Sungwoo Kim
/
HydraulicControlBoard_Learning
for learning
main.cpp@241:01a01b683a42, 2021-01-04 (annotated)
- Committer:
- Lightvalve
- Date:
- Mon Jan 04 08:31:04 2021 +0000
- Revision:
- 241:01a01b683a42
- Parent:
- 240:bffaba802829
- Child:
- 242:3a69403240a1
210104-1 num_input 9
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 241:01a01b683a42 | 1 | //210104_1 500Hz num_input 13 210102 data |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 11 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 12 | #include <string> |
Lightvalve | 170:42c938a40313 | 13 | #include <iostream> |
Lightvalve | 179:d5377766d7ea | 14 | #include <cmath> |
Lightvalve | 61:bc8c8270f0ab | 15 | |
Lightvalve | 61:bc8c8270f0ab | 16 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 17 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 18 | |
Lightvalve | 31:66738bfecec5 | 19 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 20 | |
jobuuu | 7:e9086c72bb22 | 21 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 22 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 23 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 24 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 25 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 26 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 27 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 28 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 29 | |
Lightvalve | 24:ef6e1092e9e6 | 30 | |
jobuuu | 7:e9086c72bb22 | 31 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 32 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 34 | |
jobuuu | 7:e9086c72bb22 | 35 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 36 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 37 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 38 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 39 | |
jobuuu | 7:e9086c72bb22 | 40 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 41 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 42 | DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 43 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 44 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 45 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 46 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 50 | |
jobuuu | 7:e9086c72bb22 | 51 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 52 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 53 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 54 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 55 | { |
Lightvalve | 11:82d8768d7351 | 56 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 57 | } |
jobuuu | 2:a1c0a37df760 | 58 | |
jobuuu | 7:e9086c72bb22 | 59 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 60 | State pos; |
jobuuu | 7:e9086c72bb22 | 61 | State vel; |
jobuuu | 7:e9086c72bb22 | 62 | State Vout; |
jobuuu | 7:e9086c72bb22 | 63 | State torq; |
Lightvalve | 207:c70c5a9f17dd | 64 | State torq_dot; |
jobuuu | 7:e9086c72bb22 | 65 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 66 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 67 | State cur; |
Lightvalve | 14:8e7590227d22 | 68 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 69 | |
Lightvalve | 14:8e7590227d22 | 70 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 71 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 72 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 73 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 74 | |
Lightvalve | 19:23b7c1ad8683 | 75 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 77 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 78 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 79 | |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 84 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 85 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 86 | |
Lightvalve | 61:bc8c8270f0ab | 87 | |
Lightvalve | 61:bc8c8270f0ab | 88 | |
Lightvalve | 61:bc8c8270f0ab | 89 | |
jobuuu | 7:e9086c72bb22 | 90 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 91 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 92 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 93 | |
