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For LIGHT
main.cpp@59:0ad14153b58f, 2020-03-10 (annotated)
- Committer:
- Lightvalve
- Date:
- Tue Mar 10 04:50:04 2020 +0000
- Revision:
- 59:0ad14153b58f
- Parent:
- 58:2eade98630e2
- Child:
- 60:8855962234b0
200310
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
GiJeongKim | 0:51c43836c1d7 | 1 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 4 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 5 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 8 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 9 | #include "stm32f4xx_flash.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "FlashWriter.h" |
GiJeongKim | 0:51c43836c1d7 | 11 | |
Lightvalve | 31:66738bfecec5 | 12 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 13 | |
jobuuu | 7:e9086c72bb22 | 14 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 15 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 16 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 17 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 18 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 19 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 20 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 21 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 22 | |
Lightvalve | 24:ef6e1092e9e6 | 23 | |
jobuuu | 7:e9086c72bb22 | 24 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 25 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 26 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 29 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 30 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 31 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 32 | |
jobuuu | 7:e9086c72bb22 | 33 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 34 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 35 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 36 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 37 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 38 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 39 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 40 | |
jobuuu | 7:e9086c72bb22 | 41 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 42 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 43 | |
jobuuu | 7:e9086c72bb22 | 44 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 45 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 46 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 47 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 48 | { |
Lightvalve | 11:82d8768d7351 | 49 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 50 | } |
jobuuu | 2:a1c0a37df760 | 51 | |
jobuuu | 7:e9086c72bb22 | 52 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 53 | State pos; |
jobuuu | 7:e9086c72bb22 | 54 | State vel; |
jobuuu | 7:e9086c72bb22 | 55 | State Vout; |
jobuuu | 7:e9086c72bb22 | 56 | State torq; |
jobuuu | 7:e9086c72bb22 | 57 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 58 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 59 | State cur; |
Lightvalve | 14:8e7590227d22 | 60 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 61 | |
Lightvalve | 14:8e7590227d22 | 62 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 63 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 64 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 65 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 66 | |
Lightvalve | 59:0ad14153b58f | 67 | float V_out=0.0f; |
Lightvalve | 59:0ad14153b58f | 68 | float V_rem=0.0f; // for anti-windup |
Lightvalve | 59:0ad14153b58f | 69 | float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 59:0ad14153b58f | 70 | |
Lightvalve | 59:0ad14153b58f | 71 | float PWM_out=0.0f; |
Lightvalve | 59:0ad14153b58f | 72 | |
Lightvalve | 59:0ad14153b58f | 73 | int timer_while = 0; |
Lightvalve | 59:0ad14153b58f | 74 | int while_index = 0; |
Lightvalve | 59:0ad14153b58f | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 78 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 79 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 80 | |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 82 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 84 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 85 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 86 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 87 | |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 90 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 91 | |
Lightvalve | 12:6f2531038ea4 | 92 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 93 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 94 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 95 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 96 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 100 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 101 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 102 | }; |
Lightvalve | 12:6f2531038ea4 | 103 | |
Lightvalve | 12:6f2531038ea4 | 104 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 105 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 106 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 107 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 108 | //control mode |
Lightvalve | 12:6f2531038ea4 | 109 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 110 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 112 | |
Lightvalve | 47:fdcb8bd86fd6 | 113 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 12:6f2531038ea4 | 114 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 116 | |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 118 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 120 | |
Lightvalve | 12:6f2531038ea4 | 121 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 122 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 123 | |
Lightvalve | 14:8e7590227d22 | 124 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 125 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 126 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 127 | |
Lightvalve | 12:6f2531038ea4 | 128 | //utility |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 130 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_FIND_HOME, //22 |
Lightvalve | 59:0ad14153b58f | 132 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 136 | |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 138 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 139 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 12:6f2531038ea4 | 140 | }; |
Lightvalve | 12:6f2531038ea4 | 141 | |
GiJeongKim | 0:51c43836c1d7 | 142 | int main() |
GiJeongKim | 0:51c43836c1d7 | 143 | { |
jobuuu | 6:df07d3491e3a | 144 | /********************************* |
jobuuu | 1:e04e563be5ce | 145 | *** Initialization |
jobuuu | 6:df07d3491e3a | 146 | *********************************/ |
Lightvalve | 59:0ad14153b58f | 147 | //LED = 1; |
Lightvalve | 19:23b7c1ad8683 | 148 | //pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 149 | |
GiJeongKim | 0:51c43836c1d7 | 150 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 151 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 152 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 153 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 154 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 155 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 156 | |
GiJeongKim | 0:51c43836c1d7 | 157 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 158 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 159 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 160 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 161 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 162 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 163 | |
Lightvalve | 16:903b5a4433b4 | 164 | //rom |
Lightvalve | 19:23b7c1ad8683 | 165 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 166 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 167 | |
GiJeongKim | 0:51c43836c1d7 | 168 | // ADC init |
jobuuu | 5:a4319f79457b | 169 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 170 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 171 | |
GiJeongKim | 0:51c43836c1d7 | 172 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 173 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 174 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 175 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 176 | |
Lightvalve | 11:82d8768d7351 | 177 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 178 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 179 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 180 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 181 | |
Lightvalve | 50:3c630b5eba9f | 182 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 183 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 184 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 185 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 186 | |
GiJeongKim | 0:51c43836c1d7 | 187 | // CAN |
jobuuu | 2:a1c0a37df760 | 188 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 189 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 190 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 191 | |
Lightvalve | 23:59218d4a256d | 192 | //Timer priority |
Lightvalve | 23:59218d4a256d | 193 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 59:0ad14153b58f | 194 | // NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 195 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 196 | |
Lightvalve | 23:59218d4a256d | 197 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 198 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 199 | |
GiJeongKim | 0:51c43836c1d7 | 200 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 201 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 202 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 203 | |
Lightvalve | 11:82d8768d7351 | 204 | //DAC init |
Lightvalve | 59:0ad14153b58f | 205 | // dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 59:0ad14153b58f | 206 | // dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 59:0ad14153b58f | 207 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 59:0ad14153b58f | 208 | dac_2 = 0.0f; |
Lightvalve | 11:82d8768d7351 | 209 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 210 | |
Lightvalve | 19:23b7c1ad8683 | 211 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 212 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 213 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 214 | else |
Lightvalve | 38:118df027d851 | 215 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 216 | } |
Lightvalve | 58:2eade98630e2 | 217 | |
jobuuu | 6:df07d3491e3a | 218 | /************************************ |
jobuuu | 1:e04e563be5ce | 219 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 220 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 221 | while(1) { |
Lightvalve | 59:0ad14153b58f | 222 | if(timer_while==1000) { |
Lightvalve | 17:1865016ca2e7 | 223 | //i2c |
Lightvalve | 17:1865016ca2e7 | 224 | read_field(i2c_slave_addr1); |
Lightvalve | 17:1865016ca2e7 | 225 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 59:0ad14153b58f | 226 | // if(LED==1) { |
Lightvalve | 59:0ad14153b58f | 227 | // LED=0; |
Lightvalve | 59:0ad14153b58f | 228 | // } else |
Lightvalve | 59:0ad14153b58f | 229 | // LED = 1; |
Lightvalve | 17:1865016ca2e7 | 230 | timer_while = 0; |
Lightvalve | 17:1865016ca2e7 | 231 | } |
Lightvalve | 17:1865016ca2e7 | 232 | timer_while ++; |
GiJeongKim | 0:51c43836c1d7 | 233 | } |
jobuuu | 1:e04e563be5ce | 234 | } |
jobuuu | 1:e04e563be5ce | 235 | |
Lightvalve | 33:91b17819ec30 | 236 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 237 | { |
Lightvalve | 14:8e7590227d22 | 238 | |
Lightvalve | 13:747daba9cf59 | 239 | int i = 0; |
Lightvalve | 48:889798ff9329 | 240 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 241 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 242 | if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) { |
Lightvalve | 14:8e7590227d22 | 243 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 244 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 59:0ad14153b58f | 245 | Ref_Valve_Pos_FF = DDV_CENTER; |
Lightvalve | 50:3c630b5eba9f | 246 | } else { |
Lightvalve | 59:0ad14153b58f | 247 | Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER; |
Lightvalve | 38:118df027d851 | 248 | } |
Lightvalve | 14:8e7590227d22 | 249 | } else { |
Lightvalve | 50:3c630b5eba9f | 250 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 59:0ad14153b58f | 251 | Ref_Valve_Pos_FF = DDV_CENTER; |
Lightvalve | 50:3c630b5eba9f | 252 | } else { |
Lightvalve | 59:0ad14153b58f | 253 | Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + (float) (10*ID_index_array[i-1]); |
Lightvalve | 38:118df027d851 | 254 | } |
Lightvalve | 13:747daba9cf59 | 255 | } |
Lightvalve | 13:747daba9cf59 | 256 | break; |
Lightvalve | 13:747daba9cf59 | 257 | } |
Lightvalve | 13:747daba9cf59 | 258 | } |
Lightvalve | 14:8e7590227d22 | 259 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 260 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 261 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 262 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 263 | } |
Lightvalve | 36:a46e63505ed8 | 264 | |
Lightvalve | 59:0ad14153b58f | 265 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER); |
Lightvalve | 13:747daba9cf59 | 266 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 267 | |
Lightvalve | 13:747daba9cf59 | 268 | } |
