Sungwoo Kim
distribution-201229
Revision 224:985dba42f261, committed 2020-12-28
- Comitter:
- Lightvalve
- Date:
- Mon Dec 28 14:27:11 2020 +0000
- Parent:
- 223:e26830fbaffd
- Commit message:
- distribution
Changed in this revision
--- a/CAN/function_CAN.cpp Mon Dec 28 12:10:50 2020 +0000
+++ b/CAN/function_CAN.cpp Mon Dec 28 14:27:11 2020 +0000
@@ -62,8 +62,6 @@
}
case CRX_SET_BNO: {
BNO = (int16_t) msg.data[1];
-
- //ROM_RESET_DATA();
spi_eeprom_write(RID_BNO, (int16_t) BNO);
CAN_ID_INIT(); // can id init
break;
@@ -77,7 +75,6 @@
SENSING_MODE = (uint8_t) msg.data[2];
CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
-// ROM_RESET_DATA();
spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
@@ -113,7 +110,6 @@
case CRX_SET_CAN_FREQ: {
CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
- ROM_RESET_DATA();
spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
break;
}
@@ -125,7 +121,6 @@
}
case CRX_SET_CONTROL_MODE: {
- //CONTROL_MODE = (int16_t) (msg.data[1]);
CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
if (CONTROL_MODE == 22) { //MODE_FIND_HOME
FLAG_FIND_HOME = true;
@@ -136,7 +131,6 @@
case CRX_SET_DATA_REQUEST: {
int request_type = msg.data[2];
flag_data_request[request_type] = msg.data[1];
- //pc.printf("can middle %d\n", request_type);
// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
@@ -159,8 +153,6 @@
else
DIR_JOINT_ENC = -1;
-// ROM_RESET_DATA();
-
spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
break;
@@ -179,8 +171,6 @@
else
DIR_VALVE = -1;
-// ROM_RESET_DATA();
-
spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
break;
@@ -199,8 +189,6 @@
else
DIR_VALVE_ENC = -1;
-// ROM_RESET_DATA();
-
spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
break;
@@ -215,7 +203,6 @@
case CRX_SET_VOLTAGE_SUPPLY: {
SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
@@ -231,8 +218,6 @@
case CRX_SET_VOLTAGE_VALVE: {
VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
-// ROM_RESET_DATA();
-
spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
@@ -240,7 +225,6 @@
}
case CRX_SET_HOMEPOS: {
- //CONTROL_MODE = 22;
CONTROL_UTILITY_MODE = 22;
break;
}
@@ -257,7 +241,6 @@
I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
@@ -267,7 +250,6 @@
I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
@@ -277,7 +259,6 @@
I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
@@ -286,7 +267,6 @@
K_SPRING = (float) (((float) ((int16_t) (msg.data[2] | msg.data[3] << 8))) * 0.1f);
D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] | msg.data[5] << 8))) * 0.01f);
-// ROM_RESET_DATA(); //For Real-time changing
// spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
// spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
@@ -295,7 +275,6 @@
I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] | msg.data[7] << 8);
-// ROM_RESET_DATA();
}
break;
@@ -312,7 +291,6 @@
VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
@@ -329,7 +307,6 @@
case CRX_SET_VELOCITY_COMP_GAIN: {
VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
@@ -345,7 +322,6 @@
case CRX_SET_COMPLIANCE_GAIN: {
COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
@@ -361,8 +337,6 @@
case CRX_SET_VALVE_FF: {
VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
-// ROM_RESET_DATA();
-
spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
break;
@@ -376,9 +350,6 @@
case CRX_SET_BULK_MODULUS: {
BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
-
-// ROM_RESET_DATA();
-
spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
break;
@@ -394,8 +365,6 @@
CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
-// ROM_RESET_DATA();
-
spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
@@ -414,8 +383,6 @@
PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
-// ROM_RESET_DATA();
-
spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
break;
@@ -433,7 +400,6 @@
case CRX_SET_PRES: {
PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
@@ -450,7 +416,6 @@
case CRX_SET_ENC_LIMIT: {
ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
@@ -464,7 +429,6 @@
case CRX_SET_STROKE: {
STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
break;
@@ -479,7 +443,6 @@
case CRX_SET_VALVE_LIMIT: {
VALVE_MIN_POS = (int16_t) (msg.data[1] | msg.data[2] << 8);
VALVE_MAX_POS = (int16_t) (msg.data[3] | msg.data[4] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
@@ -495,7 +458,6 @@
case CRX_SET_ENC_PULSE_PER_POSITION: {
ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
break;
@@ -509,7 +471,6 @@
case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.0001f);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
break;
@@ -524,7 +485,6 @@
case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
@@ -539,7 +499,6 @@
case CRX_SET_FRICTION: {
FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
break;
@@ -556,7 +515,6 @@
VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
@@ -577,7 +535,6 @@
VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
@@ -628,7 +585,6 @@
}
case CRX_SET_HOMEPOS_OFFSET: {
HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
break;
}
@@ -639,7 +595,6 @@
}
case CRX_SET_HOMEPOS_VALVE_OPENING: {
HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
-// ROM_RESET_DATA();
spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
break;
}
@@ -660,13 +615,11 @@
}
case CRX_SET_ROM: {
- ROM_RESET_DATA();
break;
}
case CRX_SET_VALVE_CENTER_OFFSET: {
VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
break;
@@ -674,7 +627,6 @@
case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
break;
@@ -682,7 +634,6 @@
case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
break;
}
@@ -691,21 +642,13 @@
P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
-
-// ROM_RESET_DATA();
-
//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
-
-
} else if (msg.data[1] == 1) {
P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
-
-// ROM_RESET_DATA();
-
//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
@@ -713,9 +656,6 @@
P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
-
-// ROM_RESET_DATA();
-
//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
@@ -723,7 +663,6 @@
break;
}
case CRX_ASK_VALVE_MAX_MIN_POS: {
- //CAN_TX_DDV_VALVE_DEADZONE();
CAN_TX_DDV_VALVE_MAX_MIN_POS();
break;
}
@@ -789,44 +728,9 @@
torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
torq.ref_diff = torq.ref - torq.ref_old;
- torq_dot.sen = torq.sen-totq_sen_past;
+ torq_dot.sen = torq.sen-torq_sen_past;
torq.ref_old = torq.ref;
- totq_sen_past = torq.sen;
-
- ///////////////Make Data///////////////////
- for(int i=0; i<num_array_u_past-1; i++) {
- u_past[i] = u_past[i+1];
- }
- u_past[num_array_u_past-1] = output_normalized;
-
- for(int i=0; i<num_array_x_past-1; i++) {
- x_past[i] = x_past[i+1];
- }
- x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
-
-// for(int i=0;i<num_array_x_future-1;i++){
-// x_future[i] = x_future[i+1];
-// }
-// x_future[num_array_x_future-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
-
- for(int i=0; i<num_array_f_past-1; i++) {
- f_past[i] = f_past[i+1];
- }
- f_past[num_array_f_past-1] = torq.sen; //N
-
- f_future[0] = torq.sen; //N
-
- if(flag_every_reference == 1) {
- for(int i=1; i<num_array_f_future-1; i++) {
- f_future[i] = 500.0f;
- }
- f_future[num_array_f_future-1] = 500.0f; //N
- } else {
- for(int i=1; i<num_array_f_future-1; i++) {
- f_future[i] = f_future[i+1];
- }
- f_future[num_array_f_future-1] = torq.ref; //N
- }
+ torq_sen_past = torq.sen;
} else if(address==CID_RX_REF_VALVE_POS) {
@@ -1271,8 +1175,6 @@
float temp_valve_deadzone_plus = 0.0f;
float temp_ddv_center = 0.0f;
- //temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
- //temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
temp_ddv_center = (double)VALVE_CENTER;
@@ -1356,7 +1258,6 @@
{
CANMessage temp_msg;
int16_t valve_pos_vs_pwm;
-// valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
@@ -1504,18 +1405,6 @@
can.write(temp_msg);
}
-//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
-// CANMessage temp_msg;
-//
-// temp_msg.id = CID_TX_TORQUE;
-// temp_msg.len = 4;
-// temp_msg.data[0] = (uint8_t) t_valve_pos;
-// temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
-// temp_msg.data[2] = (uint8_t) t_vout;
-// temp_msg.data[3] = (uint8_t) (t_vout >> 8);
-//
-// can.write(temp_msg);
-//}
void CAN_TX_TORQUE(int16_t t_valve_pos)
{
--- a/SPI_EEP_ENC/SPI_EEP_ENC.h Mon Dec 28 12:10:50 2020 +0000 +++ b/SPI_EEP_ENC/SPI_EEP_ENC.h Mon Dec 28 14:27:11 2020 +0000 @@ -21,8 +21,8 @@ * ROM DATA ADDRESS ID ******************************************************************************/ -#define RID_BNO 0 -#define RID_OPERATING_MODE 1 +#define RID_BNO 0 +#define RID_OPERATING_MODE 1 #define RID_CAN_FREQ 2 #define RID_JOINT_ENC_DIR 3 #define RID_VALVE_DIR 4
--- a/function_utilities/function_utilities.cpp Mon Dec 28 12:10:50 2020 +0000
+++ b/function_utilities/function_utilities.cpp Mon Dec 28 14:27:11 2020 +0000
@@ -5,9 +5,6 @@
#include "stm32f4xx_flash.h"
#include "FlashWriter.h"
-int Rom_Sector = 6;
-//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
-
/*******************************************************************************
* VARIABLE
******************************************************************************/
@@ -249,7 +246,6 @@
int one_period_end = 0;
float Ref_Vel_Test = 0.0f;
long TMR2_FOR_SLOW_LOGGING = 0;
-//int velcount = 0;
char max_check = 0;
char min_check = 0;
@@ -351,71 +347,10 @@
float K_LPF = 0.0f;
float D_LPF = 0.0f;
-float totq_sen_past = 0.0f;
+float torq_sen_past = 0.0f;
float torq_ref_past = 0.0f;
float output_normalized = 0.0f;
-int batch = 0;
-float train_set_x[batch_size] = {0.0f};
-float train_set_error[batch_size] = {0.0f};
-float train_set_count[batch_size] = {0.0f};
-float state_array[batch_size][num_input_RL] = {0.0f};
-float V[batch_size] = {0.0f};
-float r[batch_size] = {0.0f};
-float td_target[batch_size] = {0.0f};
-float delta[batch_size] = {0.0f};
-float advantage[batch_size] = {0.0f};
-float return_G[batch_size] = {0.0f};
-float mean = 0.0f;
-float deviation = 0.0f;
-float mean_old = 0.0f;
-float deviation_old = 0.0f;
-float mean_before_SP = 0.0f;
-float deviation_before_SP = 0.0f;
-float mean_before_SP_array[batch_size] = {0.0f};
-float deviation_before_SP_array[batch_size] = {0.0f};
-float mean_array[batch_size] = {0.0f};
-float mean_array_old[batch_size] = {0.0f};
-float deviation_array[batch_size] = {0.0f};
