}
case MODE_REF_SIN_WAVE: {
if (FLAG_REFERENCE_VALVE_PWM) {
- Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM;
+ Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
}
if (FLAG_REFERENCE_VALVE_POSITION) {
- Ref_Valve_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_VALVE_POSITION;
+ valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
}
if (FLAG_REFERENCE_JOINT_POSITION) {
- Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_POSITION;
+ Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
}
if (FLAG_REFERENCE_JOINT_TORQUE) {
- Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_TORQUE;
+ Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
}
- TMR2_COUNT_REFERENCE++;
- if (TMR2_COUNT_REFERENCE >= TMR2_COUNT_REFERENCE * REF_NUM) {
+ TMR3_COUNT_REFERENCE++;
+ if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
REFERENCE_MODE = MODE_REF_DIRECT;
- TMR2_COUNT_REFERENCE = 0;
+ TMR3_COUNT_REFERENCE = 0;
}
break;
}
case MODE_REF_SQUARE_WAVE: {
if (FLAG_REFERENCE_VALVE_PWM) {
- Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM;
- if (Ref_PWM >= REF_PWM) Ref_PWM = REF_MAG + REF_PWM;
- else Ref_PWM = -REF_MAG + REF_PWM;
+ Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
+ if (Vout.ref >= Vout.ref) Vout.ref = REF_MAG + Vout.ref;
+ else Vout.ref = -REF_MAG + Vout.ref;
}
if (FLAG_REFERENCE_VALVE_POSITION) {
- Ref_Valve_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_VALVE_POSITION;
- if (Ref_Valve_Pos >= REF_VALVE_POSITION) Ref_Valve_Pos = REF_MAG + REF_VALVE_POSITION;
- else Ref_Valve_Pos = -REF_MAG + REF_VALVE_POSITION;
+ valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
+ if (valve_pos.ref >= valve_pos.ref) valve_pos.ref = REF_MAG + valve_pos.ref;
+ else valve_pos.ref = -REF_MAG + valve_pos.ref;
}
if (FLAG_REFERENCE_JOINT_POSITION) {
- Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_POSITION;
- if (Ref_Joint_Pos >= REF_POSITION) Ref_Valve_Pos = REF_MAG + REF_POSITION;
- else Ref_Joint_Pos = -REF_MAG + REF_POSITION;
+ Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
+ if (Ref_Joint_Pos >= pos.ref) valve_pos.ref = REF_MAG + pos.ref;
+ else Ref_Joint_Pos = -REF_MAG + pos.ref;
}
if (FLAG_REFERENCE_JOINT_TORQUE) {
- Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_TORQUE;
- if (Ref_Joint_Torq >= REF_TORQUE) Ref_Valve_Pos = REF_MAG + REF_TORQUE;
- else Ref_Joint_Torq = -REF_MAG + REF_TORQUE;
- }
- TMR2_COUNT_REFERENCE++;
- if (TMR2_COUNT_REFERENCE >= TMR2_COUNT_REFERENCE * REF_NUM) {
- REFERENCE_MODE = MODE_REF_DIRECT;
- TMR2_COUNT_REFERENCE = 0;
+ Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
+ if (Ref_Joint_Torq >= torq.ref) valve_pos.ref = REF_MAG + torq.ref;
+ else Ref_Joint_Torq = -REF_MAG + torq.ref;
}
- break;
- }
-
- default:
- break;
- }
-
- // CONTROL LOOP ------------------------------------------------------------
- switch (CONTROL_MODE) {
- case MODE_NO_ACT:
- {
- // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
- VALVE_PWM_RAW = 0;
- break;
- }
-
- case MODE_VALVE_OPEN_LOOP:
- {
- VALVE_PWM_RAW = Ref_PWM;
+ TMR3_COUNT_REFERENCE++;
+ if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
+ REFERENCE_MODE = MODE_REF_DIRECT;
+ TMR3_COUNT_REFERENCE = 0;
+ }
break;
}
- case MODE_VALVE_POSITION_CONTROL:
- {
- VALVE_POS_CONTROL(Ref_Valve_Pos);
+ default:
+ break;
+ }
+
+ */
+
+ // CONTROL LOOP ------------------------------------------------------------
+ switch (CONTROL_MODE) {
+ case MODE_NO_ACT: {
+ // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
+ V_out = 0;
break;
}
-
- case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM:
- {
+
+ case MODE_VALVE_OPEN_LOOP: {
+ V_out = Vout.ref;
+ break;
+ }
+
+ case MODE_VALVE_POSITION_CONTROL: {
+ VALVE_POS_CONTROL(valve_pos.ref);
+ break;
+ }
+
+ case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
-
+
// feedback input for position control
- joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
- joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
- joint_pos_err_old = joint_pos_err;
- joint_pos_err_sum += joint_pos_err;
- if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
- if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
- // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff;
- PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err;
+ pos.err = pos.ref - (double) 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;
+ // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
+ PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err;
PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
-
+
// feedforward input for position control
- double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
double K_ff = 0.9;
- if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
- if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
- PWM_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
-
+ if(Ref_Vel_Act > 0) K_ff = 0.90; // open
+ if(Ref_Vel_Act > 0) K_ff = 0.75; // close
+ PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50;
+
// torque feedback
- // joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
- // joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
- // joint_torq_err_old = joint_torq_err;
- // joint_torq_err_sum += joint_torq_err;
- // if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
- // if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
- // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+ // torq.err = Ref_Joint_Torq - CUR_TORQUE_NM;
+ // 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 = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
PWM_RAW_FORCE_FB = 0.0;
-
- // VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
- VALVE_PWM_RAW = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
-
+
+ // VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
+ V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
+
break;
}
-
- case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION:
- {
- TMR2_COUNT_JOINT++;
+
+ case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
int DDV_JOINT_CAN = 0;
// feedback input for position control
- joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
- joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
- joint_pos_err_old = joint_pos_err;
- joint_pos_err_sum += joint_pos_err;
- if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
- if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
- VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff;
+ pos.err = pos.ref - (double) 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 = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
-
-
+
+
//Ref_Joint_Vel = Ref_Vel_Test;
// feedforward input for position control
- // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
- // double K_ff = 0.9;
- // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
- // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
- // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
-
+ // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ // double K_ff = 0.9;
+ // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
+ // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
+ // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
+
// torque feedback
- // joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
- // joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
- // joint_torq_err_old = joint_torq_err;
- // joint_torq_err_sum += joint_torq_err;
- // if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
- // if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
- // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+ // torq.err = Ref_Joint_Torq - CUR_TORQUE_NM;
+ // 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 = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
VALVE_POS_RAW_FORCE_FB = 0.0;
-
- Ref_Valve_Pos = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(Ref_Joint_Vel) + VALVE_POS_RAW_FORCE_FB;
- //Ref_Valve_Pos = DDV_JOINT_POS_FF(Ref_Joint_Vel);
-
- VALVE_POS_CONTROL(Ref_Valve_Pos);
+
+ valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
+ //valve_pos.ref = DDV_JOINT_POS_FF(Ref_Joint_Vel);
+
+ VALVE_POS_CONTROL(valve_pos.ref);
break;
}
-
- case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING:
- {
-
+
+ case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
+
break;
}
-
- case MODE_JOINT_POSITION_PRES_CONTROL_PWM:
- {
- joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
- joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
- joint_pos_err_old = joint_pos_err;
- joint_pos_err_sum += joint_pos_err;
- if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
- if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
- VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01;
-
- joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
- joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
- joint_torq_err_old = joint_torq_err;
- joint_torq_err_sum += joint_torq_err;
- if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
- if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
- VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
-
+
+ case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
+ pos.err = pos.ref - (double) 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 = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
+
+ 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 = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
+
VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
-
- VALVE_PWM_RAW = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
-
+
+ V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
+
CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 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) {
@@ -624,126 +641,288 @@
else VALVE_FF_VOLTAGE = 0;
}
// VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
-
+
if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
+
+ V_out = V_out + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE;
+ break;
+ }
+
+ case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
+ pos.err = pos.ref - (double) 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 = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
+
+ torq.err = torq.ref - (double) 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 = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
+
+ valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
+ VALVE_POS_CONTROL(valve_pos.ref);
- VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE;
+ 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
+ double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
+ double I_REF_MID = 0.0;
+ if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
+ I_REF = I_REF_MID + 1.0;
+ } else {
+ I_REF = I_REF_MID - 1.0;
+ }
+// double T = 1.0; // wave period
+// I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
+// I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)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
+ double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
+ double I_REF_MID = 0.0;
+ 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]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
+ }
break;
}
- case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION:
- {
- joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
- joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
- joint_pos_err_old = joint_pos_err;
- joint_pos_err_sum += joint_pos_err;
- if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
- if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
- VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01;
+
+ case MODE_CURRENT_CONTROL: {
+
+ cur.ref = cur.ref; // Unit : mA
+ CurrentControl();
+ break;
+ }
+
+ case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
+ double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
+ double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
+ double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
+ double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
+
+ // feedback input for position control
+ pos.err = pos.ref - pos.sen;
+ double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
+ double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
+ pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