jobuuu | 6:df07d3491e3a | 269 | |
jobuuu | 6:df07d3491e3a | 270 | |
Lightvalve | 30:8d561f16383b | 271 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 272 | { |
Lightvalve | 13:747daba9cf59 | 273 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 274 | |
Lightvalve | 38:118df027d851 | 275 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 276 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 277 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 278 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 279 | } |
Lightvalve | 38:118df027d851 | 280 | |
Lightvalve | 13:747daba9cf59 | 281 | valve_pos_err = REF_VALVE_POS - value; |
Lightvalve | 13:747daba9cf59 | 282 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 283 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 284 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 285 | if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; |
Lightvalve | 13:747daba9cf59 | 286 | if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; |
Lightvalve | 13:747daba9cf59 | 287 | |
Lightvalve | 13:747daba9cf59 | 288 | VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff; |
Lightvalve | 14:8e7590227d22 | 289 | |
Lightvalve | 18:b8adf1582ea3 | 290 | for(i=0; i<24; i++) { |
Lightvalve | 14:8e7590227d22 | 291 | if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { |
Lightvalve | 14:8e7590227d22 | 292 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 293 | VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); |
Lightvalve | 14:8e7590227d22 | 294 | } else { |
Lightvalve | 48:889798ff9329 | 295 | VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1]; |
Lightvalve | 13:747daba9cf59 | 296 | } |
Lightvalve | 13:747daba9cf59 | 297 | break; |
Lightvalve | 13:747daba9cf59 | 298 | } |
Lightvalve | 13:747daba9cf59 | 299 | } |
Lightvalve | 50:3c630b5eba9f | 300 | V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 301 | } |
Lightvalve | 13:747daba9cf59 | 302 | |
Lightvalve | 14:8e7590227d22 | 303 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 304 | 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, |
Lightvalve | 34:bb2ca2fc2a8e | 305 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 306 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 307 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 308 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 309 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 310 | }; // duty |
Lightvalve | 30:8d561f16383b | 311 | float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f, |
Lightvalve | 34:bb2ca2fc2a8e | 312 | -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 313 | -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 314 | 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f, |
Lightvalve | 34:bb2ca2fc2a8e | 315 | 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f, |
Lightvalve | 34:bb2ca2fc2a8e | 316 | 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f |
Lightvalve | 34:bb2ca2fc2a8e | 317 | }; // mV |
Lightvalve | 13:747daba9cf59 | 318 | |
Lightvalve | 30:8d561f16383b | 319 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 320 | { |
Lightvalve | 30:8d561f16383b | 321 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 322 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 323 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 324 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 325 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 326 | } else { |
Lightvalve | 13:747daba9cf59 | 327 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 328 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 329 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 330 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 331 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 332 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 333 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 334 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 335 | break; |
Lightvalve | 13:747daba9cf59 | 336 | } |
Lightvalve | 13:747daba9cf59 | 337 | } |
Lightvalve | 13:747daba9cf59 | 338 | } |
Lightvalve | 14:8e7590227d22 | 339 | |
Lightvalve | 13:747daba9cf59 | 340 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 341 | } |
jobuuu | 6:df07d3491e3a | 342 | |
jobuuu | 2:a1c0a37df760 | 343 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 344 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 345 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 346 | |
Lightvalve | 51:b46bed7fec80 | 347 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 348 | float DT_TMR4 = (float)DT_20k; |
jobuuu | 1:e04e563be5ce | 349 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 350 | { |
Lightvalve | 59:0ad14153b58f | 351 | |
Lightvalve | 19:23b7c1ad8683 | 352 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 353 | |
Lightvalve | 21:e5f1a43ea6f9 | 354 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 355 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 356 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 357 | |
Lightvalve | 59:0ad14153b58f | 358 | |
Lightvalve | 59:0ad14153b58f | 359 | //Using LoadCell |
Lightvalve | 59:0ad14153b58f | 360 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 59:0ad14153b58f | 361 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 59:0ad14153b58f | 362 | // float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); |
Lightvalve | 59:0ad14153b58f | 363 | // float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f; |
Lightvalve | 59:0ad14153b58f | 364 | // torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque); |
Lightvalve | 59:0ad14153b58f | 365 | |
Lightvalve | 59:0ad14153b58f | 366 | |
Lightvalve | 17:1865016ca2e7 | 367 | |
Lightvalve | 59:0ad14153b58f | 368 | //Pressure sensor A |
Lightvalve | 59:0ad14153b58f | 369 | ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 59:0ad14153b58f | 370 | //while((ADC1->SR & 0b10)); |
Lightvalve | 59:0ad14153b58f | 371 | float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 59:0ad14153b58f | 372 | // float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 59:0ad14153b58f | 373 | float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 59:0ad14153b58f | 374 | pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 59:0ad14153b58f | 375 | torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 50:3c630b5eba9f | 376 | |
Lightvalve | 59:0ad14153b58f | 377 | |
Lightvalve | 59:0ad14153b58f | 378 | //Pressure sensor 1B |
Lightvalve | 59:0ad14153b58f | 379 | //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); |
Lightvalve | 59:0ad14153b58f | 380 | //float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 59:0ad14153b58f | 381 | //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 59:0ad14153b58f | 382 | //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 59:0ad14153b58f | 383 | |
Lightvalve | 17:1865016ca2e7 | 384 | |
Lightvalve | 17:1865016ca2e7 | 385 | |
Lightvalve | 21:e5f1a43ea6f9 | 386 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 387 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 59:0ad14153b58f | 388 | // a1=ADC2->DR; |
Lightvalve | 25:3e6b574cab5c | 389 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 390 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 391 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 392 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 393 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 394 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 395 | |
Lightvalve | 59:0ad14153b58f | 396 | /******************************************************* |
Lightvalve | 59:0ad14153b58f | 397 | *** Timer Counting & etc. |
Lightvalve | 59:0ad14153b58f | 398 | ********************************************************/ |
Lightvalve | 59:0ad14153b58f | 399 | //CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 400 | } |
Lightvalve | 11:82d8768d7351 | 401 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 402 | } |
Lightvalve | 19:23b7c1ad8683 | 403 | |
Lightvalve | 19:23b7c1ad8683 | 404 | |
Lightvalve | 18:b8adf1582ea3 | 405 | int j =0; |
Lightvalve | 59:0ad14153b58f | 406 | //unsigned long CNT_TMR3 = 0; |
Lightvalve | 59:0ad14153b58f | 407 | //float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 54:647072f5307a | 408 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 409 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 59:0ad14153b58f | 410 | //float DT_TMR3 = (float)DT_1k; |
Lightvalve | 45:35fa6884d0c6 | 411 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 412 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 59:0ad14153b58f | 413 | int canfreq = CAN_FREQUENCY; |
Lightvalve | 48:889798ff9329 | 414 | |
Lightvalve | 11:82d8768d7351 | 415 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 416 | { |
Lightvalve | 19:23b7c1ad8683 | 417 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 59:0ad14153b58f | 418 | ENC_UPDATE(); |
Lightvalve | 50:3c630b5eba9f | 419 | |
Lightvalve | 50:3c630b5eba9f | 420 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 421 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 422 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 423 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 424 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 425 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 426 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 427 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 428 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 429 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 430 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 431 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 432 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 59:0ad14153b58f | 433 | alpha_trans = 1.0; |
Lightvalve | 45:35fa6884d0c6 | 434 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 435 | } else { |
Lightvalve | 59:0ad14153b58f | 436 | alpha_trans = 0.0; |
Lightvalve | 45:35fa6884d0c6 | 437 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 438 | } |
Lightvalve | 45:35fa6884d0c6 | 439 | |
Lightvalve | 50:3c630b5eba9f | 440 | |
Lightvalve | 59:0ad14153b58f | 441 | |
Lightvalve | 59:0ad14153b58f | 442 | // CONTROL LOOP ------------------------------------------------------------ |
Lightvalve | 59:0ad14153b58f | 443 | |
Lightvalve | 59:0ad14153b58f | 444 | switch (CONTROL_MODE) { |
Lightvalve | 59:0ad14153b58f | 445 | case MODE_NO_ACT: { |
Lightvalve | 59:0ad14153b58f | 446 | V_out = 0.0f; |
Lightvalve | 59:0ad14153b58f | 447 | break; |
Lightvalve | 59:0ad14153b58f | 448 | } |
Lightvalve | 59:0ad14153b58f | 449 | |
Lightvalve | 59:0ad14153b58f | 450 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 59:0ad14153b58f | 451 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:0ad14153b58f | 452 | break; |
Lightvalve | 59:0ad14153b58f | 453 | } |
Lightvalve | 59:0ad14153b58f | 454 | |
Lightvalve | 59:0ad14153b58f | 455 | case MODE_JOINT_CONTROL: { |
Lightvalve | 59:0ad14153b58f | 456 | |
Lightvalve | 59:0ad14153b58f | 457 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 59:0ad14153b58f | 458 | |
Lightvalve | 59:0ad14153b58f | 459 | |
Lightvalve | 59:0ad14153b58f | 460 | double torq_ref = 0.0f; |
Lightvalve | 59:0ad14153b58f | 461 | //if(TMR3_COUNT_TEST % (int) (50) == 0){ |
Lightvalve | 59:0ad14153b58f | 462 | pos.err = pos.ref - pos.sen; //[pulse] |
Lightvalve | 59:0ad14153b58f | 463 | vel.err = vel.ref - vel.sen; //[pulse/s] |
Lightvalve | 59:0ad14153b58f | 464 | torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 59:0ad14153b58f | 465 | //torq_ref_logging = torq_ref |
Lightvalve | 59:0ad14153b58f | 466 | //} |
Lightvalve | 59:0ad14153b58f | 467 | |
Lightvalve | 59:0ad14153b58f | 468 | // torque feedback |
Lightvalve | 59:0ad14153b58f | 469 | torq.err = torq_ref - torq.sen; //[pulse] |
Lightvalve | 59:0ad14153b58f | 470 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse] |
Lightvalve | 59:0ad14153b58f | 471 | // if (torq.err_sum > 1000) torq.err_sum = 1000; |
Lightvalve | 59:0ad14153b58f | 472 | // if (torq.err_sum<-1000) torq.err_sum = -1000; |
Lightvalve | 59:0ad14153b58f | 473 | |
Lightvalve | 59:0ad14153b58f | 474 | |
Lightvalve | 59:0ad14153b58f | 475 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f |
Lightvalve | 59:0ad14153b58f | 476 | + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 58:2eade98630e2 | 477 | |
Lightvalve | 59:0ad14153b58f | 478 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 59:0ad14153b58f | 479 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 59:0ad14153b58f | 480 | } else { |
Lightvalve | 59:0ad14153b58f | 481 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 59:0ad14153b58f | 482 | } |
Lightvalve | 59:0ad14153b58f | 483 | |
Lightvalve | 59:0ad14153b58f | 484 | if(I_GAIN_JOINT_TORQUE != 0){ |
Lightvalve | 59:0ad14153b58f | 485 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * (float) TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f; |
Lightvalve | 59:0ad14153b58f | 486 | if(valve_pos.ref>VALVE_MAX_POS){ |
Lightvalve | 59:0ad14153b58f | 487 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 59:0ad14153b58f | 488 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 59:0ad14153b58f | 489 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 59:0ad14153b58f | 490 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 59:0ad14153b58f | 491 | } |
Lightvalve | 59:0ad14153b58f | 492 | else if(valve_pos.ref < VALVE_MIN_POS){ |