-float deviation_array_old[batch_size] = {0.0f};
-
-float hx_c_sum[num_hidden_unit1] = {0.0f};
-float hx_c_sum_array[batch_size][num_hidden_unit1] = {0.0f};
-float hxh_c_sum[num_hidden_unit2] = {0.0f};
-float hxh_c_sum_array[batch_size][num_hidden_unit2] = {0.0f};
-float hxhh_c_sum = 0.0f;
-float hxhh_c_sum_array[batch_size] = {0.0f};
-
-float hx_a_sum[num_hidden_unit1] = {0.0f};
-float hx_a_sum_array[batch_size][num_hidden_unit1] = {0.0f};
-float hxh_a_sum[num_hidden_unit2] = {0.0f};
-float hxh_a_sum_array[batch_size][num_hidden_unit2] = {0.0f};
-float hxhh_a_sum[2] = {0.0f};
-float hxhh_a_sum_array[batch_size][2] = {0.0f};
-
-float action = 0.0f;
-float action_array[batch_size] = {0.0f};
-float ratio[batch_size] = {1.0f};
-float pi[batch_size] = {0.0f};
-float pi_old[batch_size] = {0.0f};
-float epsilon = 0.2f;
-float surr1[batch_size] = {0.0f};
-float surr2[batch_size] = {0.0f};
-float loss[batch_size] = {0.0f};
-float loss_batch = 0.0f;
-float gamma = 0.996f;
-float lmbda = 0.95f;
-char Update_Done_Flag = 1;
-char Update_Case = 0;
-float reward_sum = 0.0f;
-
-float virt_pos = 0.0f;
-float logging1 = 0.0f;
-float logging2 = 0.0f;
-float logging3 = 0.0f;
-float logging4 = 0.0f;
-float logging5 = 0.0f;
-
/*******************************************************************************
* General math functions
@@ -460,87 +395,6 @@
/*******************************************************************************
* ROM functions
******************************************************************************/
-void ROM_RESET_DATA(void)
-{
- FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
- if (!writer.ready()) writer.open();
- writer.write(RID_BNO,(int) BNO); // write at address, 쓸때도 4byte씩 씀
- writer.write(RID_OPERATING_MODE,(int) OPERATING_MODE);
- writer.write(RID_SENSING_MODE, (int) SENSING_MODE);
- writer.write(RID_CURRENT_CONTROL_MODE, (int) CURRENT_CONTROL_MODE);
- writer.write(RID_FLAG_VALVE_DEADZONE, (int) FLAG_VALVE_DEADZONE);
- writer.write(RID_CAN_FREQ,(int) CAN_FREQ);
- writer.write(RID_JOINT_ENC_DIR,(int) DIR_JOINT_ENC);
- writer.write(RID_VALVE_DIR,(int) DIR_VALVE);
- writer.write(RID_VALVE_ENC_DIR,(int) DIR_VALVE_ENC);
- writer.write(RID_VOLATGE_SUPPLY,(int) (SUPPLY_VOLTAGE * 10.0f));
- writer.write(RID_VOLTAGE_VALVE,(int) (VALVE_VOLTAGE_LIMIT * 10.0f));
- writer.write(RID_P_GAIN_VALVE_POSITION,(int) P_GAIN_VALVE_POSITION);
- writer.write(RID_I_GAIN_VALVE_POSITION,(int) I_GAIN_VALVE_POSITION);
- writer.write(RID_D_GAIN_VALVE_POSITION,(int) D_GAIN_VALVE_POSITION);
- writer.write(RID_P_GAIN_JOINT_POSITION,(int) P_GAIN_JOINT_POSITION);
- writer.write(RID_I_GAIN_JOINT_POSITION,(int) I_GAIN_JOINT_POSITION);
- writer.write(RID_D_GAIN_JOINT_POSITION,(int) D_GAIN_JOINT_POSITION);
- writer.write(RID_P_GAIN_JOINT_TORQUE,(int) P_GAIN_JOINT_TORQUE);
- writer.write(RID_I_GAIN_JOINT_TORQUE,(int) I_GAIN_JOINT_TORQUE);
- writer.write(RID_D_GAIN_JOINT_TORQUE,(int) D_GAIN_JOINT_TORQUE);
- writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS * 10.0f));
- writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS * 10.0f));
- writer.write(RID_VELOCITY_COMP_GAIN,(int) VELOCITY_COMP_GAIN);
- writer.write(RID_COMPLIANCE_GAIN,(int) COMPLIANCE_GAIN);
- writer.write(RID_VALVE_CNETER,(int) VALVE_CENTER);
- writer.write(RID_VALVE_FF,(int) VALVE_FF);
- writer.write(RID_BULK_MODULUS,(int) BNO);
- writer.write(RID_CHAMBER_VOLUME_A,(int) CHAMBER_VOLUME_A);
- writer.write(RID_CHAMBER_VOLUME_B,(int) CHAMBER_VOLUME_B);
- writer.write(RID_PISTON_AREA_A,(int) PISTON_AREA_A);
- writer.write(RID_PISTON_AREA_B,(int) PISTON_AREA_B);
- writer.write(RID_PRES_SUPPLY,(int) PRES_SUPPLY);
- writer.write(RID_PRES_RETURN,(int) PRES_RETURN);
- writer.write(RID_ENC_LIMIT_MINUS,(int) ENC_LIMIT_MINUS);
- writer.write(RID_ENC_LIMIT_PLUS,(int) ENC_LIMIT_PLUS);
- writer.write(RID_STROKE,(int) STROKE);
- //writer.write(RID_VALVE_LIMIT_MINUS,(int) VALVE_LIMIT_MINUS);
- //writer.write(RID_VALVE_LIMIT_PLUS,(int) VALVE_LIMIT_PLUS);
- //writer.write(RID_ENC_PULSE_PER_POSITION,(int) (ENC_PULSE_PER_POSITION*10.0f));
- writer.write(RID_ENC_PULSE_PER_POSITION,(int) (ENC_PULSE_PER_POSITION));
- writer.write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f));
- writer.write(RID_PRES_SENSOR_A_PULSE_PER_BAR,(int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
- writer.write(RID_PRES_SENSOR_B_PULSE_PER_BAR,(int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
- writer.write(RID_FRICTION,(int) (FRICTION * 10.0f));
- writer.write(RID_HOMEPOS_OFFSET,(int) HOMEPOS_OFFSET);
- writer.write(RID_HOMEPOS_VALVE_OPENING,(int) HOMEPOS_VALVE_OPENING);
- writer.write(RID_TORQUE_SENSOR_VREF,(int) (TORQUE_VREF * 1000.0f));
- writer.write(RID_PRES_A_SENSOR_VREF, (int) (PRES_A_VREF * 1000.0f));
- writer.write(RID_PRES_B_SENSOR_VREF, (int) (PRES_B_VREF * 1000.0f));
- writer.write(RID_VALVE_GAIN_PLUS_1,(int) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
- writer.write(RID_VALVE_GAIN_PLUS_2,(int) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
- writer.write(RID_VALVE_GAIN_PLUS_3,(int) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
- writer.write(RID_VALVE_GAIN_PLUS_4,(int) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
- writer.write(RID_VALVE_GAIN_PLUS_5,(int) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
- writer.write(RID_VALVE_GAIN_MINUS_1,(int) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
- writer.write(RID_VALVE_GAIN_MINUS_2,(int) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
- writer.write(RID_VALVE_GAIN_MINUS_3,(int) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
- writer.write(RID_VALVE_GAIN_MINUS_4,(int) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
- writer.write(RID_VALVE_GAIN_MINUS_5,(int) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
- for(int i=0; i<25; i++) {
- writer.write(RID_VALVE_POS_VS_PWM_0 + i, (int) VALVE_POS_VS_PWM[i]);
- }
- for(int i=0; i<100; i++) {
- writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[i] & 0xFFFF));
- writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[i] >> 16) & 0xFFFF));
- }
- writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS);
- writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS);
- //writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f));
- writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM);
-
- writer.write(RID_K_SPRING, (int) K_SPRING);
- writer.write(RID_D_DAMPER, (int) D_DAMPER);
-
- writer.close();
-
-}
void ROM_CALL_DATA(void)
{
@@ -548,12 +402,9 @@
BNO = 1;
OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE);
SENSING_MODE = spi_eeprom_read(RID_SENSING_MODE);
-// SENSING_MODE = 1;
CURRENT_CONTROL_MODE = spi_eeprom_read(RID_CURRENT_CONTROL_MODE);
-// CURRENT_CONTROL_MODE = 1;
FLAG_VALVE_DEADZONE = spi_eeprom_read(RID_FLAG_VALVE_DEADZONE);
CAN_FREQ = spi_eeprom_read(RID_CAN_FREQ);
-// CAN_FREQ = 500;
DIR_JOINT_ENC = spi_eeprom_read(RID_JOINT_ENC_DIR);
DIR_VALVE = spi_eeprom_read(RID_VALVE_DIR);
DIR_VALVE_ENC = spi_eeprom_read(RID_VALVE_ENC_DIR);
@@ -586,13 +437,8 @@
ENC_LIMIT_MINUS = spi_eeprom_read(RID_ENC_LIMIT_MINUS);
ENC_LIMIT_PLUS = spi_eeprom_read(RID_ENC_LIMIT_PLUS);
STROKE = spi_eeprom_read(RID_STROKE);
- //VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS);
- //VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS);
- //ENC_PULSE_PER_POSITION = (float) (spi_eeprom_read(RID_ENC_PULSE_PER_POSITION)) * 0.1f;
ENC_PULSE_PER_POSITION = (float) (spi_eeprom_read(RID_ENC_PULSE_PER_POSITION));
TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.0001f;
- //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle
-// TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee
PRES_SENSOR_A_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f;
// PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f * 946.0f / 3.3f / 300.0f / 210.0f;
PRES_SENSOR_B_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f;
@@ -621,109 +467,16 @@
}
VALVE_MAX_POS = spi_eeprom_read(RID_VALVE_MAX_POS);
VALVE_MIN_POS = spi_eeprom_read(RID_VALVE_MIN_POS);
- //DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
VALVE_POS_NUM = spi_eeprom_read(RID_VALVE_POS_NUM);
- K_SPRING = spi_eeprom_read(RID_K_SPRING);
- D_DAMPER = spi_eeprom_read(RID_D_DAMPER);
-
-
-
-
-
- /*
-
- BNO = flashReadInt(Rom_Sector, RID_BNO);
- // BNO = 1;
- OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
- // OPERATING_MODE = 5;
- SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE);
- // SENSING_MODE = 0;
- CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE);
- // CURRENT_CONTROL_MODE = 0;
- FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE);
- CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
- DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR);
- DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR);
- DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR);
- SUPPLY_VOLTAGE = (float) (flashReadInt(Rom_Sector, RID_VOLATGE_SUPPLY)) *0.1f;
- VALVE_VOLTAGE_LIMIT = (float) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1f;
- P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION);
- I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION);
- D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION);
- P_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_POSITION);
- I_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_POSITION);
- D_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_POSITION);
- P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE);
- I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE);
- D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE);
- VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f;
- VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f;
- VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN);
- COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN);
- VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER);
- VALVE_FF = flashReadInt(Rom_Sector, RID_VALVE_FF);
- BULK_MODULUS = flashReadInt(Rom_Sector, RID_BULK_MODULUS);
- CHAMBER_VOLUME_A = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_A);
- CHAMBER_VOLUME_B = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_B);
- PISTON_AREA_A = flashReadInt(Rom_Sector, RID_PISTON_AREA_A);
- PISTON_AREA_B = flashReadInt(Rom_Sector, RID_PISTON_AREA_B);
- PISTON_AREA_alpha = (float)PISTON_AREA_A/(float)PISTON_AREA_B;
- alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