Lightvalve | 12:6f2531038ea4 | 94 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 95 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 96 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 97 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 98 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 100 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 101 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 102 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 103 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 104 | }; |
Lightvalve | 12:6f2531038ea4 | 105 | |
Lightvalve | 12:6f2531038ea4 | 106 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 107 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 108 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 109 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 110 | //control mode |
Lightvalve | 12:6f2531038ea4 | 111 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 112 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 113 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 114 | |
Lightvalve | 47:fdcb8bd86fd6 | 115 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 116 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 171:bfc1fd2629d8 | 117 | MODE_RL, //5 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 121 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 122 | |
Lightvalve | 12:6f2531038ea4 | 123 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 124 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 125 | |
Lightvalve | 14:8e7590227d22 | 126 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 127 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 128 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 171:bfc1fd2629d8 | 129 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 |
Lightvalve | 13:747daba9cf59 | 130 | |
Lightvalve | 12:6f2531038ea4 | 131 | //utility |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 135 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 138 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 139 | |
Lightvalve | 12:6f2531038ea4 | 140 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 141 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 142 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 143 | MODE_SYSTEM_ID, //33 |
Lightvalve | 169:645207e160ca | 144 | MODE_FREQ_TEST, //34 |
Lightvalve | 169:645207e160ca | 145 | MODE_SEND_BUFFER, //35 |
Lightvalve | 169:645207e160ca | 146 | MODE_SEND_OVER, //36 |
Lightvalve | 169:645207e160ca | 147 | MODE_STEP_TEST, //37 |
Lightvalve | 12:6f2531038ea4 | 148 | }; |
Lightvalve | 12:6f2531038ea4 | 149 | |
Lightvalve | 65:a2d7c63419c2 | 150 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 151 | { |
Lightvalve | 169:645207e160ca | 152 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 169:645207e160ca | 153 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 154 | |
Lightvalve | 169:645207e160ca | 155 | /** Configure the main internal regulator output voltage |
Lightvalve | 169:645207e160ca | 156 | */ |
Lightvalve | 169:645207e160ca | 157 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 169:645207e160ca | 158 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 169:645207e160ca | 159 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 160 | */ |
Lightvalve | 169:645207e160ca | 161 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 169:645207e160ca | 162 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 169:645207e160ca | 163 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 169:645207e160ca | 164 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 169:645207e160ca | 165 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 169:645207e160ca | 166 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 169:645207e160ca | 167 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 169:645207e160ca | 168 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 169:645207e160ca | 169 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 169:645207e160ca | 170 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 169:645207e160ca | 171 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 172 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 173 | } |
Lightvalve | 169:645207e160ca | 174 | /** Activate the Over-Drive mode |
Lightvalve | 169:645207e160ca | 175 | */ |
Lightvalve | 169:645207e160ca | 176 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 169:645207e160ca | 177 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 178 | } |
Lightvalve | 169:645207e160ca | 179 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 180 | */ |