Lightvalve | 59:0ad14153b58f | 493 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 59:0ad14153b58f | 494 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 59:0ad14153b58f | 495 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 59:0ad14153b58f | 496 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 59:0ad14153b58f | 497 | } |
Lightvalve | 59:0ad14153b58f | 498 | } |
Lightvalve | 59:0ad14153b58f | 499 | |
Lightvalve | 59:0ad14153b58f | 500 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:0ad14153b58f | 501 | |
Lightvalve | 59:0ad14153b58f | 502 | //TMR3_COUNT_TEST++; |
Lightvalve | 59:0ad14153b58f | 503 | |
Lightvalve | 59:0ad14153b58f | 504 | break; |
Lightvalve | 59:0ad14153b58f | 505 | } |
Lightvalve | 59:0ad14153b58f | 506 | |
Lightvalve | 59:0ad14153b58f | 507 | |
Lightvalve | 59:0ad14153b58f | 508 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 59:0ad14153b58f | 509 | V_out = (float) Vout.ref; |
Lightvalve | 59:0ad14153b58f | 510 | break; |
Lightvalve | 59:0ad14153b58f | 511 | } |
Lightvalve | 59:0ad14153b58f | 512 | |
Lightvalve | 59:0ad14153b58f | 513 | case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: { |
Lightvalve | 59:0ad14153b58f | 514 | float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback |
Lightvalve | 59:0ad14153b58f | 515 | //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward |
Lightvalve | 59:0ad14153b58f | 516 | float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback |
Lightvalve | 59:0ad14153b58f | 517 | //int DDV_JOINT_CAN = 0; |
Lightvalve | 59:0ad14153b58f | 518 | // feedback input for position control |
Lightvalve | 59:0ad14153b58f | 519 | pos.err = pos.ref - (float) pos.sen; |
Lightvalve | 59:0ad14153b58f | 520 | pos.err_diff = pos.err - pos.err_old; |
Lightvalve | 59:0ad14153b58f | 521 | pos.err_old = pos.err; |
Lightvalve | 59:0ad14153b58f | 522 | pos.err_sum += pos.err; |
Lightvalve | 59:0ad14153b58f | 523 | if (pos.err_sum > 1000) pos.err_sum = 1000; |
Lightvalve | 59:0ad14153b58f | 524 | if (pos.err_sum<-1000) pos.err_sum = -1000; |
Lightvalve | 59:0ad14153b58f | 525 | VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum/(float) ENC_PULSE_PER_POSITION + (float) D_GAIN_JOINT_POSITION * pos.err_diff/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:0ad14153b58f | 526 | |
Lightvalve | 59:0ad14153b58f | 527 | |
Lightvalve | 59:0ad14153b58f | 528 | //Ref_Joint_Vel = Ref_Vel_Test; |
Lightvalve | 59:0ad14153b58f | 529 | // feedforward input for position control |
Lightvalve | 59:0ad14153b58f | 530 | // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] |
Lightvalve | 59:0ad14153b58f | 531 | // float K_ff = 0.9f; |
Lightvalve | 59:0ad14153b58f | 532 | // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open |
Lightvalve | 59:0ad14153b58f | 533 | // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close |
Lightvalve | 59:0ad14153b58f | 534 | // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f; |
Lightvalve | 59:0ad14153b58f | 535 | |
Lightvalve | 59:0ad14153b58f | 536 | //torque feedback |
Lightvalve | 59:0ad14153b58f | 537 | torq.err = - torq.ref + torq.sen; |
Lightvalve | 59:0ad14153b58f | 538 | torq.err_diff = torq.err - torq.err_old; |
Lightvalve | 59:0ad14153b58f | 539 | torq.err_old = torq.err; |
Lightvalve | 59:0ad14153b58f | 540 | torq.err_sum += torq.err; |
Lightvalve | 59:0ad14153b58f | 541 | if (torq.err_sum > 1000) torq.err_sum = 1000; |
Lightvalve | 59:0ad14153b58f | 542 | if (torq.err_sum<-1000) torq.err_sum = -1000; |
Lightvalve | 59:0ad14153b58f | 543 | VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; |
Lightvalve | 59:0ad14153b58f | 544 | VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f; |
Lightvalve | 59:0ad14153b58f | 545 | |
Lightvalve | 59:0ad14153b58f | 546 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB; |
Lightvalve | 59:0ad14153b58f | 547 | valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref); |
Lightvalve | 59:0ad14153b58f | 548 | |
Lightvalve | 59:0ad14153b58f | 549 | if (valve_pos.ref >= 0) { |
Lightvalve | 59:0ad14153b58f | 550 | valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS; |
Lightvalve | 59:0ad14153b58f | 551 | } else if(valve_pos.ref < 0) { |
Lightvalve | 59:0ad14153b58f | 552 | valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_MINUS; |
Lightvalve | 59:0ad14153b58f | 553 | } |
Lightvalve | 59:0ad14153b58f | 554 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 56:6f50d9d3bfee | 555 | |
Lightvalve | 56:6f50d9d3bfee | 556 | |
Lightvalve | 13:747daba9cf59 | 557 | break; |
Lightvalve | 13:747daba9cf59 | 558 | } |
Lightvalve | 14:8e7590227d22 | 559 | |
Lightvalve | 59:0ad14153b58f | 560 | // case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: { |
Lightvalve | 59:0ad14153b58f | 561 | // |
Lightvalve | 59:0ad14153b58f | 562 | // break; |
Lightvalve | 59:0ad14153b58f | 563 | // } |
Lightvalve | 59:0ad14153b58f | 564 | |
Lightvalve | 59:0ad14153b58f | 565 | // case MODE_JOINT_POSITION_PRES_CONTROL_PWM: { |
Lightvalve | 59:0ad14153b58f | 566 | // pos.err = pos.ref - (float) pos.sen; |
Lightvalve | 59:0ad14153b58f | 567 | // pos.err_diff = pos.err - pos.err_old; |
Lightvalve | 59:0ad14153b58f | 568 | // pos.err_old = pos.err; |
Lightvalve | 59:0ad14153b58f | 569 | // pos.err_sum += pos.err; |
Lightvalve | 59:0ad14153b58f | 570 | // if (pos.err_sum > 1000) pos.err_sum = 1000; |
Lightvalve | 59:0ad14153b58f | 571 | // if (pos.err_sum<-1000) pos.err_sum = -1000; |
Lightvalve | 59:0ad14153b58f | 572 | // VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:0ad14153b58f | 573 | // |
Lightvalve | 59:0ad14153b58f | 574 | // torq.err = torq.ref - torq.sen; |
Lightvalve | 59:0ad14153b58f | 575 | // torq.err_diff = torq.err - torq.err_old; |
Lightvalve | 59:0ad14153b58f | 576 | // torq.err_old = torq.err; |
Lightvalve | 59:0ad14153b58f | 577 | // torq.err_sum += torq.err; |
Lightvalve | 59:0ad14153b58f | 578 | // if (torq.err_sum > 1000) torq.err_sum = 1000; |
Lightvalve | 59:0ad14153b58f | 579 | // if (torq.err_sum<-1000) torq.err_sum = -1000; |
Lightvalve | 59:0ad14153b58f | 580 | // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; |
Lightvalve | 59:0ad14153b58f | 581 | // |
Lightvalve | 59:0ad14153b58f | 582 | // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f; |
Lightvalve | 59:0ad14153b58f | 583 | // |
Lightvalve | 59:0ad14153b58f | 584 | // V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ; |
Lightvalve | 59:0ad14153b58f | 585 | // |
Lightvalve | 59:0ad14153b58f | 586 | // CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f; |
Lightvalve | 59:0ad14153b58f | 587 | // CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L)) |
Lightvalve | 59:0ad14153b58f | 588 | // if (DIR_VALVE > 0) { |
Lightvalve | 59:0ad14153b58f | 589 | // if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f; |
Lightvalve | 59:0ad14153b58f | 590 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f; |
Lightvalve | 59:0ad14153b58f | 591 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f; |
Lightvalve | 59:0ad14153b58f | 592 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f; |
Lightvalve | 59:0ad14153b58f | 593 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f; |
Lightvalve | 59:0ad14153b58f | 594 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f; |
Lightvalve | 59:0ad14153b58f | 595 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f; |
Lightvalve | 59:0ad14153b58f | 596 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f; |
Lightvalve | 59:0ad14153b58f | 597 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f; |
Lightvalve | 59:0ad14153b58f | 598 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f; |
Lightvalve | 59:0ad14153b58f | 599 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f; |
Lightvalve | 59:0ad14153b58f | 600 | // else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5; |
Lightvalve | 59:0ad14153b58f | 601 | // else VALVE_FF_VOLTAGE = 0; |
Lightvalve | 59:0ad14153b58f | 602 | // } else { |
Lightvalve | 59:0ad14153b58f | 603 | // if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f; |
Lightvalve | 59:0ad14153b58f | 604 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f; |
Lightvalve | 59:0ad14153b58f | 605 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f; |
Lightvalve | 59:0ad14153b58f | 606 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f; |
Lightvalve | 59:0ad14153b58f | 607 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f; |
Lightvalve | 59:0ad14153b58f | 608 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f; |
Lightvalve | 59:0ad14153b58f | 609 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f; |
Lightvalve | 59:0ad14153b58f | 610 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f; |
Lightvalve | 59:0ad14153b58f | 611 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f; |
Lightvalve | 59:0ad14153b58f | 612 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f; |
Lightvalve | 59:0ad14153b58f | 613 | // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f; |
Lightvalve | 59:0ad14153b58f | 614 | // else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5; |
Lightvalve | 59:0ad14153b58f | 615 | // else VALVE_FF_VOLTAGE = 0; |
Lightvalve | 59:0ad14153b58f | 616 | // } |
Lightvalve | 59:0ad14153b58f | 617 | // // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f; |
Lightvalve | 59:0ad14153b58f | 618 | // |
Lightvalve | 59:0ad14153b58f | 619 | // if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.)) |
Lightvalve | 59:0ad14153b58f | 620 | // else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f; |
Lightvalve | 59:0ad14153b58f | 621 | // |
Lightvalve | 59:0ad14153b58f | 622 | // V_out = V_out + VALVE_FF_VOLTAGE; |
Lightvalve | 59:0ad14153b58f | 623 | // break; |
Lightvalve | 59:0ad14153b58f | 624 | // } |
Lightvalve | 59:0ad14153b58f | 625 | |
Lightvalve | 59:0ad14153b58f | 626 | // case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: { |
Lightvalve | 59:0ad14153b58f | 627 | // |
Lightvalve | 59:0ad14153b58f | 628 | // pos.err = pos.ref - (float) pos.sen; |
Lightvalve | 59:0ad14153b58f | 629 | // pos.err_diff = pos.err - pos.err_old; |
Lightvalve | 59:0ad14153b58f | 630 | // pos.err_old = pos.err; |
Lightvalve | 59:0ad14153b58f | 631 | // pos.err_sum += pos.err; |
Lightvalve | 59:0ad14153b58f | 632 | // if (pos.err_sum > 1000) pos.err_sum = 1000; |
Lightvalve | 59:0ad14153b58f | 633 | // if (pos.err_sum<-1000) pos.err_sum = -1000; |
Lightvalve | 59:0ad14153b58f | 634 | // VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f; |
Lightvalve | 59:0ad14153b58f | 635 | // |
Lightvalve | 59:0ad14153b58f | 636 | // torq.err = torq.ref - torq.sen; |
Lightvalve | 59:0ad14153b58f | 637 | // torq.err_diff = torq.err - torq.err_old; |
Lightvalve | 59:0ad14153b58f | 638 | // torq.err_old = torq.err; |
Lightvalve | 59:0ad14153b58f | 639 | // torq.err_sum += torq.err; |
Lightvalve | 59:0ad14153b58f | 640 | // if (torq.err_sum > 1000) torq.err_sum = 1000; |
Lightvalve | 59:0ad14153b58f | 641 | // if (torq.err_sum<-1000) torq.err_sum = -1000; |
Lightvalve | 59:0ad14153b58f | 642 | // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; |
Lightvalve | 59:0ad14153b58f | 643 | // |
Lightvalve | 59:0ad14153b58f | 644 | // valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ; |
Lightvalve | 59:0ad14153b58f | 645 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:0ad14153b58f | 646 | // |
Lightvalve | 59:0ad14153b58f | 647 | // break; |
Lightvalve | 59:0ad14153b58f | 648 | // } |
Lightvalve | 59:0ad14153b58f | 649 | |
Lightvalve | 59:0ad14153b58f | 650 | // case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: { |
Lightvalve | 59:0ad14153b58f | 651 | // |
Lightvalve | 59:0ad14153b58f | 652 | // break; |
Lightvalve | 59:0ad14153b58f | 653 | // } |
Lightvalve | 59:0ad14153b58f | 654 | |
Lightvalve | 59:0ad14153b58f | 655 | |
Lightvalve | 59:0ad14153b58f | 656 | // case MODE_TEST_CURRENT_CONTROL: { |
Lightvalve | 59:0ad14153b58f | 657 | // if (TMR3_COUNT_IREF == TMR_FREQ_5k) { |
Lightvalve | 59:0ad14153b58f | 658 | // TMR3_COUNT_IREF = 0; |
Lightvalve | 59:0ad14153b58f | 659 | // } |
Lightvalve | 59:0ad14153b58f | 660 | // TMR3_COUNT_IREF++; |
Lightvalve | 59:0ad14153b58f | 661 | // |
Lightvalve | 59:0ad14153b58f | 662 | // // Set Current Reference |
Lightvalve | 59:0ad14153b58f | 663 | // float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f; |
Lightvalve | 59:0ad14153b58f | 664 | // float I_REF_MID = 0.0f; |
Lightvalve | 59:0ad14153b58f | 665 | // if (TMR3_COUNT_IREF < TMR3_CNT_MAX) { |
Lightvalve | 59:0ad14153b58f | 666 | // I_REF = I_REF_MID + 1.0f; |
Lightvalve | 59:0ad14153b58f | 667 | // } else { |
Lightvalve | 59:0ad14153b58f | 668 | // I_REF = I_REF_MID - 1.0f; |
Lightvalve | 59:0ad14153b58f | 669 | // } |
Lightvalve | 59:0ad14153b58f | 670 | //// float T = 1.0; // wave period |
Lightvalve | 59:0ad14153b58f | 671 | //// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T)); |
Lightvalve | 59:0ad14153b58f | 672 | //// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))); |
Lightvalve | 59:0ad14153b58f | 673 | // |
Lightvalve | 59:0ad14153b58f | 674 | // if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { |
Lightvalve | 59:0ad14153b58f | 675 | // //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas |
Lightvalve | 59:0ad14153b58f | 676 | // } |
Lightvalve | 59:0ad14153b58f | 677 | // break; |
Lightvalve | 59:0ad14153b58f | 678 | // } |
Lightvalve | 59:0ad14153b58f | 679 | |
Lightvalve | 59:0ad14153b58f | 680 | // case MODE_TEST_PWM_CONTROL: { |
Lightvalve | 59:0ad14153b58f | 681 | // if (TMR3_COUNT_IREF == TMR_FREQ_5k) { |
Lightvalve | 59:0ad14153b58f | 682 | // TMR3_COUNT_IREF = 0; |
Lightvalve | 59:0ad14153b58f | 683 | // } |