- PRES_SUPPLY = flashReadInt(Rom_Sector, RID_PRES_SUPPLY);
- PRES_RETURN = flashReadInt(Rom_Sector, RID_PRES_RETURN);
- ENC_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_MINUS);
- ENC_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_PLUS);
- STROKE = flashReadInt(Rom_Sector, RID_STROKE);
- //VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS);
- //VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS);
- ENC_PULSE_PER_POSITION = (float) (flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION)) * 0.1f;
- // ENC_PULSE_PER_POSITION = (float) 1024.0f;
- TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.0001f;
- //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle
- // TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee
- PRES_SENSOR_A_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f;
- // PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
- PRES_SENSOR_B_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f;
- // PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
- FRICTION = (float) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1f;
- HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET);
- HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING);
- TORQUE_VREF = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_VREF)) *0.001f;
- PRES_A_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_A_SENSOR_VREF) * 0.001f;
- PRES_B_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_B_SENSOR_VREF) * 0.001f;
- VALVE_GAIN_LPM_PER_V[0] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_1)) * 0.01f;
- VALVE_GAIN_LPM_PER_V[2] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_2)) * 0.01f;
- VALVE_GAIN_LPM_PER_V[4] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_3)) * 0.01f;
- VALVE_GAIN_LPM_PER_V[6] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_4)) * 0.01f;
- VALVE_GAIN_LPM_PER_V[8] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_5)) * 0.01f;
- VALVE_GAIN_LPM_PER_V[1] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_1)) * 0.01f;
- VALVE_GAIN_LPM_PER_V[3] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_2)) * 0.01f;
- VALVE_GAIN_LPM_PER_V[5] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_3)) * 0.01f;
- VALVE_GAIN_LPM_PER_V[7] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_4)) * 0.01f;
- VALVE_GAIN_LPM_PER_V[9] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_5)) * 0.01f;
- for(int i=0; i<25; i++) {
- VALVE_POS_VS_PWM[i] = (float) (flashReadInt(Rom_Sector, RID_VALVE_POS_VS_PWM_0 + i));
- }
- for(int i=0; i<100; i++) {
- JOINT_VEL[i] = ( ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ;
- }
- VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS);
- VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS);
- //DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
- VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM);
-
- K_SPRING = flashReadInt(Rom_Sector, RID_K_SPRING);
- D_DAMPER = flashReadInt(Rom_Sector, RID_D_DAMPER);
-
- // ROM_RESET_DATA();
-
- */
+// K_SPRING = spi_eeprom_read(RID_K_SPRING);
+// D_DAMPER = spi_eeprom_read(RID_D_DAMPER);
}
/*******************************************************************************
* ENCODER functions
+
******************************************************************************/
// A-KHA
#define KF_G1_11 0.083920206005350f
@@ -751,17 +504,6 @@
ENC_pos_cur = spi_enc_read();
ENC_pos_diff = ENC_pos_cur - ENC_pos_old;
- //Kalman Filter
-// ENC_VEL_RAW = (int32_t) (ENC_pos_diff * TMR_FREQ_5k);
-// KF_Y_11 = ENC_pos_cur;
-// KF_Y_21 = ENC_VEL_RAW;
-// KF_X_11 = KF_G1_11 * KF_X_11 + KF_G1_12 * KF_X_21 + KF_G2_11 * KF_Y_11 + KF_G2_12*KF_Y_21;
-// KF_X_21 = KF_G1_21 * KF_X_11 + KF_G1_22 * KF_X_21 + KF_G2_21 * KF_Y_11 + KF_G2_22*KF_Y_21;
-// ENC_VEL_KF = (int32_t) KF_X_21;
-//
-// pos.sen = (DIR_JOINT_ENC) * ENC_pos_cur + enc_offset;
-// vel.sen = (DIR_JOINT_ENC) * ENC_VEL_KF;
-
//Low Pass Filter
double NEW_POSITION = (double) ((DIR_JOINT_ENC) * ENC_pos_cur + enc_offset);
--- a/function_utilities/function_utilities.h Mon Dec 28 12:10:50 2020 +0000 +++ b/function_utilities/function_utilities.h Mon Dec 28 14:27:11 2020 +0000 @@ -24,7 +24,6 @@ float change_int_to_efloat(int input); void make_delay(void); -void ROM_RESET_DATA(void); void ROM_CALL_DATA(void); void ENC_UPDATE(void);
--- a/main.cpp Mon Dec 28 12:10:50 2020 +0000
+++ b/main.cpp Mon Dec 28 14:27:11 2020 +0000
@@ -1,4 +1,13 @@
-//201228_2
+//Hydraulic Control Board
+//distributed by Sungwoo Kim
+// 2020/12/28
+
+
+// 유의사항
+// 소수 적을때 뒤에 f 꼭 붙이기
+// CAN 선은 ground까지 있는 3상 선으로 써야함.
+// 전원은 12~24V 인가.
+
#include "mbed.h"
#include "FastPWM.h"
#include "INIT_HW.h"
@@ -16,8 +25,6 @@
using namespace std;
Timer t;
-///191008////
-
// dac & check ///////////////////////////////////////////
DigitalOut check(PC_2);
DigitalOut check_2(PC_3);
@@ -27,20 +34,18 @@
AnalogIn adc2(PB_0); //pressure_2
AnalogIn adc3(PC_1); //current
-
// PWM ///////////////////////////////////////////
float dtc_v=0.0f;
float dtc_w=0.0f;
// I2C ///////////////////////////////////////////
I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
-const int i2c_slave_addr1 = 0x56;
+const int i2c_slave_addr1 = 0x56; // AS5510 address
unsigned int value; // 10bit output of reading sensor AS5510
// SPI ///////////////////////////////////////////
SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
DigitalOut eeprom_cs(PB_12);
-//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
SPI enc(PC_12,PC_11,PC_10);
DigitalOut enc_cs(PD_2);
DigitalOut LED(PA_15);
@@ -85,22 +90,16 @@
extern int CID_TX_VALVE_POSITION;
-
-
-// =============================================================================
-// =============================================================================
-// =============================================================================
-
/*******************************************************************************
* REFERENCE MODE
******************************************************************************/
enum _REFERENCE_MODE {
MODE_REF_NO_ACT = 0, //0
- MODE_REF_DIRECT, //1
- MODE_REF_COS_INC, //2
- MODE_REF_LINE_INC, //3
+ MODE_REF_DIRECT, //1
+ MODE_REF_COS_INC, //2
+ MODE_REF_LINE_INC, //3
MODE_REF_SIN_WAVE, //4
- MODE_REF_SQUARE_WAVE, //5
+ MODE_REF_SQUARE_WAVE, //5
};
/*******************************************************************************
@@ -126,7 +125,7 @@
MODE_CURRENT_CONTROL, //11
MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
- MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
+ MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
//utility
MODE_TORQUE_SENSOR_NULLING = 20, //20
@@ -137,7 +136,7 @@
MODE_PRESSURE_SENSOR_CALIB, //25
MODE_ROTARY_FRICTION_TUNING, //26
- MODE_DDV_POS_VS_PWM_ID = 30, //30
+ MODE_DDV_POS_VS_PWM_ID = 30, //30
MODE_DDV_DEADZONE_AND_CENTER, //31
MODE_DDV_POS_VS_FLOWRATE, //32
MODE_SYSTEM_ID, //33
@@ -152,11 +151,11 @@
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
- /** Configure the main internal regulator output voltage
+ /* Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
- /** Initializes the CPU, AHB and APB busses clocks
+ /* Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
@@ -190,687 +189,16 @@
}
}
-float u_past[num_array_u_past] = {0.0f};
-float x_past[num_array_x_past] = {0.0f};
-float x_future[num_array_x_future] = {0.0f};
-float f_past[num_array_f_past] = {0.0f};
-float f_future[num_array_f_future] = {0.0f};
-
-float input_NN[num_input] = { 0.0f };
-
-const float h1[num_input][16] = {
- {-1.6017948389053345f,1.2721383571624756f,0.1310378611087799f,-0.9444252848625183f,-1.9589552879333496f,1.1329879760742188f,-0.17743819952011108f,-0.19157131016254425f,-0.39761483669281006f,0.02001183293759823f,0.5025057196617126f,-2.509382724761963f,-0.2675858736038208f,0.27560269832611084f,-0.2611466646194458f,-0.9627107977867126f},
-{-1.2710213661193848f,0.9135757684707642f,-0.3988758325576782f,-0.7979171872138977f,-1.4895585775375366f,0.5568610429763794f,-0.4116867780685425f,-0.261433482170105f,-0.22742684185504913f,0.2772603929042816f,0.118864506483078f,-1.5505203008651733f,0.23985113203525543f,-0.2809593081474304f,-0.21292872726917267f,-0.6193060874938965f},
-{-1.1586071252822876f,0.7516070604324341f,0.36955419182777405f,-0.9032031297683716f,-0.9722328782081604f,0.5363096594810486f,0.2916664779186249f,-0.016872992739081383f,-0.34971633553504944f,0.2836141288280487f,-0.054457396268844604f,-0.9038598537445068f,-0.0020234500989317894f,0.19621078670024872f,0.056768983602523804f,-1.1061573028564453f},
-{-0.7506084442138672f,0.1879994422197342f,0.40358296036720276f,0.12524257600307465f,-0.5177642107009888f,-0.18764258921146393f,-0.11764177680015564f,0.31180232763290405f,-0.20574431121349335f,0.42218565940856934f,0.16467393934726715f,0.3004089593887329f,-0.1665881872177124f,0.09486014395952225f,-0.3007376194000244f,-0.8816207051277161f},
-{0.7436127662658691f,-0.604726254940033f,-0.005224883556365967f,0.9320474863052368f,0.5615028142929077f,-0.8275365829467773f,0.13140985369682312f,0.018719080835580826f,-0.24859893321990967f,0.23700864613056183f,-0.41653650999069214f,1.252004861831665f,-0.0686110407114029f,0.23053120076656342f,-0.39249828457832336f,-0.6377205848693848f},
-{3.0718040466308594f,-3.262662887573242f,0.22110894322395325f,2.670456647872925f,2.9312491416931152f,-3.062858819961548f,0.16770240664482117f,-0.1752457618713379f,-0.304975301027298f,0.24974356591701508f,-2.912475347518921f,3.297006845474243f,-0.2682695984840393f,0.3757273256778717f,-0.4196912348270416f,1.0734145641326904f},
-{-1.2198433876037598f,1.5182578563690186f,-0.2540779709815979f,-1.8283756971359253f,-1.570626139640808f,1.7989088296890259f,0.06107431650161743f,-0.7636352777481079f,0.3089294731616974f,-0.09506343305110931f,2.775860548019409f,0.7932590246200562f,-0.17504744231700897f,0.2239564061164856f,-0.15860587358474731f,-0.7237789630889893f},
-{0.7539365291595459f,-0.9152541160583496f,-0.2703247666358948f,0.3871593773365021f,0.3573713004589081f,-0.712091326713562f,-0.18203827738761902f,-0.5724472999572754f,-0.17589353024959564f,-0.025821663439273834f,0.3012785017490387f,0.5540553331375122f,0.3776646554470062f,0.029355080798268318f,0.0436977744102478f,1.1350784301757812f},
-{0.6773941516876221f,-0.1407381296157837f,0.10406997799873352f,-0.31886449456214905f,0.2701631486415863f,-0.2895267903804779f,-0.07359349727630615f,-0.522844135761261f,-0.4761183261871338f,0.22720466554164886f,-0.11068277060985565f,0.17022143304347992f,0.23315370082855225f,0.15179778635501862f,-0.31029027700424194f,0.851940393447876f},