+ pos.err_old = pos.err;
+ I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
+
+ // feedforward input for position control
+ double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
+ double K_ff = 1.3;
+ double K_v = 0.0;
+ if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
+ if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
+ I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
- joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
- joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
- joint_torq_err_old = joint_torq_err;
- joint_torq_err_sum += joint_torq_err;
- if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
- if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
- VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+ // feedback input for position control
+ I_REF_FORCE_FB = 0.0;
- Ref_Valve_Pos = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
+ // feedforward input for position control
+ I_REF_FORCE_FF = 0.0;
+
+ cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
- valve_pos_err = Ref_Valve_Pos - value;
- valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
- valve_pos_err_old = valve_pos_err;
- valve_pos_err_sum += valve_pos_err;
- if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
- if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
-
- VALVE_PWM_RAW = (double) P_GAIN_VALVE_POSITION * valve_pos_err + (double) I_GAIN_VALVE_POSITION * valve_pos_err_sum + (double) D_GAIN_VALVE_POSITION * valve_pos_err_diff;
+ CurrentControl();
break;
}
- case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING:
- {
+ case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
+ double T_REF = 0.0; // Torque Reference
+ double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
+ double I_REF_VC = 0.; // I_REF for velocity compensation
+
+ // feedback input for position control
+ double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ double K_spring = 0.7;
+ double D_damper = 0.02;
+// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
+
+ T_REF = torq.ref; // unit : Nm
+
+ // torque feedback
+ torq.err = T_REF - (double) torq.sen;
+ // torq.err_diff = torq.err - torq.err_old;
+ // torq.err_old = torq.err;
+ torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
+ I_REF_FORCE_FB = 0.001*((double)P_GAIN_JOINT_TORQUE * torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
+
+ // velocity compensation for torque control
+ double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ double K_vc = 1.5; // Velocity comp. gain
+ double K_v = 0.0; // Valve gain
+ if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
+ if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // 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;
+
+ double I_MAX = 10.00; // Maximum Current : 10mV
+ double Ka = 1.0/I_GAIN_JOINT_TORQUE;
+ if(cur.ref > I_MAX) {
+ double I_rem = cur.ref-I_MAX;
+ I_rem = Ka*I_rem;
+ cur.ref = I_MAX;
+ torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
+ } else if(cur.ref < -I_MAX) {
+ double I_rem = cur.ref-(-I_MAX);
+ I_rem = Ka*I_rem;
+ cur.ref = -I_MAX;
+ torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
+ }
+
+ CurrentControl();
+
+
+ /*
+ double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
+ double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
+ double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
+ double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
+
+ // feedback input for position control
+ pos.err = pos.ref - pos.sen;
+ double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
+ double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
+ pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
+ pos.err_old = pos.err;
+ I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
+
+ // feedforward input for position control
+ double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
+ double K_ff = 1.3;
+ double K_v = 0.0;
+ if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
+ if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // 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 = 0.0;
+
+ // feedforward input for position control
+ I_REF_FORCE_FF = 0.0;
+
+ 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:
- {
+
+ case MODE_TORQUE_SENSOR_NULLING: {
// DAC Voltage reference set
- if (TMR2_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
+ if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
CUR_TORQUE_sum += CUR_TORQUE;
-
- if (TMR2_COUNT_TORQUE_NULL % 10 == 0) {
+
+ if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
CUR_TORQUE_sum = 0;
-
+
TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
-
+
// TORQUE_VREF = 0;
if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
if (TORQUE_VREF < 0) TORQUE_VREF = 0;
-
+
spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
}
} else {
CONTROL_MODE = MODE_NO_ACT;
- TMR2_COUNT_TORQUE_NULL = 0;
+ TMR3_COUNT_TORQUE_NULL = 0;
CUR_TORQUE_sum = 0;
CUR_TORQUE_mean = 0;
spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
-
+
}
- TMR2_COUNT_TORQUE_NULL++;
+ TMR3_COUNT_TORQUE_NULL++;
break;
- }
-
- case MODE_VALVE_NULLING_AND_DEADZONE_SETTING:
- {
- if (TMR2_COUNT_DEADZONE == 0) {
+ }
+
+ case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
+ if (TMR3_COUNT_DEADZONE == 0) {
if (pos_plus_end == pos_minus_end) need_enc_init = true;
else temp_time = 0;
}
if (need_enc_init) {
- if (TMR2_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
+ if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- pos_plus_end = CUR_POSITION;
- } else if (TMR2_COUNT_DEADZONE < TMR_FREQ_5k) {
+ pos_plus_end = pos.sen;
+ } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- pos_minus_end = CUR_POSITION;
- } else if (TMR2_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
+ pos_minus_end = pos.sen;
+ } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
temp_time = TMR_FREQ_5k;
}
-
- if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
- VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+
+ if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
+ VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
-