Lightvalve | 59:0ad14153b58f | 684 | // TMR3_COUNT_IREF++; |
Lightvalve | 59:0ad14153b58f | 685 | // |
Lightvalve | 59:0ad14153b58f | 686 | // // Set PWM reference |
Lightvalve | 59:0ad14153b58f | 687 | // float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f; |
Lightvalve | 59:0ad14153b58f | 688 | // //float I_REF_MID = 0.0f; |
Lightvalve | 59:0ad14153b58f | 689 | // if (TMR3_COUNT_IREF < TMR3_CNT_MAX) { |
Lightvalve | 59:0ad14153b58f | 690 | // CUR_PWM = 1000; |
Lightvalve | 59:0ad14153b58f | 691 | // } else { |
Lightvalve | 59:0ad14153b58f | 692 | // CUR_PWM = -1000; |
Lightvalve | 59:0ad14153b58f | 693 | // } |
Lightvalve | 59:0ad14153b58f | 694 | // |
Lightvalve | 59:0ad14153b58f | 695 | // if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { |
Lightvalve | 59:0ad14153b58f | 696 | // //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas |
Lightvalve | 59:0ad14153b58f | 697 | // } |
Lightvalve | 59:0ad14153b58f | 698 | // break; |
Lightvalve | 59:0ad14153b58f | 699 | // } |
Lightvalve | 59:0ad14153b58f | 700 | |
Lightvalve | 59:0ad14153b58f | 701 | |
Lightvalve | 59:0ad14153b58f | 702 | // case MODE_CURRENT_CONTROL: { |
Lightvalve | 59:0ad14153b58f | 703 | // |
Lightvalve | 59:0ad14153b58f | 704 | // cur.ref = cur.ref; // Unit : mA |
Lightvalve | 59:0ad14153b58f | 705 | // CurrentControl(); |
Lightvalve | 59:0ad14153b58f | 706 | // break; |
Lightvalve | 59:0ad14153b58f | 707 | // } |
Lightvalve | 59:0ad14153b58f | 708 | |
Lightvalve | 59:0ad14153b58f | 709 | // case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: { |
Lightvalve | 59:0ad14153b58f | 710 | // float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback |
Lightvalve | 59:0ad14153b58f | 711 | // float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward |
Lightvalve | 59:0ad14153b58f | 712 | // float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 59:0ad14153b58f | 713 | // float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward |
Lightvalve | 59:0ad14153b58f | 714 | // |
Lightvalve | 59:0ad14153b58f | 715 | // // feedback input for position control |
Lightvalve | 59:0ad14153b58f | 716 | // pos.err = pos.ref - pos.sen; |
Lightvalve | 59:0ad14153b58f | 717 | // float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz |
Lightvalve | 59:0ad14153b58f | 718 | // float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k; |
Lightvalve | 59:0ad14153b58f | 719 | // pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; |
Lightvalve | 59:0ad14153b58f | 720 | // pos.err_old = pos.err; |
Lightvalve | 59:0ad14153b58f | 721 | // I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f); |
Lightvalve | 59:0ad14153b58f | 722 | // |
Lightvalve | 59:0ad14153b58f | 723 | // // feedforward input for position control |
Lightvalve | 59:0ad14153b58f | 724 | // float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] |
Lightvalve | 59:0ad14153b58f | 725 | // float K_ff = 1.3f; |
Lightvalve | 59:0ad14153b58f | 726 | // float K_v = 0.0f; |
Lightvalve | 59:0ad14153b58f | 727 | // if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA) |
Lightvalve | 59:0ad14153b58f | 728 | // if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA) |
Lightvalve | 59:0ad14153b58f | 729 | // I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; |
Lightvalve | 59:0ad14153b58f | 730 | // |
Lightvalve | 59:0ad14153b58f | 731 | // // feedback input for position control |
Lightvalve | 59:0ad14153b58f | 732 | // I_REF_FORCE_FB = 0.0f; |
Lightvalve | 59:0ad14153b58f | 733 | // |
Lightvalve | 59:0ad14153b58f | 734 | // // feedforward input for position control |
Lightvalve | 59:0ad14153b58f | 735 | // I_REF_FORCE_FF = 0.0f; |
Lightvalve | 59:0ad14153b58f | 736 | // |
Lightvalve | 59:0ad14153b58f | 737 | // cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF; |
Lightvalve | 59:0ad14153b58f | 738 | // |
Lightvalve | 59:0ad14153b58f | 739 | // CurrentControl(); |
Lightvalve | 59:0ad14153b58f | 740 | // |
Lightvalve | 59:0ad14153b58f | 741 | // break; |
Lightvalve | 59:0ad14153b58f | 742 | // } |
Lightvalve | 59:0ad14153b58f | 743 | |
Lightvalve | 59:0ad14153b58f | 744 | // case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: { |
Lightvalve | 59:0ad14153b58f | 745 | // //float T_REF = 0.0; // Torque Reference |
Lightvalve | 59:0ad14153b58f | 746 | // float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback |
Lightvalve | 59:0ad14153b58f | 747 | // float I_REF_VC = 0.; // I_REF for velocity compensation |
Lightvalve | 59:0ad14153b58f | 748 | // |
Lightvalve | 59:0ad14153b58f | 749 | // // feedback input for position control |
Lightvalve | 59:0ad14153b58f | 750 | // //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] |
Lightvalve | 59:0ad14153b58f | 751 | // //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] |
Lightvalve | 59:0ad14153b58f | 752 | // //float K_spring = 0.7f; |
Lightvalve | 59:0ad14153b58f | 753 | // //float D_damper = 0.02f; |
Lightvalve | 59:0ad14153b58f | 754 | //// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm |
Lightvalve | 59:0ad14153b58f | 755 | // |
Lightvalve | 59:0ad14153b58f | 756 | // // torque feedback |
Lightvalve | 59:0ad14153b58f | 757 | // torq.err = torq.ref - torq.sen; |
Lightvalve | 59:0ad14153b58f | 758 | // // torq.err_diff = torq.err - torq.err_old; |
Lightvalve | 59:0ad14153b58f | 759 | // // torq.err_old = torq.err; |
Lightvalve | 59:0ad14153b58f | 760 | // torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k; |
Lightvalve | 59:0ad14153b58f | 761 | // I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 59:0ad14153b58f | 762 | // |
Lightvalve | 59:0ad14153b58f | 763 | // // velocity compensation for torque control |
Lightvalve | 59:0ad14153b58f | 764 | // float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] |
Lightvalve | 59:0ad14153b58f | 765 | // float K_vc = 1.5f; // Velocity comp. gain |
Lightvalve | 59:0ad14153b58f | 766 | // float K_v = 0.0f; // Valve gain |
Lightvalve | 59:0ad14153b58f | 767 | // if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning |
Lightvalve | 59:0ad14153b58f | 768 | // if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning |
Lightvalve | 59:0ad14153b58f | 769 | // I_REF_VC = K_vc*K_v*Joint_Vel_Act; |
Lightvalve | 59:0ad14153b58f | 770 | // |
Lightvalve | 59:0ad14153b58f | 771 | // cur.ref = I_REF_VC + I_REF_FORCE_FB; |
Lightvalve | 59:0ad14153b58f | 772 | // // cur.ref = I_REF_FORCE_FB; |
Lightvalve | 59:0ad14153b58f | 773 | // |
Lightvalve | 59:0ad14153b58f | 774 | // float I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 59:0ad14153b58f | 775 | // float Ka = 1.0f/I_GAIN_JOINT_TORQUE; |
Lightvalve | 59:0ad14153b58f | 776 | // if(cur.ref > I_MAX) { |
Lightvalve | 59:0ad14153b58f | 777 | // float I_rem = cur.ref-I_MAX; |
Lightvalve | 59:0ad14153b58f | 778 | // I_rem = Ka*I_rem; |
Lightvalve | 59:0ad14153b58f | 779 | // cur.ref = I_MAX; |
Lightvalve | 59:0ad14153b58f | 780 | // torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k; |
Lightvalve | 59:0ad14153b58f | 781 | // } else if(cur.ref < -I_MAX) { |
Lightvalve | 59:0ad14153b58f | 782 | // float I_rem = cur.ref-(-I_MAX); |
Lightvalve | 59:0ad14153b58f | 783 | // I_rem = Ka*I_rem; |
Lightvalve | 59:0ad14153b58f | 784 | // cur.ref = -I_MAX; |
Lightvalve | 59:0ad14153b58f | 785 | // torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k; |
Lightvalve | 59:0ad14153b58f | 786 | // } |
Lightvalve | 59:0ad14153b58f | 787 | // |
Lightvalve | 59:0ad14153b58f | 788 | // CurrentControl(); |
Lightvalve | 59:0ad14153b58f | 789 | // |
Lightvalve | 59:0ad14153b58f | 790 | // |
Lightvalve | 59:0ad14153b58f | 791 | // /* |
Lightvalve | 59:0ad14153b58f | 792 | // float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback |
Lightvalve | 59:0ad14153b58f | 793 | // float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward |
Lightvalve | 59:0ad14153b58f | 794 | // float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 59:0ad14153b58f | 795 | // float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward |
Lightvalve | 59:0ad14153b58f | 796 | // |
Lightvalve | 59:0ad14153b58f | 797 | // // feedback input for position control |
Lightvalve | 59:0ad14153b58f | 798 | // pos.err = pos.ref - pos.sen; |
Lightvalve | 59:0ad14153b58f | 799 | // float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz |
Lightvalve | 59:0ad14153b58f | 800 | // float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k; |
Lightvalve | 59:0ad14153b58f | 801 | // pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; |
Lightvalve | 59:0ad14153b58f | 802 | // pos.err_old = pos.err; |
Lightvalve | 59:0ad14153b58f | 803 | // I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f); |
Lightvalve | 59:0ad14153b58f | 804 | // |
Lightvalve | 59:0ad14153b58f | 805 | // // feedforward input for position control |
Lightvalve | 59:0ad14153b58f | 806 | // float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] |
Lightvalve | 59:0ad14153b58f | 807 | // float K_ff = 1.3f; |
Lightvalve | 59:0ad14153b58f | 808 | // float K_v = 0.0f; |
Lightvalve | 59:0ad14153b58f | 809 | // if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA) |
Lightvalve | 59:0ad14153b58f | 810 | // if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA) |
Lightvalve | 59:0ad14153b58f | 811 | // I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; |
Lightvalve | 59:0ad14153b58f | 812 | // |
Lightvalve | 59:0ad14153b58f | 813 | // // feedback input for position control |
Lightvalve | 59:0ad14153b58f | 814 | // I_REF_FORCE_FB = 0.0f; |
Lightvalve | 59:0ad14153b58f | 815 | // |
Lightvalve | 59:0ad14153b58f | 816 | // // feedforward input for position control |
Lightvalve | 59:0ad14153b58f | 817 | // I_REF_FORCE_FF = 0.0f; |
Lightvalve | 59:0ad14153b58f | 818 | // |
Lightvalve | 59:0ad14153b58f | 819 | // cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF; |
Lightvalve | 59:0ad14153b58f | 820 | // |
Lightvalve | 59:0ad14153b58f | 821 | // CurrentControl(); |
Lightvalve | 59:0ad14153b58f | 822 | // */ |
Lightvalve | 59:0ad14153b58f | 823 | // |
Lightvalve | 59:0ad14153b58f | 824 | // break; |
Lightvalve | 59:0ad14153b58f | 825 | // } |
Lightvalve | 59:0ad14153b58f | 826 | |
Lightvalve | 14:8e7590227d22 | 827 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 828 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 829 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 830 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 831 | |
Lightvalve | 14:8e7590227d22 | 832 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 833 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 834 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 835 | |
Lightvalve | 43:b084e5f5d0d5 | 836 | TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 837 | |
Lightvalve | 30:8d561f16383b | 838 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 13:747daba9cf59 | 839 | if (TORQUE_VREF < 0) TORQUE_VREF = 0; |
Lightvalve | 50:3c630b5eba9f | 840 | |
Lightvalve | 16:903b5a4433b4 | 841 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 842 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 843 | } |
Lightvalve | 13:747daba9cf59 | 844 | } else { |
Lightvalve | 59:0ad14153b58f | 845 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 846 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 847 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 848 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 849 | |
Lightvalve | 16:903b5a4433b4 | 850 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 851 | |
Lightvalve | 59:0ad14153b58f | 852 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 59:0ad14153b58f | 853 | |
Lightvalve | 59:0ad14153b58f | 854 | //pc.printf("%f\n", TORQUE_VREF); |
Lightvalve | 30:8d561f16383b | 855 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 856 | |
Lightvalve | 13:747daba9cf59 | 857 | } |
Lightvalve | 14:8e7590227d22 | 858 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 859 | break; |
Lightvalve | 59:0ad14153b58f | 860 | |
Lightvalve | 59:0ad14153b58f | 861 | |
Lightvalve | 59:0ad14153b58f | 862 | |
Lightvalve | 59:0ad14153b58f | 863 | // // DAC Voltage reference set |
Lightvalve | 59:0ad14153b58f | 864 | // if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 59:0ad14153b58f | 865 | // CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 59:0ad14153b58f | 866 | // CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 59:0ad14153b58f | 867 | // |
Lightvalve | 59:0ad14153b58f | 868 | // if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 59:0ad14153b58f | 869 | // CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 59:0ad14153b58f | 870 | // CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 59:0ad14153b58f | 871 | // CUR_PRES_A_sum = 0; |
Lightvalve | 59:0ad14153b58f | 872 | // CUR_PRES_B_sum = 0; |
Lightvalve | 59:0ad14153b58f | 873 | // |
Lightvalve | 59:0ad14153b58f | 874 | // float VREF_NullingGain = 0.0003f; |
Lightvalve | 59:0ad14153b58f | 875 | // PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean); |
Lightvalve | 59:0ad14153b58f | 876 | // PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean); |
Lightvalve | 59:0ad14153b58f | 877 | // |
Lightvalve | 59:0ad14153b58f | 878 | // if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 59:0ad14153b58f | 879 | // if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 59:0ad14153b58f | 880 | // if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 59:0ad14153b58f | 881 | // if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 59:0ad14153b58f | 882 | // |