-{0.11661386489868164f,-0.3948979079723358f,0.18748918175697327f,-0.2878238558769226f,0.28554558753967285f,0.11674453318119049f,-0.3036908507347107f,-0.1508290320634842f,-0.14107836782932281f,-0.5925581455230713f,0.2786004841327667f,-1.0318316221237183f,0.37844526767730713f,-0.270053893327713f,0.35390153527259827f,0.38183316588401794f},
-{0.4711846709251404f,0.11557799577713013f,0.3775894343852997f,0.0314268134534359f,0.03386480361223221f,0.016547810286283493f,-0.20654654502868652f,-0.06258935481309891f,-0.4769713580608368f,-0.07612045109272003f,0.6390635967254639f,-0.8360038995742798f,-0.06711658090353012f,-0.030321964994072914f,0.2710213363170624f,-0.054686423391103745f},
-{-0.37094420194625854f,-0.2944038212299347f,-0.40945154428482056f,-0.18097494542598724f,0.14135384559631348f,0.021318335086107254f,0.15575703978538513f,0.29287639260292053f,-0.12214788794517517f,0.1086469367146492f,-0.14901117980480194f,-0.15198558568954468f,0.1470927745103836f,-0.03396562486886978f,0.10656675696372986f,0.06443876773118973f},
-{0.025174643844366074f,-0.12816596031188965f,0.2015570104122162f,0.1076304167509079f,0.45414742827415466f,0.19509439170360565f,-0.24415965378284454f,0.013022400438785553f,-0.10836649686098099f,-0.29661229252815247f,0.09127697348594666f,-0.21214918792247772f,0.09341105818748474f,0.01174785103648901f,-0.22613362967967987f,-0.3625008761882782f},
-{-0.04146391525864601f,-0.02673570066690445f,0.41918185353279114f,-0.1233106479048729f,-0.07927072793245316f,-0.1876136064529419f,-0.32497477531433105f,-0.4840133786201477f,-0.044291287660598755f,-0.3259299099445343f,0.04178468510508537f,-0.0003480979357846081f,-0.31783685088157654f,-0.05072624981403351f,0.04871204495429993f,-0.08137178421020508f},
-{0.1422140747308731f,0.18844546377658844f,0.20596781373023987f,-0.2328251153230667f,0.34344229102134705f,0.06260570883750916f,0.042680561542510986f,0.07508613914251328f,0.4000869691371918f,-0.010638000443577766f,0.13212932646274567f,-0.657844066619873f,0.10472581535577774f,-0.038563571870326996f,0.06784489750862122f,-0.2556094229221344f},
-{0.15386898815631866f,-0.49337783455848694f,-0.4106670916080475f,-0.4150790572166443f,-0.05264211446046829f,-0.05708514153957367f,-0.15809619426727295f,-0.20627009868621826f,0.27094385027885437f,-0.09812130033969879f,-0.3514001667499542f,-0.9586353898048401f,-0.275861918926239f,0.02052518166601658f,-0.08373728394508362f,-0.0018482634332031012f},
-};
-
-const float h2[16][16] = {
- {-0.9739745259284973f,3.579744815826416f,-0.06966331601142883f,0.8622938990592957f,-0.21907491981983185f,2.2829554080963135f,-0.13155855238437653f,-0.014519207179546356f,-0.43008196353912354f,-0.1415480375289917f,0.17231711745262146f,-4.9480390548706055f,-0.02454538829624653f,-1.7999197244644165f,-0.38519009947776794f,1.4918317794799805f},
-{0.03609159216284752f,-0.6491178274154663f,0.057057321071624756f,-0.5475255846977234f,-0.35503754019737244f,-3.0916311740875244f,-0.5200656652450562f,-0.42126399278640747f,-0.33757925033569336f,0.2895788848400116f,-0.4909915030002594f,-1.1257127523422241f,0.18442146480083466f,1.348382830619812f,-0.5171104669570923f,-2.655162811279297f},
-{-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
-{0.15409719944000244f,0.4271918833255768f,-0.2894435524940491f,0.4524352252483368f,0.08946844935417175f,-0.24254196882247925f,-0.5646932125091553f,0.2643083930015564f,0.26211628317832947f,0.2953031361103058f,0.0909804254770279f,0.8597109913825989f,-0.5144365429878235f,-2.37484073638916f,-0.026095986366271973f,0.29753774404525757f},
-{-0.7763098478317261f,2.959994316101074f,-0.25313520431518555f,0.5777999758720398f,0.036378175020217896f,0.7788732051849365f,-0.5079860091209412f,-0.20636579394340515f,-0.024399548768997192f,-0.39465832710266113f,-0.4901541471481323f,-3.3827083110809326f,-0.013386494480073452f,-1.876047134399414f,-0.6391417384147644f,0.6140359044075012f},
-{0.020159810781478882f,0.545926034450531f,-0.3519742488861084f,-0.17923703789710999f,-0.3015052080154419f,-1.5342668294906616f,-0.7026005387306213f,-0.12369749695062637f,-0.23047015070915222f,0.3579089343547821f,-0.2382185161113739f,-5.193862438201904f,-0.3443910777568817f,1.945488691329956f,0.014947117306292057f,-1.2414220571517944f},
-{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
-{0.3839884400367737f,0.6259503960609436f,0.33083590865135193f,0.04438639059662819f,-0.14358049631118774f,0.12416914105415344f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.4972154498100281f,-0.2750113010406494f,-0.31673234701156616f,-0.015966646373271942f,-0.08780939131975174f,0.328056275844574f},
-{-0.4527643918991089f,0.3202667832374573f,-0.11379697918891907f,0.0684560090303421f,0.041274964809417725f,-0.40635451674461365f,-0.2745489478111267f,0.031847670674324036f,0.06103590130805969f,-0.38046833872795105f,-0.45007404685020447f,-0.5276026725769043f,-0.37024784088134766f,-0.3135625123977661f,-0.3714982867240906f,-0.12828999757766724f},
-{0.2802984118461609f,0.5001301765441895f,-0.13502129912376404f,0.6260269284248352f,0.12987366318702698f,0.6041213870048523f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.5018476247787476f,0.3686026930809021f,0.3811538517475128f,-0.5396527647972107f,-0.19131632149219513f,0.09156869351863861f},
-{-1.5928384065628052f,0.23942683637142181f,0.0457797646522522f,-0.6350169777870178f,-0.03321319818496704f,0.08973085880279541f,-0.18186365067958832f,-0.3142535090446472f,-0.050184011459350586f,0.12480869889259338f,-0.5123732089996338f,-4.090933799743652f,-0.4121001660823822f,1.199095368385315f,-0.18886037170886993f,-0.7048641443252563f},
-{0.03677457198500633f,0.4954114556312561f,0.3954955041408539f,0.2689988911151886f,0.0033026933670043945f,1.278443694114685f,-0.4117635190486908f,-0.24394789338111877f,0.3487861454486847f,-0.32520344853401184f,0.14627091586589813f,-0.9104770421981812f,-0.07545550167560577f,-1.3930959701538086f,0.008092201314866543f,-1.8283593654632568f},
-{-0.31720414757728577f,-0.21001535654067993f,-0.15798500180244446f,0.3665239214897156f,-0.37393757700920105f,0.37094148993492126f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.1080506220459938f,-0.2837170362472534f,0.41839322447776794f,-0.01957082748413086f,-0.12957632541656494f,0.10856001079082489f},
-{0.03818705305457115f,0.27717405557632446f,-0.2018718123435974f,0.06585641950368881f,0.07545611262321472f,0.05265878140926361f,-0.11297860741615295f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.351835161447525f,-0.2859584093093872f,-0.16718891263008118f,0.23180222511291504f,-0.23956191539764404f,-0.07242263853549957f},
-{0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
-{-1.0752074718475342f,-2.8200089931488037f,0.12081471085548401f,-0.12609876692295074f,0.29976895451545715f,0.4510769844055176f,-0.2826606035232544f,0.18327592313289642f,-0.3893685042858124f,-0.02222958207130432f,-0.19482164084911346f,-0.37641236186027527f,-0.19991017878055573f,-1.0054714679718018f,0.06622982025146484f,1.2732210159301758f},
-};
-
-const float h3[16][16] = {
- {-0.36079341173171997f,0.5496202707290649f,-0.6524567604064941f,-1.0138130187988281f,-0.7639057636260986f,0.5781964063644409f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,-0.533208429813385f,0.9845144152641296f,0.32505926489830017f,-0.19595709443092346f},
-{0.047732532024383545f,0.017954785376787186f,-0.18629395961761475f,-0.9162130951881409f,-0.43290695548057556f,-4.281400680541992f,-0.3198729455471039f,0.06247803568840027f,-0.19349214434623718f,-0.9508686065673828f,0.2572092115879059f,-0.41319137811660767f,-0.35956844687461853f,-0.5297766327857971f,0.10103966295719147f,-0.7109990119934082f},
-{0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
-{-0.30922991037368774f,-0.05632366985082626f,-1.3186177015304565f,-0.9530683755874634f,-0.49597063660621643f,0.2564902603626251f,0.20021501183509827f,0.07002416253089905f,-0.4060443043708801f,-0.4593014717102051f,0.13192829489707947f,0.41021624207496643f,-0.2266009896993637f,0.25329798460006714f,0.28113701939582825f,-0.15740571916103363f},
-{-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
-{-0.37449589371681213f,-0.02029903419315815f,-2.5072414875030518f,-12.973404884338379f,0.2337467223405838f,1.0865919589996338f,-0.18732719123363495f,0.22384825348854065f,-0.850281298160553f,-0.4489060342311859f,-0.23735009133815765f,0.05998014658689499f,0.23774290084838867f,0.08863037824630737f,0.5211813449859619f,-1.1956897974014282f},
-{0.4110594093799591f,0.2715781033039093f,-0.12724249064922333f,0.37246426939964294f,-0.06906148046255112f,-0.05251416191458702f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.13369451463222504f,0.2011522799730301f,0.3126353323459625f,-0.3391006588935852f},
-{-0.40892091393470764f,0.04420051723718643f,-0.26215535402297974f,0.25968697667121887f,0.4493691027164459f,-0.16038022935390472f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.17052586376667023f,-0.4737553000450134f,0.08030081540346146f,0.005298197269439697f},
-{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
-{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
-{0.15459725260734558f,0.3123319149017334f,0.10377500206232071f,-0.044353384524583817f,-0.2320195883512497f,0.12762269377708435f,-0.08742031455039978f,0.05785742402076721f,-0.07219423353672028f,-0.2943510413169861f,0.1268840730190277f,-0.30447322130203247f,-0.044554103165864944f,-0.20284022390842438f,0.5049844980239868f,0.23406195640563965f},
-{-0.408692330121994f,0.7442746162414551f,-0.3166918158531189f,-0.5923694968223572f,-2.5536251068115234f,2.459355354309082f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,1.5557342767715454f,2.810499429702759f,0.883807361125946f,-0.5292647480964661f},
-{-0.2991822361946106f,0.3794580399990082f,-0.07897943258285522f,-0.05932474136352539f,-0.019097916781902313f,0.10188531875610352f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.13475483655929565f,0.36124154925346375f,-0.16869547963142395f},
-{-0.2675279378890991f,-0.4076881408691406f,0.6109089851379395f,1.124742865562439f,0.791110098361969f,-1.8034776449203491f,-0.32875844836235046f,-0.31893211603164673f,-0.6889935731887817f,-1.1343306303024292f,-0.5256567001342773f,-0.8404866456985474f,1.0291988849639893f,-1.3514559268951416f,0.12213380634784698f,0.17103822529315948f},