- } else if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
+
+ } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
VALVE_PWM_RAW = 0;
CUR_VELOCITY_sum += CUR_VELOCITY;
- } else if (TMR2_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
+ } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
else DZ_temp_cnt2 = DZ_end;
CUR_VELOCITY_sum = 0;
- } else if (TMR2_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
- if (TMR2_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
-
+ } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
+ if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
+
// Position of Dead Zone
// (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
- // | / | / |/
+ // | / | / |/
// | ______/ ___|___/ ______/|
// |/ / | / |
// /| / | / |
// 0V 0V 0V
-
+
if (DZ_temp_cnt2 < DZ_end) {
- if (TMR2_COUNT_DEADZONE % 20 != 0) {
+ if (TMR3_COUNT_DEADZONE % 20 != 0) {
CUR_VELOCITY_sum += CUR_VELOCITY;
} else {
VALVE_PWM_RAW -= DZ_dir;
@@ -758,7 +937,7 @@
DZ_temp_cnt2++;
}
} else {
- TMR2_COUNT_DEADZONE = -1;
+ TMR3_COUNT_DEADZONE = -1;
VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
VALVE_DEADZONE_PLUS = VALVE_CENTER;
@@ -767,28 +946,80 @@
VALVE_PWM_RAW = 0;
spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
-
+
CONTROL_MODE = MODE_NO_ACT;
DZ_temp_cnt2 = 0;
}
}
- TMR2_COUNT_DEADZONE++;
+ TMR3_COUNT_DEADZONE++;
break;
}
-
- case MODE_FIND_HOME:
- {
+
+ case MODE_FIND_HOME: {
+
+
+ ////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
+ if (FLAG_FIND_HOME == true) {
+ cnt_findhome = 0;
+ cnt_vel_findhome = 0;
+ //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
+ pos.ref = pos.sen;
+ FLAG_FIND_HOME = false;
+ }
+
+ int check_enc = (TMR_FREQ_5k/10);
+ if(cnt_findhome%check_enc == 0) {
+ FINDHOME_POSITION = pos.sen;
+ FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
+ FINDHOME_POSITION_OLD = FINDHOME_POSITION;
+ }
+ cnt_findhome++;
+ if(cnt_findhome == 10000) cnt_findhome = 0;
+
+ if (abs(FINDHOME_VELOCITY) <= 1) {
+ cnt_vel_findhome = cnt_vel_findhome + 1;
+ } else {
+ cnt_vel_findhome = 0;
+ }
+
+ if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
+ //REFERENCE_MODE = MODE_REF_NO_ACT;
+ if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 1.0;
+ else pos.ref = pos.ref - 1.0;
+ pos.err = pos.ref - (double) pos.sen;
+ V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
+ // if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100;
+ // else VALVE_PWM_RAW = -100;
+ } else {
+ ENC_SET(HOMEPOS_OFFSET);
+ FLAG_REFERENCE_JOINT_POSITION = 1;
+ INIT_REF_POS = HOMEPOS_OFFSET;
+ REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
+ TMR3_COUNT_REFERENCE = 0;
+ vel.ref = 0.0;
+ //REFERENCE_MODE = MODE_REF_COS_INC;
+ CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
+
+ FINDHOME_POSITION = 0;
+ FINDHOME_POSITION_OLD = 0;
+ FINDHOME_VELOCITY = 0;
+ cnt_findhome = 0;
+ cnt_vel_findhome = 0;
+ }
+
+ /*
+ ////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
if (FLAG_FIND_HOME == true) {
cnt_findhome = 0;
cnt_vel_findhome = 0;
REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
- Ref_Joint_Pos = CUR_POSITION;
+ Ref_Joint_Pos = pos.sen;
FLAG_FIND_HOME = false;
}
- int check_enc = (TMR_FREQ_5k/10);
- if(cnt_findhome%check_enc == 0){
- FINDHOME_POSITION = CUR_POSITION;
+ int cnt_check_enc = (TMR_FREQ_5k/500);
+ 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++;
@@ -800,23 +1031,25 @@
cnt_vel_findhome = 0;
}
- if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
+ if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
REFERENCE_MODE = MODE_REF_NO_ACT;
if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
- joint_pos_err = Ref_Joint_Pos - CUR_POSITION;
- VALVE_PWM_RAW = ((double) P_GAIN_JOINT_POSITION * joint_pos_err) * 0.01;
- // if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100;
- // else VALVE_PWM_RAW = -100;
+ pos.err = Ref_Joint_Pos - pos.sen;
+ I_REF = 0.001*((double)pos.err);
+ if(I_REF>5.0) I_REF = 5.0;
+ if(I_REF<-5.0) I_REF = -5.0;
+ cur.ref = I_REF;
+ CurrentControl();
} else {
ENC_SET(HOMEPOS_OFFSET);
FLAG_REFERENCE_JOINT_POSITION = 1;
INIT_REF_POS = HOMEPOS_OFFSET;
REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
- TMR2_COUNT_REFERENCE = 0;
+ TMR3_COUNT_REFERENCE = 0;
Ref_Joint_Vel = 0.0;
REFERENCE_MODE = MODE_REF_COS_INC;
- CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
+ CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
FINDHOME_POSITION = 0;
FINDHOME_POSITION_OLD = 0;
@@ -824,12 +1057,13 @@
cnt_findhome = 0;
cnt_vel_findhome = 0;
}
+ */
+
break;
}
-
- case MODE_VALVE_GAIN_SETTING:
- {
- if (TMR2_COUNT_FLOWRATE == 0) {
+
+ case MODE_VALVE_GAIN_SETTING: {
+ if (TMR3_COUNT_FLOWRATE == 0) {
if (pos_plus_end == pos_minus_end) need_enc_init = true;
else {
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
@@ -837,13 +1071,13 @@
}
}
if (need_enc_init) {
- if (TMR2_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
+ if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- pos_plus_end = CUR_POSITION;
- } else if (TMR2_COUNT_FLOWRATE < TMR_FREQ_5k) {
+ pos_plus_end = pos.sen;
+ } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- pos_minus_end = CUR_POSITION;
- } else if (TMR2_COUNT_FLOWRATE == TMR_FREQ_5k) {
+ pos_minus_end = pos.sen;
+ } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
need_enc_init = false;
check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
@@ -851,14 +1085,14 @@
}
temp_time = TMR_FREQ_5k;
}
- TMR2_COUNT_FLOWRATE++;
- if (TMR2_COUNT_FLOWRATE > temp_time) {
+ TMR3_COUNT_FLOWRATE++;
+ if (TMR3_COUNT_FLOWRATE > temp_time) {
if (flag_flowrate % 2 == 0) { // (+)
VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1);
VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
- if (CUR_POSITION > (pos_minus_end + check_vel_pos_init) && CUR_POSITION < (pos_minus_end + check_vel_pos_fin)) {
+ if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
fl_temp_cnt++;
- } else if (CUR_POSITION >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
+ } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
fl_temp_cnt2++;
@@ -866,9 +1100,9 @@
} else if (flag_flowrate % 2 == 1) { // (-)
VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
- if (CUR_POSITION < (pos_plus_end - check_vel_pos_init) && CUR_POSITION > (pos_plus_end - check_vel_pos_fin)) {
+ if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
fl_temp_cnt++;
- } else if (CUR_POSITION <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
+ } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
fl_temp_cnt2++;
@@ -884,74 +1118,73 @@
if (flag_flowrate == 10) {
VALVE_PWM_RAW = 0;
flag_flowrate = 0;
- TMR2_COUNT_FLOWRATE = 0;
+ TMR3_COUNT_FLOWRATE = 0;
valve_gain_repeat_cnt++;
if (valve_gain_repeat_cnt >= 1) {
CONTROL_MODE = MODE_NO_ACT;
valve_gain_repeat_cnt = 0;
}
-
+
}
break;
}
-
+
}
-
- case MODE_PRESSURE_SENSOR_NULLING:
- {
+
+ case MODE_PRESSURE_SENSOR_NULLING: {
// DAC Voltage reference set
- if (TMR2_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
- CUR_PRES_A_sum += CUR_PRES_A;
- CUR_PRES_B_sum += CUR_PRES_B;
-
- if (TMR2_COUNT_PRES_NULL % 10 == 0) {
+ 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 / 10.0;
CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
CUR_PRES_A_sum = 0;
CUR_PRES_B_sum = 0;
-
+
double VREF_NullingGain = 0.0003;
PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
-
+
if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
if (PRES_A_VREF < 0) PRES_A_VREF = 0;
if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
if (PRES_B_VREF < 0) PRES_B_VREF = 0;
-
+
spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
}
} else {
CONTROL_MODE = MODE_NO_ACT;
- TMR2_COUNT_PRES_NULL = 0;
+ pc.printf("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;
-
+
spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
}
- TMR2_COUNT_PRES_NULL++;
+ TMR3_COUNT_PRES_NULL++;
break;
}
-
- case MODE_PRESSURE_SENSOR_CALIB:
- {
- if (TMR2_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
+
+ case MODE_PRESSURE_SENSOR_CALIB: {
+ if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
- if (TMR2_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
+ if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
CUR_PRES_A_sum += CUR_PRES_A;
}
- } else if (TMR2_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
+ } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
- if (TMR2_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
+ if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
CUR_PRES_B_sum += CUR_PRES_B;
}
} else {
CONTROL_MODE = MODE_NO_ACT;
- TMR2_COUNT_PRES_CALIB = 0;
+ TMR3_COUNT_PRES_CALIB = 0;
VALVE_PWM_RAW = 0;
PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL;
PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
@@ -961,73 +1194,57 @@
CUR_PRES_B_sum = 0;
CUR_PRES_A_mean = 0;
CUR_PRES_B_mean = 0;
-
+
spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
}
- TMR2_COUNT_PRES_CALIB++;
+ TMR3_COUNT_PRES_CALIB++;
break;
}
-
- case MODE_ROTARY_FRICTION_TUNING:
- {
- if (TMR2_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
- VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001);
+
+ case MODE_ROTARY_FRICTION_TUNING: {
+ if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
+ VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL;
else VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- TMR2_COUNT_ROTARY_FRIC_TUNE++;
- if (TMR2_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
- TMR2_COUNT_ROTARY_FRIC_TUNE = 0;
+ TMR3_COUNT_ROTARY_FRIC_TUNE++;
+ if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
+ TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
VALVE_PWM_RAW = 0;
CONTROL_MODE = MODE_NO_ACT;
}
break;
}
-
- case MODE_DDV_POS_VS_PWM_ID:
- {
+
+ case MODE_DDV_POS_VS_PWM_ID: {
VALVE_ID_timer = VALVE_ID_timer + 1;
-
- if(VALVE_ID_timer < TMR_FREQ_5k*1)
- {
+
+ if(VALVE_ID_timer < TMR_FREQ_5k*1) {
VALVE_PWM_RAW = 3000 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100);
- }
- else if(VALVE_ID_timer < TMR_FREQ_5k*2)
- {
+ } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
VALVE_PWM_RAW = 1000*(ID_index_array[ID_index]);
- }
- else if(VALVE_ID_timer == TMR_FREQ_5k*2)
- {
+ } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
VALVE_POS_TMP = 0;
data_num = 0;
- }
- else if(VALVE_ID_timer < TMR_FREQ_5k*3)
- {
+ } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
data_num = data_num + 1;
VALVE_POS_TMP = VALVE_POS_TMP + value;
- }
- else if(VALVE_ID_timer == TMR_FREQ_5k*3)
- {
+ } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
VALVE_ID_timer = 0;
ID_index= ID_index +1;
}
-
- if(ID_index>=18)
- {
+
+ if(ID_index>=18) {
int i;
VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
- for(i=0;i<18;i++)
- {
+ for(i=0; i<18; i++) {
VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
- if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD)
- {
+ if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
VALVE_MAX_POS = VALVE_POS_AVG[i];
VALVE_POS_AVG_OLD = VALVE_MAX_POS;
- }
- else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD)
- {
+ } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
VALVE_MIN_POS = VALVE_POS_AVG[i];
VALVE_POS_AVG_OLD = VALVE_MIN_POS;
}
@@ -1038,103 +1255,77 @@
ID_index = 0;
CONTROL_MODE = MODE_NO_ACT;
}
-
-
+
+
break;
}
-
- case MODE_DDV_DEADZONE_AND_CENTER:
- {
-
+
+ case MODE_DDV_DEADZONE_AND_CENTER: {
+
VALVE_DZ_timer = VALVE_DZ_timer + 1;
- if(first_check == 0)
- {
- if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- }
- else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- pos_plus_end = CUR_POSITION;
- }
- else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- }
- else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- pos_minus_end = CUR_POSITION;
- }
- else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
- }
- else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ if(first_check == 0) {
+ if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
+ V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
+ V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_plus_end = pos.sen;
+ } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
+ V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
+ V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_minus_end = pos.sen;