Lightvalve | 169:645207e160ca | 181 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 169:645207e160ca | 182 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 169:645207e160ca | 183 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 169:645207e160ca | 184 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 169:645207e160ca | 185 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 169:645207e160ca | 186 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 169:645207e160ca | 188 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 189 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 190 | } |
Lightvalve | 65:a2d7c63419c2 | 191 | } |
Lightvalve | 65:a2d7c63419c2 | 192 | |
Lightvalve | 99:7bbcb3c0fb06 | 193 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 194 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 195 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 196 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 197 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 198 | |
Lightvalve | 73:f80dc3970c99 | 199 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 200 | |
Lightvalve | 169:645207e160ca | 201 | const float h1[num_input][16] = { |
Lightvalve | 241:01a01b683a42 | 202 | {-1.7883694171905518f,-0.45463424921035767f,-0.2839047312736511f,1.2998100519180298f,-0.33689749240875244f,0.13957270979881287f,-1.768027901649475f,-0.12179985642433167f,-0.27851659059524536f,-0.4581797420978546f,-0.14496277272701263f,-0.32080626487731934f,0.4633115231990814f,-1.2730870246887207f,-0.032087743282318115f,-0.45051202178001404f}, |
Lightvalve | 241:01a01b683a42 | 203 | {-0.4427539110183716f,0.05035844445228577f,0.4216882884502411f,1.4083539247512817f,-0.1029549166560173f,0.04124972224235535f,-1.6880098581314087f,-0.11460760235786438f,0.17519989609718323f,0.17889311909675598f,-0.06908946484327316f,0.24828574061393738f,-0.07761001586914062f,-0.78352952003479f,-0.42565810680389404f,-0.06308093667030334f}, |
Lightvalve | 241:01a01b683a42 | 204 | {-0.37764886021614075f,0.024281948804855347f,-0.08727949857711792f,0.3325396776199341f,-0.39779379963874817f,-0.18726888298988342f,-0.7526484131813049f,-0.4743514060974121f,0.3403044044971466f,0.12795385718345642f,-0.25222209095954895f,-0.24311088025569916f,-0.48405230045318604f,0.04977412521839142f,0.16838398575782776f,0.19961872696876526f}, |
Lightvalve | 241:01a01b683a42 | 205 | {-0.3858879506587982f,-0.18194743990898132f,0.05750146508216858f,-0.45317989587783813f,0.306581050157547f,0.01832452416419983f,-0.22700533270835876f,-0.06508511304855347f,-0.21966031193733215f,0.11422428488731384f,0.15775159001350403f,0.47628095746040344f,-0.4265524446964264f,-0.13726623356342316f,-0.1459134817123413f,-0.2696315348148346f}, |
Lightvalve | 241:01a01b683a42 | 206 | {0.2968725264072418f,-0.16085124015808105f,-0.15226182341575623f,-1.1086862087249756f,-0.49200639128685f,0.03221622109413147f,1.1255673170089722f,-0.32345929741859436f,-0.10967591404914856f,0.30839303135871887f,0.24401596188545227f,0.3947426974773407f,0.389483243227005f,0.2735294699668884f,0.06405052542686462f,0.2644154727458954f}, |
Lightvalve | 241:01a01b683a42 | 207 | {1.9682456254959106f,0.08399084210395813f,-0.20522338151931763f,-2.5119502544403076f,-0.1260339319705963f,-0.2705743610858917f,2.7489781379699707f,0.14703187346458435f,-0.15355435013771057f,0.0354180634021759f,0.2553645670413971f,-0.08687198162078857f,-0.08389461040496826f,2.087846279144287f,0.3075520694255829f,0.48250874876976013f}, |
Lightvalve | 241:01a01b683a42 | 208 | {-0.845476508140564f,-0.4721580147743225f,-0.03862985968589783f,-0.39789900183677673f,0.18723386526107788f,0.24265405535697937f,-0.37100157141685486f,-0.001497030258178711f,-0.16290438175201416f,0.44411882758140564f,-0.21620848774909973f,-0.17081856727600098f,-0.19082289934158325f,-2.0097827911376953f,0.46546390652656555f,0.440778523683548f}, |
Lightvalve | 241:01a01b683a42 | 209 | {-0.6273850798606873f,-0.47692790627479553f,-0.2521989047527313f,0.04896736890077591f,-0.5648327469825745f,-0.23815488815307617f,-0.19890427589416504f,-0.489399790763855f,-0.4182613492012024f,0.2294718325138092f,-0.5235060453414917f,0.46587786078453064f,0.47976139187812805f,-0.9795910120010376f,-0.38790249824523926f,-0.24862796068191528f}, |
Lightvalve | 241:01a01b683a42 | 210 | {1.7036921977996826f,-0.41217344999313354f,0.38352569937705994f,-0.4010176658630371f,0.14379093050956726f,-0.47128796577453613f,0.09922374039888382f,-0.3142545819282532f,-0.4359320104122162f,0.42941734194755554f,0.007933054119348526f,0.0628947913646698f,-0.02243858575820923f,2.718656539916992f,0.0427795946598053f,0.06684485077857971f}, |