-{-0.015470266342163086f,-0.23503242433071136f,0.13451209664344788f,0.36471807956695557f,-0.08753460645675659f,-0.20316985249519348f,0.05196094512939453f,-0.008358269929885864f,-0.4239840805530548f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.07671336829662323f,0.1646096110343933f,0.19001242518424988f,-0.29890790581703186f},
-{0.1863725483417511f,-0.07918193191289902f,-0.8252384066581726f,-36.685184478759766f,1.862860083580017f,1.8086168766021729f,0.04860696196556091f,0.17769548296928406f,-0.32842522859573364f,-0.40967434644699097f,-0.3929237127304077f,-0.0008496989612467587f,2.3736817836761475f,1.629492998123169f,-0.45149895548820496f,-0.32196617126464844f},
-};
-
-const float hout[16] = { 0.45773375034332275f,0.3443804383277893f,-0.43964359164237976f,-0.21056394279003143f,0.19662600755691528f,0.7040731906890869f,0.0030125975608825684f,0.15066689252853394f,0.10095822811126709f,-0.13003124296665192f,0.18801097571849823f,0.0785079076886177f,-0.15748845040798187f,0.1868625432252884f,0.18598346412181854f,-0.9022102355957031f };
-
-const float b1[16] = { 0.7107149362564087f,1.0883506536483765f,-1.7145336866378784f,0.09724511206150055f,1.4542453289031982f,1.417521595954895f,-0.058932315558195114f,0.9398505687713623f,0.4389953017234802f,-0.9609658718109131f,0.8672975301742554f,1.5156910419464111f,-0.3718140721321106f,-0.886523962020874f,-1.087764859199524f,2.5278995037078857f };
-
-const float b2[16] = { -0.4577406942844391f,-0.4344789981842041f,-1.4564176797866821f,-0.6435210704803467f,-0.6939148902893066f,-0.16397996246814728f,-0.013260572217404842f,-0.43840786814689636f,-1.20063054561615f,-1.912178635597229f,-0.1346415877342224f,0.10342646390199661f,-0.23722384870052338f,0.9154923558235168f,-0.1802087128162384f,1.0650097131729126f };
-
-const float b3[16] = { -1.963319182395935f,-0.7180035710334778f,0.7040019035339355f,-0.4437018930912018f,-0.7515134811401367f,1.0377838611602783f,-0.45353031158447266f,-0.6562485098838806f,0.04508165270090103f,0.06766403466463089f,-0.29913392663002014f,-0.09212813526391983f,-1.5836485624313354f,0.42195138335227966f,-1.3884198665618896f,-0.511356770992279f };
-
-const float bout[1] = { 0.09115694463253021f };
-
-/////////////////////////////////////////////////////////////////////////////////////////////RL
-float input_RL[num_input_RL] = { 0.0f };
-
-//Critic Networks
-float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
-float bc1[num_hidden_unit1] = {0.0f};
-float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
-float bc2[num_hidden_unit2] = {0.0f};
-float hc3[num_hidden_unit2] = {0.0f};
-float bc3 = 0.0f;
-
-//Critic Networks Temporary
-float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
-float bc1_temp[num_hidden_unit1] = {0.0f};
-float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
-float bc2_temp[num_hidden_unit2] = {0.0f};
-float hc3_temp[num_hidden_unit2] = {0.0f};
-float bc3_temp = 0.0f;
-
-//Actor Networks
-float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
-float ba1[num_hidden_unit1] = {0.0f};
-float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
-float ba2[num_hidden_unit2] = {0.0f};
-float ha3[num_hidden_unit2][2] = {0.0f};
-float ba3[2] = {0.0f};
-
-//Actor Networks Temporary
-float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
-float ba1_temp[num_hidden_unit1] = {0.0f};
-float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
-float ba2_temp[num_hidden_unit2] = {0.0f};
-float ha3_temp[num_hidden_unit2][2] = {0.0f};
-float ba3_temp[2] = {0.0f};
-
-float VALVE_POS_RAW_NN = 0.0f;
-float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
-
-/////////////////////////////////////////////RL tuning
-float Gradient_Limit = 0.5f;
-float gradient_rate_actor = 0.001f;
-float gradient_rate_critic = 0.001f;
-//////////////////////////////////////////////////////////////////////////////
-
-float Critic_Network_Temp(float *arr)
-{
- float output1[num_hidden_unit1] = { 0.0f };
- float output2[num_hidden_unit2] = { 0.0f };
- float output = 0.0f;
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
- }
- //ReLU
- output1[index2] = output1[index2] + bc1_temp[index2];
- hx_c_sum[index2] = output1[index2];
- if (output1[index2] < 0) {
- output1[index2] = 0;
- }
- //tanh
- //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
- }
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
- }
- //ReLU
- output2[index2] = output2[index2] + bc2_temp[index2];
- hxh_c_sum[index2] = output2[index2];
- if (output2[index2] < 0) {
- output2[index2] = 0;
- }
- //tanh
- //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
- }
- for (int index2 = 0; index2 < 1; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
- output = output + hc3_temp[index1] * output2[index1];
- }
- output = output + bc3_temp;
- hxhh_c_sum = output;
- }
- return output;
-}
-
-
-void Actor_Network(float *arr)
-{
- float output1[num_hidden_unit1] = {0.0f};
- float output2[num_hidden_unit2] = {0.0f};
- float output[2] = {0.0f};
-
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
- }
- output1[index2] = output1[index2] + ba1_temp[index2];
- hx_a_sum[index2] = output1[index2];
- if (output1[index2] < 0) {
- output1[index2] = 0;
- }
- }
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
- }
- output2[index2] = output2[index2] + ba2_temp[index2];
- hxh_a_sum[index2] = output2[index2];
- if (output2[index2] < 0) {
- output2[index2] = 0;
- }
- }
- for (int index2 = 0; index2 < 2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
- output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
- }
- hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
- }
-
- mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
- deviation_before_SP = output[1] + ba3_temp[1];
- //Softplus
- mean = log(1.0f+exp(mean_before_SP));
- deviation = log(1.0f+exp(deviation_before_SP));
- logging2 = mean;
- logging4 = deviation;
-}
-
-
-void Actor_Network_Old(float *arr)
-{
- float output1[num_hidden_unit1] = {0.0f};
- float output2[num_hidden_unit2] = {0.0f};
- float output[2] = {0.0f};
-
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
- }
- output1[index2] = output1[index2] + ba1[index2];
- if (output1[index2] < 0) {
- output1[index2] = 0;
- }
- }
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
- }
- output2[index2] = output2[index2] + ba2[index2];
- if (output2[index2] < 0) {
- output2[index2] = 0;
- }
- }
- for (int index2 = 0; index2 < 2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
- output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
- }
- }
- mean_old = output[0] + ba3[0];
- deviation_old = output[1] + ba3[1];
- //Softplus
- mean_old = log(1.0f+exp(mean_old));
- deviation_old = log(1.0f+exp(deviation_old));
-}
-
-float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
-{
- float grad_mean = 0.0f;
- grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
- return grad_mean;
-}
-
-float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
-{
- float grad_dev = 0.0f;
- grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation));
- return grad_dev;
-}
-
-float ReLU(float x)
-{
- if (x >= 0) {
- return x;
- } else {
- return 0.0f;
- }
-}
-
-void update_Critic_Networks(float (*arr)[num_input_RL])
-{
- float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
- float G_bc1[num_hidden_unit1] = {0.0f};
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- for (int n=0; n<batch_size; n++) {
- float d_V_d_hc1 = 0.0f;
- for(int k=0; k<num_hidden_unit2; k++) {
- if (hxh_c_sum_array[n][k] >= 0) {
- if (hx_c_sum_array[n][index2] > 0) {
- d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
- }
- }
- }
- G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
- }
- G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
- if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
- else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
- //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
- }
- for (int n=0; n<batch_size; n++) {
- float d_V_d_bc1 = 0.0f;
- for(int k=0; k<num_hidden_unit2; k++) {
- if (hxh_c_sum_array[n][k] >= 0) {
- if (hx_c_sum_array[n][index2] > 0) {
- d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
- }
- }
- }
- G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
- }
- G_bc1[index2] = G_bc1[index2] / batch_size;
- if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
- else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
- //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
- }
-
-
- float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
- float G_bc2[num_hidden_unit2] = {0.0f};
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- for (int n=0; n<batch_size; n++) {
- float d_V_d_hc2 = 0.0f;
- if (hxh_c_sum_array[n][index2] >= 0) {
- if (hx_c_sum_array[n][index1] > 0) {
- d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
- }
- }
- G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
- }
- G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
- if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
- else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
- //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
- }
- for (int n=0; n<batch_size; n++) {
- float d_V_d_bc2 = 0.0f;
- if (hxh_c_sum_array[n][index2] >= 0) {
- d_V_d_bc2 = hc3_temp[index2];
- }
- G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
- }
- G_bc2[index2] = G_bc2[index2] / batch_size;
- if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
- else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
- //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
- }
-
- float G_hc3[num_hidden_unit2]= {0.0f};
- float G_bc3 = 0.0f;
- for (int index2 = 0; index2 < 1; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
- for (int n=0; n<batch_size; n++) {
- float d_V_d_hc3 = 0.0f;
- if (hxh_c_sum_array[n][index1] >= 0) {
- d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
- }
- G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
- }
- G_hc3[index1] = G_hc3[index1] / batch_size;
- if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
- else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
- //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
- }
- for (int n=0; n<batch_size; n++) {
- float d_V_d_bc3 = 0.0f;
- d_V_d_bc3 = 1.0f;
- G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
- }
- G_bc3 = G_bc3 / batch_size;
- if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
- else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