+ } else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
+ V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
+ } else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) {
+ V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
data_num = data_num + 1;
VALVE_POS_TMP = VALVE_POS_TMP + value;
- }
- else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ } else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) {
+ V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
DDV_POS_AVG = VALVE_POS_TMP / data_num;
- START_POS = CUR_POSITION;
+ START_POS = pos.sen;
CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
VALVE_POS_TMP = 0;
data_num = 0;
-
- }
- else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos = DDV_POS_AVG;
- VALVE_POS_CONTROL(Ref_Valve_Pos);
+
+ } else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
+ valve_pos.ref = DDV_POS_AVG;
+ VALVE_POS_CONTROL(valve_pos.ref);
//CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
-
- }
- else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos = DDV_POS_AVG;
- VALVE_POS_CONTROL(Ref_Valve_Pos);
+
+ } else if(VALVE_DZ_timer < (int) (6.0 * (double) 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) (6.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos = DDV_POS_AVG;
- VALVE_POS_CONTROL(Ref_Valve_Pos);
- FINAL_POS = CUR_POSITION;
- // if(VEL_POINT >= 0)
- // {
- // DZ_case = 1;
- // }
- // else
- // {
- // DZ_case = -1;
- // }
- // if(abs(FINAL_POS - START_POS) < 100)
- // {
- // DZ_case = 0;
- // }
-
- if((FINAL_POS - START_POS)>100)
- {
+ } else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) {
+ valve_pos.ref = DDV_POS_AVG;
+ VALVE_POS_CONTROL(valve_pos.ref);
+ FINAL_POS = pos.sen;
+ // if(VEL_POINT >= 0)
+ // {
+ // DZ_case = 1;
+ // }
+ // else
+ // {
+ // DZ_case = -1;
+ // }
+ // if(abs(FINAL_POS - START_POS) < 100)
+ // {
+ // DZ_case = 0;
+ // }
+
+ if((FINAL_POS - START_POS)>100) {
DZ_case = 1;
- }
- else if((FINAL_POS - START_POS)<-100)
- {
+ } else if((FINAL_POS - START_POS)<-100) {
DZ_case = -1;
- }
- else
- {
+ } else {
DZ_case = 0;
}
-
- VEL_POINT = 0;
+
+ VEL_POINT = 0;
first_check = 1;
DZ_DIRECTION = 1;
VALVE_DZ_timer = 0;
@@ -1142,137 +1333,100 @@
DZ_NUM = 1;
DZ_index = 1;
CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
-
+
}
- }
- else
- {
- if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1))
- {
- if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
- }
- else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
- {
- START_POS = CUR_POSITION;
- }
- else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
- if(Ref_Valve_Pos <= VALVE_MIN_POS)
- {
- Ref_Valve_Pos = VALVE_MIN_POS;
+ }else {
+ if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
+ if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
+ V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
+ } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
+ START_POS = pos.sen;
+ } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
+ 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;
}
- else if(Ref_Valve_Pos >= VALVE_MAX_POS)
- {
- Ref_Valve_Pos = VALVE_MAX_POS;
- }
- VALVE_POS_CONTROL(Ref_Valve_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) (2.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos_Old = Ref_Valve_Pos;
- FINAL_POS = CUR_POSITION;
- // if(VEL_POINT >= 0)
- // DZ_DIRECTION = 1 * DZ_case;
- // else
- // DZ_DIRECTION = -1 * DZ_case;
- // if(abs(FINAL_POS - START_POS) < 100)
- // DZ_DIRECTION = 1 * DZ_case;
-
- if((FINAL_POS - START_POS)>100)
- {
+ } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
+ Ref_Valve_Pos_Old = valve_pos.ref;
+ FINAL_POS = pos.sen;
+ // if(VEL_POINT >= 0)
+ // DZ_DIRECTION = 1 * DZ_case;
+ // else
+ // DZ_DIRECTION = -1 * DZ_case;
+ // if(abs(FINAL_POS - START_POS) < 100)
+ // DZ_DIRECTION = 1 * DZ_case;
+
+ if((FINAL_POS - START_POS)>100) {
+ DZ_DIRECTION = 1 * DZ_case;
+ } else if((FINAL_POS - START_POS)<-100) {
+ DZ_DIRECTION = -1 * DZ_case;
+ } else {
DZ_DIRECTION = 1 * DZ_case;
}
- else if((FINAL_POS - START_POS)<-100)
- {
- DZ_DIRECTION = -1 * DZ_case;
- }
- else
- {
- DZ_DIRECTION = 1 * DZ_case;
- }
-
- VEL_POINT = 0;
-
+
+ VEL_POINT = 0;
+
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
- if(DZ_index >= 128)
- {
- FIRST_DZ = Ref_Valve_Pos;
+ if(DZ_index >= 128) {
+ FIRST_DZ = valve_pos.ref;
DZ_NUM = 2;
Ref_Valve_Pos_Old = FIRST_DZ;
DZ_index = 1;
DZ_DIRECTION = 1;
}
-
+
//CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
}
- }
- else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2))
- {
- if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
- }
- else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
- {
- START_POS = CUR_POSITION;
- }
- else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos = Ref_Valve_Pos_Old + DZ_DIRECTION + 64 / DZ_index;
- if(Ref_Valve_Pos <= VALVE_MIN_POS)
- {
- Ref_Valve_Pos = VALVE_MIN_POS;
+ } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
+ if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
+ V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
+ } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
+ START_POS = pos.sen;
+ } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
+ valve_pos.ref = Ref_Valve_Pos_Old + 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;
}
- else if(Ref_Valve_Pos >= VALVE_MAX_POS)
- {
- Ref_Valve_Pos = VALVE_MAX_POS;
- }
- VALVE_POS_CONTROL(Ref_Valve_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) (2.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos_Old = Ref_Valve_Pos;
- FINAL_POS = CUR_POSITION;
- // if(VEL_POINT >= 0)
- // DZ_DIRECTION = 1 * DZ_case;
- // else
- // DZ_DIRECTION = -1 * DZ_case;
- // if(abs(FINAL_POS - START_POS) < 100)
- // DZ_DIRECTION = -1 * DZ_case;
-
- if((FINAL_POS - START_POS)>100)
- {
+ } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
+ Ref_Valve_Pos_Old = valve_pos.ref;
+ FINAL_POS = pos.sen;
+ // if(VEL_POINT >= 0)
+ // DZ_DIRECTION = 1 * DZ_case;
+ // else
+ // DZ_DIRECTION = -1 * DZ_case;
+ // if(abs(FINAL_POS - START_POS) < 100)
+ // DZ_DIRECTION = -1 * DZ_case;
+
+ if((FINAL_POS - START_POS)>100) {