Lightvalve | 59:0ad14153b58f | 883 | // dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 59:0ad14153b58f | 884 | // dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 59:0ad14153b58f | 885 | // } |
Lightvalve | 59:0ad14153b58f | 886 | // } else { |
Lightvalve | 59:0ad14153b58f | 887 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 59:0ad14153b58f | 888 | // TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 59:0ad14153b58f | 889 | // CUR_PRES_A_sum = 0; |
Lightvalve | 59:0ad14153b58f | 890 | // CUR_PRES_B_sum = 0; |
Lightvalve | 59:0ad14153b58f | 891 | // CUR_PRES_A_mean = 0; |
Lightvalve | 59:0ad14153b58f | 892 | // CUR_PRES_B_mean = 0; |
Lightvalve | 59:0ad14153b58f | 893 | // |
Lightvalve | 59:0ad14153b58f | 894 | // ROM_RESET_DATA(); |
Lightvalve | 59:0ad14153b58f | 895 | // |
Lightvalve | 59:0ad14153b58f | 896 | // dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 59:0ad14153b58f | 897 | // dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 59:0ad14153b58f | 898 | // //pc.printf("nulling end"); |
Lightvalve | 59:0ad14153b58f | 899 | // } |
Lightvalve | 59:0ad14153b58f | 900 | // TMR3_COUNT_PRES_NULL++; |
Lightvalve | 59:0ad14153b58f | 901 | // break; |
Lightvalve | 59:0ad14153b58f | 902 | |
Lightvalve | 59:0ad14153b58f | 903 | |
Lightvalve | 59:0ad14153b58f | 904 | |
Lightvalve | 59:0ad14153b58f | 905 | |
Lightvalve | 59:0ad14153b58f | 906 | |
Lightvalve | 19:23b7c1ad8683 | 907 | } |
Lightvalve | 14:8e7590227d22 | 908 | |
Lightvalve | 50:3c630b5eba9f | 909 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 910 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 911 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 912 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 913 | // } |
Lightvalve | 50:3c630b5eba9f | 914 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 915 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 916 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 917 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 918 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 919 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 920 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 921 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 922 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 923 | // } |
Lightvalve | 50:3c630b5eba9f | 924 | // |
Lightvalve | 50:3c630b5eba9f | 925 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 926 | // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); |
Lightvalve | 50:3c630b5eba9f | 927 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 928 | // |
Lightvalve | 50:3c630b5eba9f | 929 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 930 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 931 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 932 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 933 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 934 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 935 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 936 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 937 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 938 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 939 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 940 | // |
Lightvalve | 50:3c630b5eba9f | 941 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 942 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 943 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 944 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 945 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 946 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 947 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 948 | // |
Lightvalve | 50:3c630b5eba9f | 949 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 950 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 951 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 952 | // } else { |
Lightvalve | 50:3c630b5eba9f | 953 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 954 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 955 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 956 | // } |
Lightvalve | 50:3c630b5eba9f | 957 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 958 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 959 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 960 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 961 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 962 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 963 | // } |
Lightvalve | 50:3c630b5eba9f | 964 | // } else { |
Lightvalve | 50:3c630b5eba9f | 965 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 966 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 967 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 968 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 969 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 970 | // } |
Lightvalve | 50:3c630b5eba9f | 971 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 972 | // |
Lightvalve | 50:3c630b5eba9f | 973 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 974 | // |
Lightvalve | 50:3c630b5eba9f | 975 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 976 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 977 | // |
Lightvalve | 50:3c630b5eba9f | 978 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 979 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 980 | // } |
Lightvalve | 50:3c630b5eba9f | 981 | // } |
Lightvalve | 50:3c630b5eba9f | 982 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 983 | // break; |
Lightvalve | 50:3c630b5eba9f | 984 | // } |
Lightvalve | 14:8e7590227d22 | 985 | |
Lightvalve | 14:8e7590227d22 | 986 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 987 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 988 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 989 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 990 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 29:69f3f5445d6d | 991 | pos.ref_home_pos = pos.sen; |
Lightvalve | 30:8d561f16383b | 992 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 993 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 59:0ad14153b58f | 994 | CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3)); |
Lightvalve | 29:69f3f5445d6d | 995 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 29:69f3f5445d6d | 996 | int cnt_check_enc = (TMR_FREQ_5k/500); |
Lightvalve | 29:69f3f5445d6d | 997 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 998 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 999 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1000 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1001 | } |
Lightvalve | 29:69f3f5445d6d | 1002 | cnt_findhome++; |
Lightvalve | 59:0ad14153b58f | 1003 | //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1004 | |
Lightvalve | 29:69f3f5445d6d | 1005 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1006 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1007 | } else { |
Lightvalve | 29:69f3f5445d6d | 1008 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1009 | } |
Lightvalve | 19:23b7c1ad8683 | 1010 | |
Lightvalve | 59:0ad14153b58f | 1011 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1012 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 30:8d561f16383b | 1013 | if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f; |
Lightvalve | 30:8d561f16383b | 1014 | else pos.ref_home_pos = pos.ref_home_pos - 2.0f; |
Lightvalve | 29:69f3f5445d6d | 1015 | pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 30:8d561f16383b | 1016 | float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1017 | VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:0ad14153b58f | 1018 | valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER; |
Lightvalve | 29:69f3f5445d6d | 1019 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 34:bb2ca2fc2a8e | 1020 | |
Lightvalve | 30:8d561f16383b | 1021 | //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control |
Lightvalve | 30:8d561f16383b | 1022 | //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION); |
Lightvalve | 29:69f3f5445d6d | 1023 | //// L velocity >> mA convert |
Lightvalve | 30:8d561f16383b | 1024 | //if(I_REF>5.0f) I_REF = 5.0f; |
Lightvalve | 30:8d561f16383b | 1025 | //if(I_REF<-5.0f) I_REF = -5.0f; |
Lightvalve | 29:69f3f5445d6d | 1026 | //FLAG_CURRNET_CONTROL = true; |
Lightvalve | 29:69f3f5445d6d | 1027 | } else { |
Lightvalve | 29:69f3f5445d6d | 1028 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 29:69f3f5445d6d | 1029 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1030 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1031 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1032 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1033 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1034 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1035 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1036 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1037 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 29:69f3f5445d6d | 1038 | } |
Lightvalve | 29:69f3f5445d6d | 1039 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1040 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 30:8d561f16383b | 1041 | pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; |
Lightvalve | 30:8d561f16383b | 1042 | vel.ref_home_pos = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1043 | |
Lightvalve | 29:69f3f5445d6d | 1044 | // input for position control |
Lightvalve | 40:3f2c0619c8c4 | 1045 | pos.err = pos.ref_home_pos - (float)pos.sen; |
Lightvalve | 30:8d561f16383b | 1046 | float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1047 | VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:0ad14153b58f | 1048 | valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER; |
Lightvalve | 29:69f3f5445d6d | 1049 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1050 | |
Lightvalve | 29:69f3f5445d6d | 1051 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1052 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1053 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1054 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1055 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1056 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1057 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1058 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1059 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 59:0ad14153b58f | 1060 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1061 | } |
Lightvalve | 13:747daba9cf59 | 1062 | } |
Lightvalve | 19:23b7c1ad8683 | 1063 | |
Lightvalve | 13:747daba9cf59 | 1064 | break; |
Lightvalve | 13:747daba9cf59 | 1065 | } |
Lightvalve | 14:8e7590227d22 | 1066 | |
Lightvalve | 50:3c630b5eba9f | 1067 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1068 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1069 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1070 | // else { |
Lightvalve | 50:3c630b5eba9f | 1071 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1072 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1073 | // } |
Lightvalve | 50:3c630b5eba9f | 1074 | // } |
Lightvalve | 50:3c630b5eba9f | 1075 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1076 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1077 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1078 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1079 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1080 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1081 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1082 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1083 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1084 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1085 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1086 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1087 | // } |
Lightvalve | 50:3c630b5eba9f | 1088 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1089 | // } |
Lightvalve | 50:3c630b5eba9f | 1090 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1091 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1092 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1093 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1094 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1095 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1096 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1097 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1098 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 |
Lightvalve | 50:3c630b5eba9f | 1099 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1100 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1101 | // } |
Lightvalve | 50:3c630b5eba9f | 1102 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1103 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1104 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1105 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1106 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1107 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1108 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); |
Lightvalve | 50:3c630b5eba9f | 1109 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1110 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1111 | // } |
Lightvalve | 50:3c630b5eba9f | 1112 | // } |
Lightvalve | 50:3c630b5eba9f | 1113 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1114 | // |
Lightvalve | 50:3c630b5eba9f | 1115 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1116 | // |