Lightvalve | 65:a2d7c63419c2 | 211 | }; |
Lightvalve | 65:a2d7c63419c2 | 212 | |
Lightvalve | 169:645207e160ca | 213 | const float h2[16][16] = { |
Lightvalve | 241:01a01b683a42 | 214 | {-0.8097661137580872f,0.7751336097717285f,0.06591814756393433f,0.3595188558101654f,-0.9953898191452026f,-0.24430739879608154f,-0.8394995331764221f,-0.376254141330719f,-2.6380462646484375f,-0.18432429432868958f,0.16883811354637146f,0.015237206593155861f,-0.6998357772827148f,-2.04103684425354f,-0.41280850768089294f,-0.8164810538291931f}, |
Lightvalve | 241:01a01b683a42 | 215 | {0.34752365946769714f,-0.17533543705940247f,0.19135412573814392f,-0.4061374068260193f,0.2707955539226532f,0.00576367974281311f,0.19667378067970276f,0.07269266247749329f,-0.054787009954452515f,0.4008924067020416f,-0.40049079060554504f,0.37732359766960144f,0.17099538445472717f,0.08829596638679504f,0.2822680175304413f,-0.38239777088165283f}, |
Lightvalve | 241:01a01b683a42 | 216 | {0.4324493110179901f,0.058771997690200806f,-0.0780777633190155f,-0.052774280309677124f,-0.16421636939048767f,0.1633252203464508f,-0.2944433093070984f,0.22745093703269958f,0.3278034031391144f,0.0177156925201416f,-0.24747401475906372f,-0.2059430032968521f,-0.4051229655742645f,-0.06632378697395325f,-0.4072667360305786f,-0.38709303736686707f}, |
Lightvalve | 241:01a01b683a42 | 217 | {-1.567507028579712f,-1.4109982252120972f,-0.18536245822906494f,-0.2684984803199768f,-2.305070400238037f,-0.24686866998672485f,1.3053227663040161f,-0.4116160571575165f,-0.36331692337989807f,-0.3466106057167053f,0.42857471108436584f,-0.3007075786590576f,-0.042168259620666504f,0.2578425705432892f,-0.6675410270690918f,0.24615013599395752f}, |
Lightvalve | 241:01a01b683a42 | 218 | {0.13672879338264465f,0.4349014163017273f,-0.36269649863243103f,-0.4501327574253082f,-0.07302409410476685f,0.09705454856157303f,0.21129807829856873f,-0.2155061811208725f,0.15049593150615692f,0.25531962513923645f,0.05549708008766174f,0.05680525302886963f,-0.02482319250702858f,-0.08545741438865662f,0.10358260571956635f,0.016083789989352226f}, |
Lightvalve | 241:01a01b683a42 | 219 | {0.16876515746116638f,-0.4153529703617096f,-0.41067472100257874f,0.18582186102867126f,0.311185747385025f,0.29969552159309387f,-0.24332207441329956f,-0.34709492325782776f,0.10069718956947327f,0.29454949498176575f,-0.3811720013618469f,0.14177867770195007f,-0.1763446033000946f,-0.06526774168014526f,-0.3973313868045807f,0.16116413474082947f}, |
Lightvalve | 241:01a01b683a42 | 220 | {3.161842107772827f,1.813324213027954f,0.08488848805427551f,0.14448991417884827f,2.127821207046509f,0.03860316798090935f,-1.9885594844818115f,-0.014425694942474365f,1.3363128900527954f,-0.3126455545425415f,-0.05316048860549927f,-0.4524606168270111f,-0.31099119782447815f,-0.8805903792381287f,-0.4064253866672516f,-1.289167046546936f}, |
Lightvalve | 241:01a01b683a42 | 221 | {0.3088347017765045f,0.02946409583091736f,-0.3929365277290344f,0.28223761916160583f,0.3248874247074127f,0.37524572014808655f,-0.08634984493255615f,-0.011313468217849731f,0.10648080706596375f,-0.06610110402107239f,0.27164939045906067f,-0.1766958236694336f,-0.3451036512851715f,0.029073446989059448f,-0.2744661569595337f,0.2728559672832489f}, |
Lightvalve | 241:01a01b683a42 | 222 | {-0.0487900972366333f,0.25737670063972473f,-0.25131893157958984f,-0.40776774287223816f,0.29460909962654114f,-0.12406927347183228f,-0.16190826892852783f,0.33938923478126526f,-0.22534427046775818f,0.4074617326259613f,0.23821911215782166f,-0.026100903749465942f,0.4087975323200226f,-0.1151929497718811f,-0.3434309959411621f,0.09943464398384094f}, |
Lightvalve | 241:01a01b683a42 | 223 | {0.4065784513950348f,0.2943646013736725f,0.3593241274356842f,0.038563817739486694f,-0.4161318838596344f,-0.06716609001159668f,-0.017264336347579956f,-0.1709238588809967f,0.18639060854911804f,-0.14051833748817444f,-0.33766648173332214f,-0.21666832268238068f,-0.3090090751647949f,-0.22847671806812286f,0.1714741289615631f,0.26529058814048767f}, |
Lightvalve | 241:01a01b683a42 | 224 | {-0.1125127375125885f,0.24732618033885956f,0.2257293164730072f,-0.06758677959442139f,0.09487330168485641f,-0.19009117782115936f,0.35605335235595703f,0.2904532253742218f,0.07668860256671906f,0.11729857325553894f,0.3327282965183258f,0.33966195583343506f,0.1482735574245453f,0.0392952561378479f,0.1588987410068512f,-0.32188665866851807f}, |