- //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
- }
-
- // Simultaneous Update
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
- }
- bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
- }
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
- }
- bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
- }
- for (int index2 = 0; index2 < 1; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
- hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
- }
- bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
- }
-}
-
-///////////////////////////Softplus//////////////////////////////////
-void update_Actor_Networks(float (*arr)[num_input_RL])
-{
-
-
- float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
- float G_ba1[num_hidden_unit1] = {0.0f};
-
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- for (int n=0; n<batch_size; n++) {
- float d_x_d_ha1 = 0.0f;
- float d_y_d_ha1 = 0.0f;
- if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
- G_ha1[index1][index2] = G_ha1[index1][index2];
- } else {
- for(int k=0; k<num_hidden_unit2; k++) {
- if (hxh_a_sum_array[n][k] >= 0) {
- if (hx_a_sum_array[n][index2] > 0) {
- d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
- d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
- }
- }
- }
- float d_mean_d_ha1 = 0.0f;
- float d_dev_d_ha1 = 0.0f;
- d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1;
- d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1;
-
- G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
- }
- }
- G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
- if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
- else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
- //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
- }
-
- for (int n=0; n<batch_size; n++) {
- float d_x_d_ba1 = 0.0f;
- float d_y_d_ba1 = 0.0f;
- if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
- G_ba1[index2] = G_ba1[index2];
- } else {
- for(int k=0; k<num_hidden_unit2; k++) {
- if (hxh_a_sum_array[n][k] >= 0) {
- if (hx_a_sum_array[n][index2] > 0) {
- d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
- d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
- }
- }
- }
- float d_mean_d_ba1 = 0.0f;
- float d_dev_d_ba1 = 0.0f;
- d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1;
- d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1;
-
- G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
- }
- }
- G_ba1[index2] = -G_ba1[index2] / batch_size;
- if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
- else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
- //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
- }
-
- float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
- float G_ba2[num_hidden_unit2] = {0.0f};
-
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- for (int n=0; n<batch_size; n++) {
- float d_x_d_ha2 = 0.0f;
- float d_y_d_ha2 = 0.0f;
- if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
- G_ha2[index1][index2] = G_ha2[index1][index2];
- } else {
- if (hxh_a_sum_array[n][index2] >= 0) {
- if (hx_a_sum_array[n][index1] > 0) {
- d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
- d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
- }
- }
-
- float d_mean_d_ha2 = 0.0f;
- float d_dev_d_ha2 = 0.0f;
- d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2;
- d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2;
-
- G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
- }
- }
- G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
- if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
- else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
- //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
- }
-
- for (int n=0; n<batch_size; n++) {
- float d_x_d_ba2 = 0.0f;
- float d_y_d_ba2 = 0.0f;
- if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
- G_ba2[index2] = G_ba2[index2];
- } else {
-
- if (hxh_a_sum_array[n][index2] >= 0) {
- d_x_d_ba2 = ha3_temp[index2][0];
- d_y_d_ba2 = ha3_temp[index2][1];
- }
- float d_mean_d_ba2= 0.0f;
- float d_dev_d_ba2= 0.0f;
- d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2;
- d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2;
-
- G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
- }
- }
- G_ba2[index2] = -G_ba2[index2] / batch_size;
- if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
- else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
- //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
- }
-
- float G_ha3[num_hidden_unit2][2] = {0.0f};
- float G_ba3[2] = {0.0f};
-
- for (int index2 = 0; index2 < 2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
- for (int n=0; n<batch_size; n++) {
- float d_x_d_ha3 = 0.0f;
- float d_y_d_ha3 = 0.0f;
- if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
- G_ha3[index1][index2] = G_ha3[index1][index2];
- } else {
- if (hxh_a_sum_array[n][index1] >= 0) {
- if (hx_a_sum_array[n][index1] > 0) {
- d_x_d_ha3 = hxh_a_sum_array[n][index1];
- d_y_d_ha3 = hxh_a_sum_array[n][index1];
- }
- }
- float d_mean_d_ha3 = 0.0f;
- float d_dev_d_ha3 = 0.0f;
- d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3;
- d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3;
-
- G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
- }
- }
- G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
- if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
- else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
- //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
- }
-
- for (int n=0; n<batch_size; n++) {
- float d_x_d_ba3 = 0.0f;
- float d_y_d_ba3 = 0.0f;
- if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
- G_ba3[index2] = G_ba3[index2];
- } else {
-
- d_x_d_ba3 = 1.0f;
- d_y_d_ba3 = 1.0f;
-
- float d_mean_d_ba3= 0.0f;
- float d_dev_d_ba3= 0.0f;
- d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3;
- d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3;
-
- G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
- }
- }
- G_ba3[index2] = -G_ba3[index2] / batch_size;
- if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
- else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
- //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
- }
-
- // Simultaneous Update
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
- }
- ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
- }
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
- }
- ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
- }
- for (int index2 = 0; index2 < 2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
- ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
- }
- ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
- }
-}
-
-float rand_normal(double mean, double stddev)
-{
- //Box muller method
- static double n2 = 0.0f;
- static int n2_cached = 0;
- if (!n2_cached) {
- double x, y, r;
- do {
- x = 2.0f*rand()/RAND_MAX - 1;
- y = 2.0f*rand()/RAND_MAX - 1;
-
- r = x*x + y*y;
- } while (r == 0.0f || r > 1.0f);
- {
- double d = sqrt(-2.0f*log(r)/r);
- double n1 = x*d;
- n2 = y*d;
- double result = n1*stddev + mean;
- n2_cached = 1;
- return result;
- }
- } else {
- n2_cached = 0;
- return n2*stddev + mean;
- }
-}
-
-float mean_adv(float x[], int size)
-{
- float add = 0.0f;
- float result;
-
- for (int i=0; i<size; i++) {
- add += x[i];
- }
- result = (float) add/size;
- return result;
-}
-float deviation_adv(float x[], int size)
-{
- float sigma = 0.0f;
- float resultDeb = 0.0f;
-
- for (int k=0; k<size; k++) {
- sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
- resultDeb += sqrt(sigma);
- }
- return resultDeb;
-}
-
-
-void Overwirte_Critic_Networks()
-{
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- hc1[index1][index2] = hc1_temp[index1][index2];
- }
- bc1[index2] = bc1_temp[index2];
- }
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- hc2[index1][index2] = hc2_temp[index1][index2];
- }
- bc2[index2] = bc2_temp[index2];
- hc3[index2] = hc3_temp[index2];
- }
- bc3 = bc3_temp;
-}
-void Overwirte_Actor_Networks()
-{
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- ha1[index1][index2] = ha1_temp[index1][index2];
- }
- ba1[index2] = ba1_temp[index2];
- }
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- ha2[index1][index2] = ha2_temp[index1][index2];
- }
- ba2[index2] = ba2_temp[index2];
- }
- for (int index2 = 0; index2 < 2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
- ha3[index1][index2] = ha3_temp[index1][index2];
- }
- ba3[index2] = ba3_temp[index2];
- }
-}
-
int main()
{
-
- HAL_Init();
- SystemClock_Config();
-
/*********************************
*** Initialization
*********************************/
+
+ HAL_Init();
+ SystemClock_Config();
+
LED = 0;
pc.baud(9600);
@@ -881,14 +209,14 @@
init_as5510(i2c_slave_addr1);
make_delay();
-// // spi init
+ // spi init
eeprom.format(8,3);
eeprom.frequency(5000000); //5M
enc.format(8,0);
enc.frequency(5000000); //5M
make_delay();
- //rom
+ // rom
ROM_CALL_DATA();
make_delay();
@@ -906,11 +234,6 @@
TIM3->CR1 ^= TIM_CR1_UDIS;
make_delay();
- // TMR2 init
-// Init_TMR2();
-// TIM2->CR1 ^= TIM_CR1_UDIS;
-// make_delay();
-
// CAN
can.attach(&CAN_RX_HANDLER);
CAN_ID_INIT();
@@ -918,7 +241,6 @@
//Timer priority
NVIC_SetPriority(TIM3_IRQn, 2);
- //NVIC_SetPriority(TIM2_IRQn, 3);
NVIC_SetPriority(TIM4_IRQn, 3);
//can.reset();
@@ -945,258 +267,30 @@
ID_index_array[i] = (i+1) * 0.5f;
}
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
- }
- bc1_temp[index2] = (float) (rand()%100) * 0.007f;
- }
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
- }
- bc2_temp[index2] = (float) (rand()%100) * 0.007f;
- hc3_temp[index2] = (float) (rand()%100) * 0.007f;
- }
- bc3_temp = (float) (rand()%100) * 0.007f;
-
- for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
- for (int index1 = 0; index1 < num_input_RL; index1++) {
- ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
- }
- ba1_temp[index2] = (float) (rand()%100) * 0.007f;
- }
- for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
- ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
- }
- ba2_temp[index2] = (float) (rand()%100) * 0.007f;
- }
- for (int index2 = 0; index2 < 2; index2++) {
- for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
- ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
- }
- ba3_temp[index2] = (float) (rand()%100) * 0.007f;
- }
-
- Overwirte_Critic_Networks();
- Overwirte_Actor_Networks();