Lightvalve | 50:3c630b5eba9f | 1117 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1118 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1119 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1120 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1121 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1122 | // } |
Lightvalve | 50:3c630b5eba9f | 1123 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1124 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1125 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1126 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1127 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1128 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1129 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1130 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1131 | // } |
Lightvalve | 50:3c630b5eba9f | 1132 | // |
Lightvalve | 50:3c630b5eba9f | 1133 | // } |
Lightvalve | 50:3c630b5eba9f | 1134 | // break; |
Lightvalve | 50:3c630b5eba9f | 1135 | // } |
Lightvalve | 50:3c630b5eba9f | 1136 | // |
Lightvalve | 50:3c630b5eba9f | 1137 | // } |
Lightvalve | 59:0ad14153b58f | 1138 | |
Lightvalve | 14:8e7590227d22 | 1139 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1140 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1141 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1142 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1143 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1144 | |
Lightvalve | 14:8e7590227d22 | 1145 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1146 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1147 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1148 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1149 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1150 | |
Lightvalve | 38:118df027d851 | 1151 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 59:0ad14153b58f | 1152 | PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean); |
Lightvalve | 59:0ad14153b58f | 1153 | PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean); |
Lightvalve | 14:8e7590227d22 | 1154 | |
Lightvalve | 30:8d561f16383b | 1155 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1156 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1157 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1158 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1159 | |
Lightvalve | 30:8d561f16383b | 1160 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1161 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1162 | } |
Lightvalve | 13:747daba9cf59 | 1163 | } else { |
Lightvalve | 59:0ad14153b58f | 1164 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1165 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1166 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1167 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1168 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1169 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1170 | |
Lightvalve | 16:903b5a4433b4 | 1171 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1172 | |
Lightvalve | 30:8d561f16383b | 1173 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1174 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1175 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1176 | } |
Lightvalve | 14:8e7590227d22 | 1177 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1178 | break; |
Lightvalve | 13:747daba9cf59 | 1179 | } |
Lightvalve | 14:8e7590227d22 | 1180 | |
Lightvalve | 50:3c630b5eba9f | 1181 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1182 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1183 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1184 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1185 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1186 | // } |
Lightvalve | 50:3c630b5eba9f | 1187 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1188 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1189 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1190 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1191 | // } |
Lightvalve | 50:3c630b5eba9f | 1192 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1193 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1194 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1195 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1196 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1197 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1198 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1199 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1200 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1201 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1202 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1203 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1204 | // |
Lightvalve | 50:3c630b5eba9f | 1205 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1206 | // |
Lightvalve | 50:3c630b5eba9f | 1207 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1208 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1209 | // } |
Lightvalve | 50:3c630b5eba9f | 1210 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1211 | // break; |
Lightvalve | 50:3c630b5eba9f | 1212 | // } |
Lightvalve | 19:23b7c1ad8683 | 1213 | |
Lightvalve | 50:3c630b5eba9f | 1214 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1215 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f); |
Lightvalve | 50:3c630b5eba9f | 1216 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1217 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1218 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1219 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1220 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1221 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1222 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1223 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1224 | // } |
Lightvalve | 50:3c630b5eba9f | 1225 | // break; |
Lightvalve | 50:3c630b5eba9f | 1226 | // } |
Lightvalve | 14:8e7590227d22 | 1227 | |
Lightvalve | 14:8e7590227d22 | 1228 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 13:747daba9cf59 | 1229 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1230 | |
Lightvalve | 14:8e7590227d22 | 1231 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 30:8d561f16383b | 1232 | V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1233 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 30:8d561f16383b | 1234 | V_out = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1235 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1236 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1237 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1238 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1239 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1240 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1241 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1242 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1243 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1244 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1245 | } |
Lightvalve | 14:8e7590227d22 | 1246 | |
Lightvalve | 17:1865016ca2e7 | 1247 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1248 | int i; |
Lightvalve | 13:747daba9cf59 | 1249 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1250 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1251 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1252 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1253 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1254 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1255 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1256 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1257 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1258 | } |
Lightvalve | 13:747daba9cf59 | 1259 | } |
Lightvalve | 27:a2254a485f23 | 1260 | //ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1261 | ID_index = 0; |
Lightvalve | 59:0ad14153b58f | 1262 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1263 | } |
Lightvalve | 14:8e7590227d22 | 1264 | |
Lightvalve | 14:8e7590227d22 | 1265 | |
Lightvalve | 13:747daba9cf59 | 1266 | break; |
Lightvalve | 13:747daba9cf59 | 1267 | } |
Lightvalve | 14:8e7590227d22 | 1268 | |
Lightvalve | 14:8e7590227d22 | 1269 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 14:8e7590227d22 | 1270 | |
Lightvalve | 13:747daba9cf59 | 1271 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1272 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1273 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1274 | V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1275 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1276 | V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1277 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1278 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1279 | V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1280 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1281 | V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1282 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1283 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1284 | 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; |
Lightvalve | 30:8d561f16383b | 1285 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1286 | 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; |
Lightvalve | 13:747daba9cf59 | 1287 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1288 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1289 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1290 | 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; |
Lightvalve | 13:747daba9cf59 | 1291 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1292 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1293 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1294 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1295 | |
Lightvalve | 30:8d561f16383b | 1296 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1297 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1298 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1299 | |
Lightvalve | 30:8d561f16383b | 1300 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1301 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1302 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1303 | if(CUR_VELOCITY >= 0) |
Lightvalve | 13:747daba9cf59 | 1304 | VEL_POINT = VEL_POINT + 1; |
Lightvalve | 13:747daba9cf59 | 1305 | else |
Lightvalve | 13:747daba9cf59 | 1306 | VEL_POINT = VEL_POINT - 1; |
Lightvalve | 30:8d561f16383b | 1307 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1308 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1309 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1310 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1311 | |
Lightvalve | 14:8e7590227d22 | 1312 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1313 | DZ_case = 1; |
Lightvalve | 14:8e7590227d22 | 1314 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 13:747daba9cf59 | 1315 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1316 | } else { |
Lightvalve | 13:747daba9cf59 | 1317 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1318 | } |
Lightvalve | 14:8e7590227d22 | 1319 | |
Lightvalve | 49:e7bcfc244d40 | 1320 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1321 | |
Lightvalve | 14:8e7590227d22 | 1322 | VEL_POINT = 0; |
Lightvalve | 13:747daba9cf59 | 1323 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1324 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1325 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1326 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1327 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1328 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1329 | |
Lightvalve | 13:747daba9cf59 | 1330 | } |
Lightvalve | 19:23b7c1ad8683 | 1331 | } else { |
Lightvalve | 14:8e7590227d22 | 1332 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1333 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1334 | 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; |
Lightvalve | 30:8d561f16383b | 1335 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1336 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1337 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1338 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1339 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1340 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1341 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1342 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1343 | } |
Lightvalve | 14:8e7590227d22 | 1344 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1345 | if(CUR_VELOCITY >= 0) |
Lightvalve | 13:747daba9cf59 | 1346 | VEL_POINT = VEL_POINT + 1; |
Lightvalve | 13:747daba9cf59 | 1347 | else |
Lightvalve | 13:747daba9cf59 | 1348 | VEL_POINT = VEL_POINT - 1; |
Lightvalve | 30:8d561f16383b | 1349 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1350 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1351 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1352 | |
Lightvalve | 14:8e7590227d22 | 1353 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1354 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1355 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1356 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1357 | } else { |
Lightvalve | 13:747daba9cf59 | 1358 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1359 | } |