DZ_DIRECTION = -1;
- }
- else if((FINAL_POS - START_POS)<-100)
- {
+ } else if((FINAL_POS - START_POS)<-100) {
+ DZ_DIRECTION = 1;
+ } else {
DZ_DIRECTION = 1;
}
- else
- {
- DZ_DIRECTION = 1;
- }
-
- VEL_POINT = 0;
-
-
+
+ VEL_POINT = 0;
+
+
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
- if(DZ_index >= 128)
- {
- SECOND_DZ = Ref_Valve_Pos;
+ if(DZ_index >= 128) {
+ SECOND_DZ = valve_pos.ref;
DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
first_check = 0;
spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
@@ -1282,122 +1436,91 @@
CONTROL_MODE = MODE_NO_ACT;
DZ_index = 1;
}
-
+
CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
}
- }
- else if(DZ_case == 0 && DZ_NUM ==1)
- {
- if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
- }
- else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
- {
- START_POS = CUR_POSITION;
- }
- else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
- if(Ref_Valve_Pos <= VALVE_MIN_POS)
- {
- Ref_Valve_Pos = VALVE_MIN_POS;
+ } else if(DZ_case == 0 && DZ_NUM ==1) {
+ if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
+ V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
+ } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
+ START_POS = pos.sen;
+ } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
+ valve_pos.ref = Ref_Valve_Pos_Old - 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;
}
- else if(Ref_Valve_Pos >= VALVE_MAX_POS)
- {
- Ref_Valve_Pos = VALVE_MAX_POS;
- }
- VALVE_POS_CONTROL(Ref_Valve_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) (2.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos_Old = Ref_Valve_Pos;
- FINAL_POS = CUR_POSITION;
- // if(VEL_POINT >= 0)
- // DZ_DIRECTION = 1;
- // else
- // DZ_DIRECTION = -1;
- // if(abs(FINAL_POS - START_POS) < 100)
- // DZ_DIRECTION = 1;
-
- if((FINAL_POS - START_POS)>100)
- {
+ } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
+ Ref_Valve_Pos_Old = valve_pos.ref;
+ FINAL_POS = pos.sen;
+ // if(VEL_POINT >= 0)
+ // DZ_DIRECTION = 1;
+ // else
+ // DZ_DIRECTION = -1;
+ // if(abs(FINAL_POS - START_POS) < 100)
+ // DZ_DIRECTION = 1;
+
+ if((FINAL_POS - START_POS)>100) {
+ DZ_DIRECTION = 1;
+ } else if((FINAL_POS - START_POS)<-100) {
+ DZ_DIRECTION = -1;
+ } else {
DZ_DIRECTION = 1;
}
- else if((FINAL_POS - START_POS)<-100)
- {
- DZ_DIRECTION = -1;
- }
- else
- {
- DZ_DIRECTION = 1;
- }
-
- VEL_POINT = 0;
+
+ VEL_POINT = 0;
//CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
- if(DZ_index >= 128)
- {
- FIRST_DZ = Ref_Valve_Pos;
+ if(DZ_index >= 128) {
+ FIRST_DZ = valve_pos.ref;
DZ_NUM = 2;
Ref_Valve_Pos_Old = FIRST_DZ;
DZ_index = 1;
DZ_DIRECTION = 1;
}
}
- }
- else
- {
- if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
- }
- else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
- {
- START_POS = CUR_POSITION;
- }
- else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
- if(Ref_Valve_Pos <= VALVE_MIN_POS)
- {
- Ref_Valve_Pos = VALVE_MIN_POS;
+ } else {
+ if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
+ V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
+ } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
+ START_POS = pos.sen;
+ } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
+ valve_pos.ref = Ref_Valve_Pos_Old + 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 - 1;
}
- else if(Ref_Valve_Pos > VALVE_MAX_POS)
- {
- Ref_Valve_Pos = VALVE_MAX_POS - 1;
- }
- VALVE_POS_CONTROL(Ref_Valve_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) (2.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos_Old = Ref_Valve_Pos;
- FINAL_POS = CUR_POSITION;
+ } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
+ Ref_Valve_Pos_Old = valve_pos.ref;
+ FINAL_POS = pos.sen;
if(VEL_POINT >= 0)
DZ_DIRECTION = -1;
else
DZ_DIRECTION = 1;
if(abs(FINAL_POS - START_POS) < 100)
DZ_DIRECTION = 1;
-
- VEL_POINT = 0;
-
-
+
+ VEL_POINT = 0;
+
+
VALVE_DZ_timer = 0;
//CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
DZ_index= DZ_index *2;
- if(DZ_index >= 128)
- {
- SECOND_DZ = Ref_Valve_Pos;
+ if(DZ_index >= 128) {
+ SECOND_DZ = valve_pos.ref;
DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
first_check = 0;
VALVE_DEADZONE_MINUS = FIRST_DZ;
@@ -1409,85 +1532,63 @@
CONTROL_MODE = MODE_NO_ACT;
DZ_index = 1;
}
-
+
//CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
}
}
- }
+ }
break;
}
-
- case MODE_DDV_POS_VS_FLOWRATE:
- {
+
+ case MODE_DDV_POS_VS_FLOWRATE: {
VALVE_FR_timer = VALVE_FR_timer + 1;
- if(first_check == 0)
- {
- if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ if(first_check == 0) {
+ if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
+ V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
- }
- else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- pos_plus_end = CUR_POSITION;
- // CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (7));
- }
- else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- }
- else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k))
- {
- // CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (8));
- VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
- pos_minus_end = CUR_POSITION;
+ } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
+ V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_plus_end = pos.sen;
+ // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
+ } else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
+ V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ } else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
+ // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
+ V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_minus_end = pos.sen;
first_check = 1;
VALVE_FR_timer = 0;
- Ref_Valve_Pos = DDV_CENTER;
+ valve_pos.ref = DDV_CENTER;
ID_index = 0;
max_check = 0;
min_check = 0;
}
- }
- else
- {
- if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k))
- {
- VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
- }
- else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k))
- {
+ } else {
+ if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
+ V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
+ } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
data_num = 0;
- Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER;
-
- VALVE_POS_CONTROL(Ref_Valve_Pos);
- START_POS = CUR_POSITION;
- }
- else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k))
- {
- Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER;
- VALVE_POS_CONTROL(Ref_Valve_Pos);
+ valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
+
+ VALVE_POS_CONTROL(valve_pos.ref);
+ START_POS = pos.sen;
+ } else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
+ valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
+ VALVE_POS_CONTROL(valve_pos.ref);
data_num = data_num + 1;
- if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION) > 20000)
- {
- FINAL_POS = CUR_POSITION;
- one_period_end = 1;
+ if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000) {
+ FINAL_POS = pos.sen;
+ one_period_end = 1;
}
- }
- else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k))
- {
- FINAL_POS = CUR_POSITION;
+ } else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) {
+ FINAL_POS = pos.sen;
one_period_end = 1;
}
-
- if(one_period_end == 1){
- if(Ref_Valve_Pos > VALVE_MAX_POS)
- {
+
+ if(one_period_end == 1) {
+ if(valve_pos.ref > VALVE_MAX_POS) {
max_check = 1;
- }
- else if(Ref_Valve_Pos < VALVE_MIN_POS)
- {
+ } else if(valve_pos.ref < VALVE_MIN_POS) {
min_check = 1;
}
JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
@@ -1496,80 +1597,86 @@
VALVE_FR_timer = 0;
one_period_end = 0;
ID_index= ID_index +1;
- // CAN_TX_PRES((int16_t) (Ref_Valve_Pos), (int16_t) (ID_index));
+ // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
}
-
- if(max_check == 1 && min_check == 1)
- {
+
+ if(max_check == 1 && min_check == 1) {
spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
VALVE_POS_NUM = ID_index;
ID_index = 0;
first_check = 0;
VALVE_FR_timer = 0;
- // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
+ // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
CONTROL_MODE = MODE_NO_ACT;
}
}
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 (VALVE_PWM_RAW > 0.) {
- // VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_PLUS;
- // } else if (VALVE_PWM_RAW < 0.) {
- // VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_MINUS;
- // } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_CENTER;
- // } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW;
-
- if(VALVE_PWM_RAW>0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS;
- else if(VALVE_PWM_RAW<0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS;
-
- VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_CENTER;
-
+ // 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)
double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOL*SUPPLY_VOLTAGE*1000.0; // convert PWM duty to mV
double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
-
- if (CUR_PWM_DZ > 0) CUR_PWM = (int)CUR_PWM_DZ + 143;
- else if (CUR_PWM_DZ < 0) CUR_PWM = (int)CUR_PWM_DZ - 138;
- else CUR_PWM = CUR_PWM_DZ;
+
+ 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 {
- CUR_PWM = VALVE_PWM_RAW;
+ CUR_PWM = V_out;
}
-
- VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
-
- //CAN ----------------------------------------------------------------------
- if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
-
+
+ //VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
+ PWM_out = CUR_PWM;
+
+
+
+ //CAN ----------------------------------------------------------------------
+ //if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
+ if (TMR3_COUNT_CAN_TX % 10 == 0) {
+
if (flag_data_request[0] == HIGH) {
//position+velocity
- CAN_TX_POSITION((long) CUR_POSITION, (long) CUR_VELOCITY);
+ CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
+ //pc.printf("can good");
// CAN_TX_POSITION((int) (PRES_A_VREF * 100.), (int) (PRES_B_VREF * 100.));
// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
}
-
+
if (flag_data_request[1] == HIGH) {
//torque
//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
// CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
}
-
+
if (flag_data_request[2] == HIGH) {
- //pressure A and B
- CAN_TX_PRES((int16_t) (CUR_PRES_A), (int16_t) (CUR_PRES_B)); // CUR_PRES_X : 0(0bar)~4096(210bar)
+ //pressure A and B
+ //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
+ CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // 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) CUR_PWM);
@@ -1577,36 +1684,39 @@
// 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) (I2C_val));
+ CAN_TX_VALVE_POSITION((int16_t) (value));
//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
-
-
+
+
//CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
// CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / 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);
}
-
+
TMR3_COUNT_CAN_TX = 0;
-
+
}
TMR3_COUNT_CAN_TX++;
+
+
+
/*******************************************************
*** Valve Control
********************************************************/
- ValveControl(CONTROL_MODE);
+ //ValveControl(CONTROL_MODE);
- double t = (double)CNT_TMR4*DT_TMR4;
- double T = 5.0;
- V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
+// double t = (double)CNT_TMR4*DT_TMR4;
+// double T = 1.0;
+// V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
// if(V_out > 0.0) V_out = 1000.0;
// else if(V_out < 0.0) V_out = -1000.0;
@@ -1634,7 +1744,7 @@
/*******************************************************
*** Data Send (CAN) & Print out (UART)
********************************************************/
- //if((CNT_TMR3%40)==0){
+// if((CNT_TMR3%1000)==0){
// msg.id = 50;
// msg.len = 4;
// int temp_CUR = (int)(cur.sen*1000.0);
@@ -1652,6 +1762,9 @@
} else
LED = 1;
// LED != LED;
+ pc.printf("flag %f\n", (double) pres_A.sen);
+ spi_eeprom_ready();
+ pc.printf("romrom %d\n", (int) PRES_SENSOR_A_PULSE_PER_BAR);
}
/*******************************************************
@@ -1662,6 +1775,7 @@
TIM3->SR = 0x0; // reset the status register
}
+/*
void ValveControl(unsigned int ControlMode)
{
switch (ControlMode) {
@@ -1714,6 +1828,7 @@
}
}
+*/
void CurrentControl()
{