-
/************************************
*** Program is operating!
*************************************/
while(1) {
-// if(timer_while==27491) {
+ // UART example
+// if(timer_while==100000) {
// timer_while = 0;
-// pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5);
-// //pc.printf("%f\n", virt_pos);
-// //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
-// //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
+// pc.printf("%f\n", value);
// }
-
-
- //i2c
- read_field(i2c_slave_addr1);
- if(DIR_VALVE_ENC < 0) value = 1023 - value;
-
- //timer_while ++;
-
- ///////////////////////////////////////////////////////Neural Network
-
- if(NN_Control_Flag == 0) {
- LED = 0;
- }
-
- else if(NN_Control_Flag == 1) {
-
- int ind = 0;
- for(int i=0; i<numpast_u; i++) {
- input_NN[ind] = u_past[time_interval*i];
- ind = ind + 1;
- }
-
- for(int i=0; i<numpast_x; i++) {
- input_NN[ind] = x_past[time_interval*i] / 60.0f;
- ind = ind + 1;
- }
- input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
- ind = ind + 1;
-
-// for(int i=0; i<numfuture_x; i++) {
-// input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
-// ind = ind + 1;
-// }
-
- for(int i=0; i<numpast_f; i++) {
-// input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
- input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
- ind = ind + 1;
- }
-// input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
- input_NN[ind] = torq.sen / 10000.0f + 0.5f;
- ind = ind + 1;
- for(int i=0; i<numfuture_f-1; i++) {
-// input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
-// input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
-// input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
- input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
- ind = ind + 1;
- }
-
- float output1[16] = { 0.0f };
- float output2[16] = { 0.0f };
- float output3[16] = { 0.0f };
- float output = 0.0f;
-
- for (int index2 = 0; index2 < 16; index2++) {
- for (int index1 = 0; index1 < num_input; index1++) {
- output1[index2] = output1[index2]
- + h1[index1][index2] * input_NN[index1];
- }
- output1[index2] = output1[index2] + b1[index2];
- if (output1[index2] < 0) {
- output1[index2] = 0;
- }
- }
-
- for (int index2 = 0; index2 < 16; index2++) {
- for (int index1 = 0; index1 < 16; index1++) {
- output2[index2] = output2[index2]
- + h2[index1][index2] * output1[index1];
- }
- output2[index2] = output2[index2] + b2[index2];
- if (output2[index2] < 0) {
- output2[index2] = 0;
- }
- }
-
- for (int index2 = 0; index2 < 16; index2++) {
- for (int index1 = 0; index1 < 16; index1++) {
- output3[index2] = output3[index2]
- + h3[index1][index2] * output2[index1];
- }
- output3[index2] = output3[index2] + b3[index2];
- if (output3[index2] < 0) {
- output3[index2] = 0;
- }
- }
-
- for (int index2 = 0; index2 < 1; index2++) {
- for (int index1 = 0; index1 < 16; index1++) {
- output = output + hout[index1] * output3[index1];
- }
- output = output + bout[index2];
+// timer_while ++;
- }
- output = 1.0f/(1.0f+exp(-output));
- output_normalized = output;
- output = output * 20000.0f - 10000.0f;
-
- if(output>=0) {
- valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
- } else {
- valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
- }
-
-
- if(LED==1) {
- LED=0;
- } else
- LED = 1;
-
- }
-
-
- /////////////////////////////////////////////////////////////////////RL
- switch (Update_Case) {
- case 0: {
- break;
- }
- case 1: {
- //Network Update(just update and hold network)
- for (int epoch = 0; epoch < num_epoch; epoch++) {
- float loss_sum = 0.0f;
- for (int n=batch_size-1; n>=0; n--) {
- //Calculate Estimated V
- //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
- float temp_array[2] = {state_array[n][0], state_array[n][1]};
- V[n] = Critic_Network_Temp(temp_array);
- for (int i=0; i<num_hidden_unit1; i++) {
- hx_c_sum_array[n][i] = hx_c_sum[i];
- }
- for (int i=0; i<num_hidden_unit2; i++) {
- hxh_c_sum_array[n][i] = hxh_c_sum[i];
- }
- hxhh_c_sum_array[n] = hxhh_c_sum;
-
- pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]);
- Actor_Network_Old(temp_array);
- pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old);
- r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
- if(n == batch_size-1) return_G[n] = 0.0f;
- else return_G[n] = gamma * return_G[n+1] + r[n];
- if(n == batch_size-1) td_target[n] = r[n];
- else td_target[n] = r[n] + gamma * V[n+1];
- delta[n] = td_target[n] - V[n];
- if(n == batch_size-1) advantage[n] = 0.0f;
- else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
-// return_G[n] = advantage[n] + V[n];
- ratio[n] = pi[n]/pi_old[n];
- }
- float mean_advantage = 0.0f;
- float dev_advantage = 0.0f;
- mean_advantage = mean_adv(advantage, batch_size);
- dev_advantage = deviation_adv(advantage, batch_size);
- for (int n=batch_size-1; n>=0; n--) {
- //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
- surr1[n] = ratio[n] * advantage[n];
- if (ratio[n] > 1.0f + epsilon) {
- surr2[n] = (1.0f + epsilon)*advantage[n];
- } else if( ratio[n] < 1.0f - epsilon) {
- surr2[n] = (1.0f - epsilon)*advantage[n];
- } else {
- surr2[n] = ratio[n]*advantage[n];
- }
- loss[n] = -min(surr1[n], surr2[n]);
- loss_sum = loss_sum + loss[n];
- }
- reward_sum = 0.0f;
- for (int i=0; i<batch_size; i++) {
- reward_sum = reward_sum + r[i];
- }
- logging5 = reward_sum;
-
-
- //loss_batch = loss_sum / (float) batch_size;
- loss_batch = loss_sum;
- //Update Networks
- update_Critic_Networks(state_array);
- update_Actor_Networks(state_array);
- }
- Update_Done_Flag = 1;
- Update_Case = 0;
- //logging1 = V[0];
-
- break;
- }
- case 2: {
- //Network apply to next Network
- Overwirte_Critic_Networks();
- Overwirte_Actor_Networks();
- virt_pos = 10.0f;
- Update_Done_Flag = 1;
- Update_Case = 0;
- break;
- }
-
+ //i2c for SW valve
+ if(OPERATING_MODE == 5){
+ read_field(i2c_slave_addr1);
+ if(DIR_VALVE_ENC < 0) value = 1023 - value;
}
}
}
+
+// Velocity feedforward for SW valve
float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
{
-
int i = 0;
float Ref_Valve_Pos_FF = 0.0f;
for(i=0; i<VALVE_POS_NUM; i++) {
@@ -1223,12 +317,11 @@
Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
}
- Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
+ Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
return Ref_Valve_Pos_FF;
-
}
-
+// Valve feedforward for SW valve
void VALVE_POS_CONTROL(float REF_VALVE_POS)
{
int i = 0;
@@ -1238,7 +331,6 @@
} else if(REF_VALVE_POS < VALVE_MIN_POS) {
REF_VALVE_POS = VALVE_MIN_POS;
}
-
valve_pos_err = (float) (REF_VALVE_POS - value);
valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
valve_pos_err_old = valve_pos_err;
@@ -1261,6 +353,7 @@
Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}
+// PWM duty vs. voltage output of L6205 in STM board
#define LT_MAX_IDX 57
float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
@@ -1303,8 +396,6 @@
-
-
/*******************************************************************************
TIMER INTERRUPT
*******************************************************************************/
@@ -1327,26 +418,18 @@
}
ADC1->CR2 |= 0x40000000;
+ // Torque Sensing =============================================
if (SENSING_MODE == 0) {
- // Torque Sensing (0~210)bar =============================================
float pres_A_new = (((float) ADC1->DR) - 2047.5f);
- double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
+ double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 100Hz
pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
-
-// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
-//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
-// float pres_A_new = ((float)ADC1->DR);
-// pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
-// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
-
-
+ // Pressure Sensing (0~210)bar =============================================
} else if (SENSING_MODE == 1) {
- // Pressure Sensing (0~210)bar =============================================
float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
- double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
+ double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 200Hz
pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
@@ -1359,30 +442,11 @@
}
}
-// //Pressure sensor A
-// ADC1->CR2 |= 0x40000000; // adc _ 12bit
-// //while((ADC1->SR & 0b10));
-// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
-// float pres_A_new = ((float)ADC1->DR);
-// pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
-// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
-//
-//
-// //Pressure sensor B
-// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
-// float pres_B_new = ((float)ADC2->DR);
-// pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
-// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
-
-
//Current
//ADC3->CR2 |= 0x40000000; // adc _ 12bit
- //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;
CNT_TMR4++;
}
@@ -1448,7 +512,6 @@
// UTILITY MODE ------------------------------------------------------------
-
switch (UTILITY_MODE) {
case MODE_NO_ACT: {
break;
@@ -1467,8 +530,6 @@
if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
-
- //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
dac_1 = TORQUE_VREF / 3.3f;
}
} else {
@@ -1477,7 +538,6 @@
CUR_TORQUE_sum = 0;
CUR_TORQUE_mean = 0;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
dac_1 = TORQUE_VREF / 3.3f;
@@ -1551,7 +611,7 @@
// }
// V_out = 0;
//
-// ROM_RESET_DATA();
+//
//
// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
@@ -1568,7 +628,6 @@
if (FINDHOME_STAGE == FINDHOME_INIT) {
cnt_findhome = 0;
cnt_vel_findhome = 0;
- //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
pos.ref = pos.sen;
vel.ref = 0.0f;
FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
@@ -1588,23 +647,14 @@
}
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 = pos.ref + 12.0f;
else pos.ref = pos.ref - 12.0f;
-// pos.err = pos.ref_home_pos - pos.sen;
-// float VALVE_POS_RAW_POS_FB = 0.0f;
-// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
-// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
-// VALVE_POS_CONTROL(valve_pos.ref);
-
CONTROL_MODE = MODE_JOINT_CONTROL;
alpha_trans = 0.0f;
-
} else {
ENC_SET(HOMEPOS_OFFSET);
-// ENC_SET_ZERO();
INIT_REF_POS = HOMEPOS_OFFSET;
REF_POSITION = 0;
REF_VELOCITY = 0;
@@ -1621,20 +671,11 @@
vel.ref = 0.0f;
pos.ref_home_pos = 0.0f;
vel.ref_home_pos = 0.0f;
- //FINDHOME_STAGE = FINDHOME_INIT;
- //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
-
-
}
} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
int T_move = 2*TMR_FREQ_5k;
pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
- //pos.ref = 0.0f;
vel.ref = 0.0f;
-
- // input for position control
-
-// CONTROL_MODE = MODE_JOINT_CONTROL;
alpha_trans = 0.0f;
double torq_ref = 0.0f;
@@ -1664,8 +705,6 @@
I_REF = I_REF_POS;
-
-
} else {
float VALVE_POS_RAW_FORCE_FB = 0.0f;
VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
@@ -1682,18 +721,8 @@
}
-
-
-
-// pos.err = pos.ref - (float)pos.sen;
-// float VALVE_POS_RAW_POS_FB = 0.0f;
-// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
-// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
-// VALVE_POS_CONTROL(valve_pos.ref);
-
cnt_findhome++;
if (cnt_findhome >= T_move) {
- //REFERENCE_MODE = MODE_REF_DIRECT;
cnt_findhome = 0;
pos.ref = 0.0f;
vel.ref = 0.0f;
@@ -1755,7 +784,7 @@
// }
// if (fl_temp_cnt2 == 100) {
//
-// ROM_RESET_DATA();
+//
//
// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
// cur_vel_sum = 0;
@@ -1810,13 +839,11 @@
CUR_PRES_A_mean = 0;
CUR_PRES_B_mean = 0;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
dac_1 = PRES_A_VREF / 3.3f;
dac_2 = PRES_B_VREF / 3.3f;
- //pc.printf("nulling end");
}
TMR3_COUNT_PRES_NULL++;
break;
@@ -1846,7 +873,7 @@
// CUR_PRES_A_mean = 0;
// CUR_PRES_B_mean = 0;
//
-// ROM_RESET_DATA();