Lightvalve | 14:8e7590227d22 | 1360 | |
Lightvalve | 14:8e7590227d22 | 1361 | VEL_POINT = 0; |
Lightvalve | 14:8e7590227d22 | 1362 | |
Lightvalve | 13:747daba9cf59 | 1363 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1364 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1365 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1366 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1367 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1368 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1369 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1370 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1371 | } |
Lightvalve | 13:747daba9cf59 | 1372 | } |
Lightvalve | 14:8e7590227d22 | 1373 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1374 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1375 | 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; |
Lightvalve | 30:8d561f16383b | 1376 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1377 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1378 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 18:b8adf1582ea3 | 1379 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1380 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1381 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1382 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1383 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1384 | } |
Lightvalve | 14:8e7590227d22 | 1385 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1386 | if(CUR_VELOCITY >= 0) |
Lightvalve | 13:747daba9cf59 | 1387 | VEL_POINT = VEL_POINT + 1; |
Lightvalve | 13:747daba9cf59 | 1388 | else |
Lightvalve | 13:747daba9cf59 | 1389 | VEL_POINT = VEL_POINT - 1; |
Lightvalve | 30:8d561f16383b | 1390 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1391 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1392 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1393 | |
Lightvalve | 14:8e7590227d22 | 1394 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1395 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1396 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1397 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1398 | } else { |
Lightvalve | 13:747daba9cf59 | 1399 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1400 | } |
Lightvalve | 14:8e7590227d22 | 1401 | |
Lightvalve | 14:8e7590227d22 | 1402 | VEL_POINT = 0; |
Lightvalve | 14:8e7590227d22 | 1403 | |
Lightvalve | 14:8e7590227d22 | 1404 | |
Lightvalve | 13:747daba9cf59 | 1405 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1406 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1407 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1408 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 59:0ad14153b58f | 1409 | DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ); |
Lightvalve | 13:747daba9cf59 | 1410 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1411 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1412 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1413 | |
Lightvalve | 16:903b5a4433b4 | 1414 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1415 | |
Lightvalve | 13:747daba9cf59 | 1416 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1417 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1418 | } |
Lightvalve | 13:747daba9cf59 | 1419 | } |
Lightvalve | 14:8e7590227d22 | 1420 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1421 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1422 | 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; |
Lightvalve | 30:8d561f16383b | 1423 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1424 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1425 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1426 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1427 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1428 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1429 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1430 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1431 | } |
Lightvalve | 14:8e7590227d22 | 1432 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1433 | if(CUR_VELOCITY >= 0) |
Lightvalve | 13:747daba9cf59 | 1434 | VEL_POINT = VEL_POINT + 1; |
Lightvalve | 13:747daba9cf59 | 1435 | else |
Lightvalve | 13:747daba9cf59 | 1436 | VEL_POINT = VEL_POINT - 1; |
Lightvalve | 30:8d561f16383b | 1437 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1438 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1439 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1440 | |
Lightvalve | 14:8e7590227d22 | 1441 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1442 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1443 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1444 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1445 | } else { |
Lightvalve | 13:747daba9cf59 | 1446 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1447 | } |
Lightvalve | 14:8e7590227d22 | 1448 | |
Lightvalve | 14:8e7590227d22 | 1449 | VEL_POINT = 0; |
Lightvalve | 13:747daba9cf59 | 1450 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1451 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1452 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1453 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1454 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1455 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1456 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1457 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1458 | } |
Lightvalve | 13:747daba9cf59 | 1459 | } |
Lightvalve | 14:8e7590227d22 | 1460 | } else { |
Lightvalve | 30:8d561f16383b | 1461 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1462 | 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; |
Lightvalve | 30:8d561f16383b | 1463 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1464 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1465 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1466 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1467 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1468 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1469 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1470 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1471 | } |
Lightvalve | 14:8e7590227d22 | 1472 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1473 | if(CUR_VELOCITY >= 0) |
Lightvalve | 13:747daba9cf59 | 1474 | VEL_POINT = VEL_POINT + 1; |
Lightvalve | 13:747daba9cf59 | 1475 | else |
Lightvalve | 13:747daba9cf59 | 1476 | VEL_POINT = VEL_POINT - 1; |
Lightvalve | 30:8d561f16383b | 1477 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1478 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1479 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1480 | if(VEL_POINT >= 0) |
Lightvalve | 13:747daba9cf59 | 1481 | DZ_DIRECTION = -1; |
Lightvalve | 13:747daba9cf59 | 1482 | else |
Lightvalve | 13:747daba9cf59 | 1483 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1484 | if(abs(FINAL_POS - START_POS) < 100) |
Lightvalve | 13:747daba9cf59 | 1485 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1486 | |
Lightvalve | 14:8e7590227d22 | 1487 | VEL_POINT = 0; |
Lightvalve | 14:8e7590227d22 | 1488 | |
Lightvalve | 14:8e7590227d22 | 1489 | |
Lightvalve | 13:747daba9cf59 | 1490 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1491 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1492 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1493 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 59:0ad14153b58f | 1494 | DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ); |
Lightvalve | 13:747daba9cf59 | 1495 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1496 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1497 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 34:bb2ca2fc2a8e | 1498 | |
Lightvalve | 59:0ad14153b58f | 1499 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1500 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1501 | } |
Lightvalve | 13:747daba9cf59 | 1502 | } |
Lightvalve | 13:747daba9cf59 | 1503 | } |
Lightvalve | 14:8e7590227d22 | 1504 | } |
Lightvalve | 13:747daba9cf59 | 1505 | break; |
Lightvalve | 13:747daba9cf59 | 1506 | } |
Lightvalve | 14:8e7590227d22 | 1507 | |
Lightvalve | 14:8e7590227d22 | 1508 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 13:747daba9cf59 | 1509 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1510 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1511 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1512 | V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1513 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1514 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1515 | V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1516 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1517 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1518 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1519 | V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1520 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1521 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 49:e7bcfc244d40 | 1522 | V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1523 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1524 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1525 | VALVE_FR_timer = 0; |
Lightvalve | 59:0ad14153b58f | 1526 | valve_pos.ref = DDV_CENTER; |
Lightvalve | 13:747daba9cf59 | 1527 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1528 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1529 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1530 | } |
Lightvalve | 14:8e7590227d22 | 1531 | } else { |
Lightvalve | 30:8d561f16383b | 1532 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:e7bcfc244d40 | 1533 | 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; |
Lightvalve | 30:8d561f16383b | 1534 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1535 | data_num = 0; |
Lightvalve | 59:0ad14153b58f | 1536 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER; |
Lightvalve | 14:8e7590227d22 | 1537 | |
Lightvalve | 14:8e7590227d22 | 1538 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1539 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1540 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:0ad14153b58f | 1541 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER; |
Lightvalve | 14:8e7590227d22 | 1542 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1543 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1544 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1545 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1546 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1547 | } |
Lightvalve | 30:8d561f16383b | 1548 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1549 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1550 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1551 | } |
Lightvalve | 14:8e7590227d22 | 1552 | |
Lightvalve | 14:8e7590227d22 | 1553 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1554 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1555 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1556 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1557 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1558 | } |
Lightvalve | 13:747daba9cf59 | 1559 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1560 | |
Lightvalve | 19:23b7c1ad8683 | 1561 | //ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1562 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1563 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1564 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1565 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1566 | } |
Lightvalve | 14:8e7590227d22 | 1567 | |
Lightvalve | 14:8e7590227d22 | 1568 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1569 | |
Lightvalve | 13:747daba9cf59 | 1570 | VALVE_POS_NUM = ID_index; |
Lightvalve | 27:a2254a485f23 | 1571 | //ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1572 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1573 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1574 | VALVE_FR_timer = 0; |
Lightvalve | 59:0ad14153b58f | 1575 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1576 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1577 | } |
Lightvalve | 13:747daba9cf59 | 1578 | } |
Lightvalve | 13:747daba9cf59 | 1579 | break; |
Lightvalve | 13:747daba9cf59 | 1580 | } |
Lightvalve | 58:2eade98630e2 | 1581 | |
Lightvalve | 12:6f2531038ea4 | 1582 | default: |
Lightvalve | 12:6f2531038ea4 | 1583 | break; |
Lightvalve | 12:6f2531038ea4 | 1584 | } |
Lightvalve | 14:8e7590227d22 | 1585 | |
Lightvalve | 59:0ad14153b58f | 1586 | // if (FLAG_VALVE_OUTPUT_CALIB) { |
Lightvalve | 59:0ad14153b58f | 1587 | // // Valve Dead Zone (Mechanical dead-zone canceling) |
Lightvalve | 59:0ad14153b58f | 1588 | // // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) { |
Lightvalve | 59:0ad14153b58f | 1589 | // // if (V_out > 0.) { |
Lightvalve | 59:0ad14153b58f | 1590 | // // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS; |
Lightvalve | 59:0ad14153b58f | 1591 | // // } else if (V_out < 0.) { |
Lightvalve | 59:0ad14153b58f | 1592 | // // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS; |
Lightvalve | 59:0ad14153b58f | 1593 | // // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER; |
Lightvalve | 59:0ad14153b58f | 1594 | // // } else VALVE_PWM_VALVE_DZ = (int) V_out; |
Lightvalve | 59:0ad14153b58f | 1595 | // |
Lightvalve | 59:0ad14153b58f | 1596 | // if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS; |
Lightvalve | 59:0ad14153b58f | 1597 | // else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS; |
Lightvalve | 59:0ad14153b58f | 1598 | // |
Lightvalve | 59:0ad14153b58f | 1599 | // VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER; |
Lightvalve | 59:0ad14153b58f | 1600 | // |
Lightvalve | 59:0ad14153b58f | 1601 | // // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 59:0ad14153b58f | 1602 | // float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV |
Lightvalve | 59:0ad14153b58f | 1603 | // float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin); |
Lightvalve | 59:0ad14153b58f | 1604 | // |
Lightvalve | 59:0ad14153b58f | 1605 | // if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143; |
Lightvalve | 59:0ad14153b58f | 1606 | // else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138; |
Lightvalve | 59:0ad14153b58f | 1607 | // else V_out = CUR_PWM_DZ; |
Lightvalve | 59:0ad14153b58f | 1608 | // } else { |
Lightvalve | 59:0ad14153b58f | 1609 | // V_out = V_out; |
Lightvalve | 59:0ad14153b58f | 1610 | // } |
Lightvalve | 14:8e7590227d22 | 1611 | |
jobuuu | 7:e9086c72bb22 | 1612 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1613 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1614 | ********************************************************/ |
Lightvalve | 49:e7bcfc244d40 | 1615 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1616 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1617 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1618 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1619 | } |
Lightvalve | 49:e7bcfc244d40 | 1620 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1621 | |
Lightvalve | 59:0ad14153b58f | 1622 | // Saturation of output voltage to 5.0V |
Lightvalve | 59:0ad14153b58f | 1623 | // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667 |
Lightvalve | 59:0ad14153b58f | 1624 | // else if (PWM_out < -0.41667) PWM_out=-0.41667; |
Lightvalve | 59:0ad14153b58f | 1625 | |
Lightvalve | 19:23b7c1ad8683 | 1626 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1627 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1628 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1629 | |
Lightvalve | 30:8d561f16383b | 1630 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1631 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1632 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1633 | } else { |
jobuuu | 2:a1c0a37df760 | 1634 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1635 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1636 | } |
Lightvalve | 13:747daba9cf59 | 1637 | |
jobuuu | 1:e04e563be5ce | 1638 | //pwm |
Lightvalve | 30:8d561f16383b | 1639 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1640 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 13:747daba9cf59 | 1641 | |
Lightvalve | 20:806196fda269 | 1642 | |
Lightvalve | 20:806196fda269 | 1643 | |
Lightvalve | 59:0ad14153b58f | 1644 | |
Lightvalve | 59:0ad14153b58f | 1645 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/canfreq) == 0) { |
Lightvalve | 59:0ad14153b58f | 1646 | // if (TMR2_COUNT_CAN_TX % 10 == 0) { |
Lightvalve | 54:647072f5307a | 1647 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1648 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 59:0ad14153b58f | 1649 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1650 | if (SENSING_MODE == 0) { |
Lightvalve | 59:0ad14153b58f | 1651 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1652 | } else if (SENSING_MODE == 1) { |
Lightvalve | 59:0ad14153b58f | 1653 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1654 | } |
Lightvalve | 59:0ad14153b58f | 1655 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1656 | if (SENSING_MODE == 0) { |
Lightvalve | 59:0ad14153b58f | 1657 | CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1658 | } else if (SENSING_MODE == 1) { |
Lightvalve | 59:0ad14153b58f | 1659 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1660 | } |
Lightvalve | 52:8ea76864368a | 1661 | } |
Lightvalve | 52:8ea76864368a | 1662 | } |
Lightvalve | 56:6f50d9d3bfee | 1663 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1664 | //valve position |
Lightvalve | 54:647072f5307a | 1665 | double t_value = 0; |
Lightvalve | 59:0ad14153b58f | 1666 | if(value>=DDV_CENTER) { |
Lightvalve | 59:0ad14153b58f | 1667 | t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER); |
Lightvalve | 58:2eade98630e2 | 1668 | } else { |
Lightvalve | 59:0ad14153b58f | 1669 | t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER); |
Lightvalve | 54:647072f5307a | 1670 | } |
Lightvalve | 59:0ad14153b58f | 1671 | CAN_TX_TORQUE((int16_t) (t_value)); |
Lightvalve | 54:647072f5307a | 1672 | } |
Lightvalve | 58:2eade98630e2 | 1673 | |
Lightvalve | 56:6f50d9d3bfee | 1674 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 56:6f50d9d3bfee | 1675 | //pressure A and B |
Lightvalve | 59:0ad14153b58f | 1676 | CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar) |
Lightvalve | 57:f4819de54e7a | 1677 | } |
Lightvalve | 58:2eade98630e2 | 1678 | |
Lightvalve | 56:6f50d9d3bfee | 1679 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1680 | //PWM |
Lightvalve | 59:0ad14153b58f | 1681 | CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS); |
Lightvalve | 54:647072f5307a | 1682 | } |
Lightvalve | 59:0ad14153b58f | 1683 | |
Lightvalve | 56:6f50d9d3bfee | 1684 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1685 | //valve position |
Lightvalve | 59:0ad14153b58f | 1686 | CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING); |
Lightvalve | 54:647072f5307a | 1687 | } |
Lightvalve | 20:806196fda269 | 1688 | |
Lightvalve | 54:647072f5307a | 1689 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1690 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1691 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1692 | // } |
Lightvalve | 54:647072f5307a | 1693 | //if (flag_delay_test == 1){ |
Lightvalve | 59:0ad14153b58f | 1694 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1695 | //} |
Lightvalve | 52:8ea76864368a | 1696 | |
Lightvalve | 54:647072f5307a | 1697 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1698 | } |
Lightvalve | 54:647072f5307a | 1699 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1700 | |
Lightvalve | 59:0ad14153b58f | 1701 | |
Lightvalve | 59:0ad14153b58f | 1702 | |
Lightvalve | 20:806196fda269 | 1703 | } |
Lightvalve | 52:8ea76864368a | 1704 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1705 | |
Lightvalve | 59:0ad14153b58f | 1706 | } |
Lightvalve | 59:0ad14153b58f | 1707 | |
Lightvalve | 59:0ad14153b58f | 1708 | |
Lightvalve | 59:0ad14153b58f | 1709 | |
Lightvalve | 59:0ad14153b58f | 1710 | //unsigned long CNT_TMR5 = 0; |
Lightvalve | 59:0ad14153b58f | 1711 | //float FREQ_TMR5 = (float)FREQ_500; |
Lightvalve | 59:0ad14153b58f | 1712 | //float DT_TMR5 = (float)DT_500; |
Lightvalve | 59:0ad14153b58f | 1713 | //extern "C" void TIM2_IRQHandler(void) |
Lightvalve | 59:0ad14153b58f | 1714 | //{ |
Lightvalve | 59:0ad14153b58f | 1715 | // LED = 1; |
Lightvalve | 59:0ad14153b58f | 1716 | // if (TIM2->SR & TIM_SR_UIF ) { |
Lightvalve | 59:0ad14153b58f | 1717 | // |
Lightvalve | 59:0ad14153b58f | 1718 | // //CAN ---------------------------------------------------------------------- |
Lightvalve | 59:0ad14153b58f | 1719 | // if (flag_data_request[0] == HIGH) { |
Lightvalve | 59:0ad14153b58f | 1720 | // //position+velocity |
Lightvalve | 59:0ad14153b58f | 1721 | // CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 59:0ad14153b58f | 1722 | // } |
Lightvalve | 59:0ad14153b58f | 1723 | // |
Lightvalve | 59:0ad14153b58f | 1724 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 59:0ad14153b58f | 1725 | // //valve position |
Lightvalve | 59:0ad14153b58f | 1726 | // double t_value = 0; |
Lightvalve | 59:0ad14153b58f | 1727 | // if(value>=DDV_CENTER) { |
Lightvalve | 59:0ad14153b58f | 1728 | // t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER); |
Lightvalve | 59:0ad14153b58f | 1729 | // } else { |
Lightvalve | 59:0ad14153b58f | 1730 | // t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER); |
Lightvalve | 59:0ad14153b58f | 1731 | // } |
Lightvalve | 59:0ad14153b58f | 1732 | // CAN_TX_TORQUE((int16_t) (t_value)); |
Lightvalve | 59:0ad14153b58f | 1733 | // } |
Lightvalve | 59:0ad14153b58f | 1734 | // |
Lightvalve | 59:0ad14153b58f | 1735 | // if (flag_data_request[2] == HIGH) { |
Lightvalve | 59:0ad14153b58f | 1736 | // //pressure A and B |
Lightvalve | 59:0ad14153b58f | 1737 | // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar) |
Lightvalve | 59:0ad14153b58f | 1738 | // //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) |
Lightvalve | 59:0ad14153b58f | 1739 | // // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.)); |
Lightvalve | 59:0ad14153b58f | 1740 | // // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.); |
Lightvalve | 59:0ad14153b58f | 1741 | // // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.); |
Lightvalve | 59:0ad14153b58f | 1742 | // |
Lightvalve | 59:0ad14153b58f | 1743 | // } |
Lightvalve | 59:0ad14153b58f | 1744 | // |
Lightvalve | 59:0ad14153b58f | 1745 | // if (flag_data_request[3] == HIGH) { |
Lightvalve | 59:0ad14153b58f | 1746 | // //PWM |
Lightvalve | 59:0ad14153b58f | 1747 | // CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS); |
Lightvalve | 59:0ad14153b58f | 1748 | // // CAN_TX_PWM((int16_t) cnt_vel_findhome); |
Lightvalve | 59:0ad14153b58f | 1749 | // // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.)); |
Lightvalve | 59:0ad14153b58f | 1750 | // // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.)); |
Lightvalve | 59:0ad14153b58f | 1751 | // |
Lightvalve | 59:0ad14153b58f | 1752 | // } |
Lightvalve | 59:0ad14153b58f | 1753 | // |
Lightvalve | 59:0ad14153b58f | 1754 | // if (flag_data_request[4] == HIGH) { |
Lightvalve | 59:0ad14153b58f | 1755 | // //valve position |
Lightvalve | 59:0ad14153b58f | 1756 | // CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING); |
Lightvalve | 59:0ad14153b58f | 1757 | // //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out); |
Lightvalve | 59:0ad14153b58f | 1758 | // |
Lightvalve | 59:0ad14153b58f | 1759 | // //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM)); |
Lightvalve | 59:0ad14153b58f | 1760 | // // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE)); |
Lightvalve | 59:0ad14153b58f | 1761 | // // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION); |
Lightvalve | 59:0ad14153b58f | 1762 | // // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos); |
Lightvalve | 59:0ad14153b58f | 1763 | // // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate); |
Lightvalve | 59:0ad14153b58f | 1764 | // } |
Lightvalve | 59:0ad14153b58f | 1765 | // |
Lightvalve | 59:0ad14153b58f | 1766 | // |
Lightvalve | 59:0ad14153b58f | 1767 | // } |
Lightvalve | 59:0ad14153b58f | 1768 | // TIM2->SR = 0x0; // reset the status register |
Lightvalve | 59:0ad14153b58f | 1769 | //} |
Lightvalve | 59:0ad14153b58f | 1770 | |
Lightvalve | 59:0ad14153b58f | 1771 | |
Lightvalve | 59:0ad14153b58f | 1772 | |
Lightvalve | 59:0ad14153b58f | 1773 | void CurrentControl() |
Lightvalve | 59:0ad14153b58f | 1774 | { |
Lightvalve | 59:0ad14153b58f | 1775 | cur.err = cur.ref - cur.sen; |
Lightvalve | 59:0ad14153b58f | 1776 | cur.err_int = cur.err_int + cur.err*DT_TMR4; |
Lightvalve | 59:0ad14153b58f | 1777 | cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4; |
Lightvalve | 59:0ad14153b58f | 1778 | cur.err_old = cur.err; |
Lightvalve | 59:0ad14153b58f | 1779 | |
Lightvalve | 59:0ad14153b58f | 1780 | float R_model = 150.0f; // ohm |
Lightvalve | 59:0ad14153b58f | 1781 | float L_model = 0.3f; |
Lightvalve | 59:0ad14153b58f | 1782 | float w0 = 2.0f*3.14f*90.0f; |
Lightvalve | 59:0ad14153b58f | 1783 | float KP_I = L_model*w0; |
Lightvalve | 59:0ad14153b58f | 1784 | float KI_I = R_model*w0; |
Lightvalve | 59:0ad14153b58f | 1785 | float KD_I = 0.0f; |
Lightvalve | 59:0ad14153b58f | 1786 | |
Lightvalve | 59:0ad14153b58f | 1787 | float FF_gain = 0.0f; |
Lightvalve | 59:0ad14153b58f | 1788 | V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff); |
Lightvalve | 59:0ad14153b58f | 1789 | // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 59:0ad14153b58f | 1790 | V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV |
Lightvalve | 59:0ad14153b58f | 1791 | |
Lightvalve | 59:0ad14153b58f | 1792 | float Ka = 5.0f/KP_I; |
Lightvalve | 59:0ad14153b58f | 1793 | if(V_out > V_MAX) { |
Lightvalve | 59:0ad14153b58f | 1794 | V_rem = V_out-V_MAX; |
Lightvalve | 59:0ad14153b58f | 1795 | V_rem = Ka*V_rem; |
Lightvalve | 59:0ad14153b58f | 1796 | V_out = V_MAX; |
Lightvalve | 59:0ad14153b58f | 1797 | cur.err_int = cur.err_int - V_rem*DT_5k; |
Lightvalve | 59:0ad14153b58f | 1798 | } else if(V_out < -V_MAX) { |
Lightvalve | 59:0ad14153b58f | 1799 | V_rem = V_out-(-V_MAX); |
Lightvalve | 59:0ad14153b58f | 1800 | V_rem = Ka*V_rem; |
Lightvalve | 59:0ad14153b58f | 1801 | V_out = -V_MAX; |
Lightvalve | 59:0ad14153b58f | 1802 | cur.err_int = cur.err_int - V_rem*DT_5k; |
Lightvalve | 59:0ad14153b58f | 1803 | } |
Lightvalve | 59:0ad14153b58f | 1804 | } |
Lightvalve | 59:0ad14153b58f | 1805 | |
Lightvalve | 59:0ad14153b58f | 1806 | |
Lightvalve | 59:0ad14153b58f | 1807 | |
Lightvalve | 59:0ad14153b58f | 1808 | |
Lightvalve | 59:0ad14153b58f | 1809 | |
Lightvalve | 59:0ad14153b58f | 1810 | |
Lightvalve | 59:0ad14153b58f | 1811 | |
Lightvalve | 59:0ad14153b58f | 1812 |