+//
//
// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
@@ -1904,7 +931,6 @@
VALVE_POS_AVG_OLD = VALVE_MIN_POS;
}
}
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
for(int i=0; i<25; i++) {
@@ -1980,8 +1006,6 @@
if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
- //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
- //CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
@@ -2018,8 +1042,6 @@
} else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
- //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
- //CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
@@ -2054,7 +1076,6 @@
VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
-// ROM_RESET_DATA();
spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
@@ -2066,8 +1087,6 @@
} else if(DZ_case == 0 && DZ_NUM ==1) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
- //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
- //CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
@@ -2103,8 +1122,6 @@
} else {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
- //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
- //CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
@@ -2138,8 +1155,7 @@
first_check = 0;
VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
-
-// ROM_RESET_DATA();
+
spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
@@ -2159,15 +1175,12 @@
if(first_check == 0) {
if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
- //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_plus_end = pos.sen;
- // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
- // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_minus_end = pos.sen;
first_check = 1;
@@ -2179,7 +1192,6 @@
}
} else {
if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
- //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
@@ -2219,7 +1231,6 @@
if(max_check == 1 && min_check == 1) {
VALVE_POS_NUM = ID_index;
-// ROM_RESET_DATA();
for(int i=0; i<100; i++) {
spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
@@ -2228,7 +1239,6 @@
first_check = 0;
VALVE_FR_timer = 0;
CONTROL_UTILITY_MODE = MODE_NO_ACT;
-// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
}
}
break;
@@ -2324,12 +1334,6 @@
CONTROL_UTILITY_MODE = MODE_SEND_OVER;
CONTROL_MODE = MODE_NO_ACT;
}
-// if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
-// {
-// CONTROL_UTILITY_MODE = MODE_NO_ACT;
-// CONTROL_MODE = MODE_NO_ACT;
-// CAN_TX_PWM((int16_t) (1)); //1300
-// }
break;
}
@@ -2338,8 +1342,9 @@
break;
}
+
+
// CONTROL MODE ------------------------------------------------------------
-
switch (CONTROL_MODE) {
case MODE_NO_ACT: {
V_out = 0.0f;
@@ -2370,8 +1375,7 @@
K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
-// torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
- torq_ref = torq.ref;
+ torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
// torque feedback
torq.err = torq_ref - torq.sen; //[N]
@@ -2468,15 +1472,9 @@
}
VALVE_POS_CONTROL(valve_pos.ref);
-
-// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
V_out = (float) Vout.ref;
-
}
-
torq_ref_past = torq_ref;
-
-
break;
}
@@ -2549,16 +1547,6 @@
x_4_des_old = x_4_des;
float V_input = 0.0f;
V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
-// //V_out LPF
-// float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
-// V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
-
-// float rho_gamma = 5000.0f;//5000 for change //50000 for not change
-// float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des));
-// gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
-//
-// if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
-// else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
float rho_a = 0.00001f;
float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
@@ -2570,96 +1558,6 @@
break;
}
- case MODE_RL: {
- //t.reset();
- //t.start();
-
-// if(LED == 0) LED = 1;
-// else LED = 0;
-
- if (Update_Done_Flag == 1) {
- //Gather Data on each loop
-// pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
-// train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
-// train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
- pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
- train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
- train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
- //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
- //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
- float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
- Actor_Network(temp_array);
- for (int i=0; i<num_hidden_unit1; i++) {
- hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
- }
- for (int i=0; i<num_hidden_unit2; i++) {
- hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
- }
- hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
- hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
- mean_array[RL_timer] = mean;
- deviation_array[RL_timer] = deviation;
- action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
-
- virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
- if (virt_pos > 70 ) {
- virt_pos = 70.0f;
- } else if(virt_pos < -70) {
- virt_pos = -70.0f;
- }
-
- RL_timer++;
-
-
- if (RL_timer >= batch_size) {
- RL_timer = 0;
- batch++;
- for(int i=0; i<batch_size; i++) {
- state_array[i][0] = train_set_x[i];
- state_array[i][1] = train_set_error[i];
- //state_array[i][2] = train_set_count[i];
- }
- Update_Case = 1;
- Update_Done_Flag = 0;
- logging1 = virt_pos;
-
- if(batch >= num_batch) {
- batch = 0;
- RL_timer = 0;
- Update_Case = 2;
- Update_Done_Flag = 0;
- virt_pos = 10.0f;
- }
- }
- }
-
- else {
- pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
- float temp_array[3] = {0.0f};
- temp_array[0] = virt_pos/70.0f; //-1.0~1.0
- temp_array[1] = pos.err/70.0f; //-1.0~1.0
- //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
- Actor_Network(temp_array);
- action = rand_normal(mean, deviation);
- //logging1 = action;
- //logging2 = mean;
- //logging4 = deviation;
- virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
- if (virt_pos > 70) {
- virt_pos = 70.0f;
- } else if(virt_pos < -70) {
- virt_pos = -70.0f;
- }
-
- logging3 = virt_pos;
- }
-
- //t.stop();
- //logging1 = t.read()*1000.0f; //msec
-
- break;
- }
-
default:
break;
}
@@ -2697,7 +1595,6 @@
double FF_gain = 1.0f;
VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
- // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
I_REF_fil_old = I_REF_fil;
// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
@@ -2754,15 +1651,12 @@
// else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
// else V_out = (float) (CUR_PWM_lin);
+ // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
else V_out = 0.0f;
}
-// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
-// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
-// else V_out = V_out;
-
/*******************************************************
*** PWM
********************************************************/
@@ -2775,9 +1669,9 @@
} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
}
- PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
+ PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
- // Saturation of output voltage to 12.0V
+ // Saturation of output voltage
if(PWM_out > 1.0f) PWM_out=1.0f;
else if (PWM_out < -1.0f) PWM_out=-1.0f;
@@ -2812,11 +1706,13 @@
}
}
}
+
+ // ID:1300
if (flag_data_request[1] == HIGH) {
- CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
+ CAN_TX_TORQUE((int16_t) 7); //1300
}
-
+ // ID:1400
if (flag_data_request[2] == HIGH) {
double t_value = 0.0f;
if(value>=(float) VALVE_CENTER) {
@@ -2839,27 +1735,19 @@
for (can_rest = 0; can_rest < 10000; can_rest++) {
;
}
-
+
+ // ID:1500
if (flag_data_request[3] == HIGH) {
//PWM
CAN_TX_PWM((int16_t) (torq.ref)); //1500
-// CAN_TX_PWM((int16_t) (f_future[1])); //1500
}
-
+
+ // ID:1600
if (flag_data_request[4] == HIGH) {
//valve position
- //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
}
- // 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++;
--- a/setting.h Mon Dec 28 12:10:50 2020 +0000 +++ b/setting.h Mon Dec 28 14:27:11 2020 +0000 @@ -4,10 +4,10 @@ // pwm #define PIN_V PB_7 #define PIN_W PB_6 -//#define PWM_ARR 0x465 // loop 80k, pwm 40k +//#define PWM_ARR 0x465 // loop 80k, pwm 40k //#define PWM_ARR 0x8CA // loop 40k, pwm 20k #define PWM_ARR 0x1194 // loop 20k, pwm 10k -//#define PWM_ARR 0x2328 // loop 10k, pwm 5k +//#define PWM_ARR 0x2328 // loop 10k, pwm 5k #define TMR3_COUNT 0x4650 // loop 5k #define TMR2_COUNT 0x2710 // loop 500hz with prescale 18 @@ -54,7 +54,6 @@ // User Function - void CurrentControl(); void ValveControl(unsigned int ControlMode); @@ -65,7 +64,6 @@ #define LATEST_VERSION 19032 - /******************************************************************************* * COMMON CONSTANTS ******************************************************************************/ @@ -442,100 +440,11 @@ extern float K_LPF; extern float D_LPF; -extern float totq_sen_past; +extern float torq_sen_past; extern float torq_ref_past; extern float output_normalized; -#define numpast_u 0 -#define numpast_x 5 -#define numfuture_x 0 -#define numpast_f 0 -#define numfuture_f 10 -//#define num_input 17 //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f -#define num_input 16 //numpast_x + 1 + numfuture_x + numpast_f + numfuture_f - -#define num_array_u_past 1 // numpast_u * time_interval + 1 -#define num_array_f_future 11 // numfuture_f * time_interval + 1 -#define num_array_f_past 1 // numpast_f * time_interval + 1 -#define num_array_x_past 6 // numpast_x * time_interval + 1 -#define num_array_x_future 1 // numfuture_x * time_interval + 1 - -#define time_interval 1 - - - -/////////////RL -#define num_batch 10 -#define num_epoch 1 -#define batch_size 100 -#define num_input_RL 2 -#define num_hidden_unit1 10 -#define num_hidden_unit2 10 - -extern int batch; -extern float train_set_x[batch_size]; -extern float train_set_error[batch_size]; -extern float train_set_count[batch_size]; -extern float state_array[batch_size][num_input_RL]; -extern float V[batch_size]; -extern float r[batch_size]; -extern float td_target[batch_size]; -extern float delta[batch_size]; -extern float advantage[batch_size]; -extern float return_G[batch_size]; - -extern float mean; -extern float deviation; -extern float mean_old; -extern float deviation_old; -extern float mean_before_SP; -extern float deviation_before_SP; -extern float mean_before_SP_array[batch_size]; -extern float deviation_before_SP_array[batch_size]; -extern float mean_array[batch_size]; -extern float mean_array_old[batch_size]; -extern float deviation_array[batch_size]; -extern float deviation_array_old[batch_size]; - -extern float hx_c_sum[num_hidden_unit1]; -extern float hx_c_sum_array[batch_size][num_hidden_unit1]; -extern float hxh_c_sum[num_hidden_unit2]; -extern float hxh_c_sum_array[batch_size][num_hidden_unit2]; -extern float hxhh_c_sum; -extern float hxhh_c_sum_array[batch_size]; - -extern float hx_a_sum[num_hidden_unit1]; -extern float hx_a_sum_array[batch_size][num_hidden_unit1]; -extern float hxh_a_sum[num_hidden_unit2]; -extern float hxh_a_sum_array[batch_size][num_hidden_unit2]; -extern float hxhh_a_sum[2]; -extern float hxhh_a_sum_array[batch_size][2]; - -extern float action; -extern float action_array[batch_size]; -extern float ratio[batch_size]; -extern float pi[batch_size]; -extern float pi_old[batch_size]; -extern float epsilon; -extern float surr1[batch_size]; -extern float surr2[batch_size]; -extern float loss[batch_size]; -extern float loss_batch; -extern float gamma; -extern float lmbda; -extern char Update_Done_Flag; -extern char Update_Case; -extern float reward_sum; - -extern float virt_pos; -extern float logging1; -extern float logging2; -extern float logging3; -extern float logging4; -extern float logging5; - -