Lightvalve | 241:01a01b683a42 | 225 | {-0.24463288486003876f,0.4161743223667145f,0.3158552348613739f,-0.05143579840660095f,0.16105768084526062f,0.013523787260055542f,-0.10674095153808594f,0.35569754242897034f,0.2522452771663666f,-0.08795404434204102f,-0.2898068428039551f,0.11101064085960388f,0.09649619460105896f,0.4126075208187103f,0.2019522488117218f,-0.422969251871109f}, |
Lightvalve | 241:01a01b683a42 | 226 | {0.22353973984718323f,-0.2633814811706543f,0.04568934440612793f,0.1311992108821869f,-0.23542527854442596f,-0.03958567976951599f,0.1596737802028656f,-0.2341456413269043f,0.02254578471183777f,0.003005474805831909f,0.20514342188835144f,-0.0693618655204773f,-0.013103008270263672f,-0.05333641171455383f,-0.11644524335861206f,-0.0855867862701416f}, |
Lightvalve | 241:01a01b683a42 | 227 | {-2.1323180198669434f,0.6066146492958069f,-0.2797568440437317f,0.39033082127571106f,-3.6824049949645996f,0.1833379566669464f,-1.620455265045166f,-0.35465970635414124f,-2.9798049926757812f,0.3849746882915497f,-0.353082537651062f,0.1653440296649933f,0.09627550095319748f,-3.461390733718872f,-0.036887817084789276f,-1.1503586769104004f}, |
Lightvalve | 241:01a01b683a42 | 228 | {0.4265109598636627f,0.2841578423976898f,-0.0129375159740448f,0.17165789008140564f,0.31623998284339905f,0.12060108780860901f,0.10198536515235901f,-0.42615756392478943f,-0.01067999005317688f,-0.2841525077819824f,-0.049186110496520996f,-0.16140210628509521f,-0.1371275782585144f,-0.34315556287765503f,0.3921898305416107f,0.3352498710155487f}, |
Lightvalve | 241:01a01b683a42 | 229 | {0.2984560430049896f,0.22180452942848206f,-0.3358560800552368f,0.15675464272499084f,-0.32109808921813965f,-0.33533772826194763f,-0.4004741609096527f,0.10305163264274597f,-0.17445865273475647f,-0.061798542737960815f,-0.21784162521362305f,-0.02895793318748474f,0.06257271766662598f,0.29289212822914124f,-0.048543781042099f,-0.14727312326431274f}, |
Lightvalve | 65:a2d7c63419c2 | 230 | }; |
Lightvalve | 65:a2d7c63419c2 | 231 | |
Lightvalve | 169:645207e160ca | 232 | const float h3[16][16] = { |
Lightvalve | 241:01a01b683a42 | 233 | {-0.02643698640167713f,-0.2755740284919739f,0.08128300309181213f,-1.5207654237747192f,-5.2096428871154785f,0.18970921635627747f,-0.2964133620262146f,-0.3793707489967346f,-0.08693701028823853f,-0.07668569684028625f,0.4031309187412262f,0.32988476753234863f,-0.6238382458686829f,4.0084991455078125f,0.22881338000297546f,-0.3327188789844513f}, |
Lightvalve | 241:01a01b683a42 | 234 | {0.22584499418735504f,-0.1326952576637268f,-0.18772877752780914f,-5.234915256500244f,-4.41716194152832f,-0.06870052218437195f,0.0432734414935112f,0.03482282534241676f,1.320056438446045f,-0.38082894682884216f,0.03811123967170715f,0.2989121079444885f,-0.06552805006504059f,-1.0539226531982422f,-0.3490006923675537f,-0.42691171169281006f}, |
Lightvalve | 241:01a01b683a42 | 235 | {0.4027591049671173f,-0.35852956771850586f,0.1916603147983551f,-0.37850165367126465f,0.3672964870929718f,-0.080333411693573f,-0.42919081449508667f,0.04511451721191406f,-0.00907030701637268f,0.36009010672569275f,-0.028631895780563354f,-0.1722569763660431f,0.15599313378334045f,0.3582560122013092f,0.11625227332115173f,0.3080797493457794f}, |
Lightvalve | 241:01a01b683a42 | 236 | {-0.052018553018569946f,0.19556072354316711f,-0.22890567779541016f,0.060282766819000244f,-0.39251986145973206f,-0.08469546586275101f,-0.01590876281261444f,-0.03806373476982117f,-0.19273507595062256f,0.22553762793540955f,-0.252427875995636f,-0.3671976923942566f,0.40191277861595154f,0.12381575256586075f,0.10019633173942566f,0.08885172009468079f}, |
Lightvalve | 241:01a01b683a42 | 237 | {-0.2914789021015167f,0.3723916709423065f,-0.3462599217891693f,-1.73136305809021f,1.975680947303772f,-0.21339355409145355f,-1.3939493894577026f,-0.74403977394104f,-1.8642202615737915f,-0.048980265855789185f,-0.3299785256385803f,-0.279533326625824f,-0.42615726590156555f,-2.208137273788452f,0.17600378394126892f,0.00850456953048706f}, |
Lightvalve | 241:01a01b683a42 | 238 | {0.045872271060943604f,0.05869746208190918f,-0.09210774302482605f,0.09014458954334259f,-0.17593586444854736f,-0.013438642024993896f,0.352292001247406f,0.3049129247665405f,0.32296761870384216f,0.2149883210659027f,0.23977014422416687f,0.28307560086250305f,0.11732850968837738f,0.2319381684064865f,0.007813692092895508f,0.28354451060295105f}, |
Lightvalve | 241:01a01b683a42 | 239 | {-0.789146363735199f,-0.12077763676643372f,-0.19119325280189514f,1.2760741710662842f,0.24389496445655823f,-0.017598768696188927f,-0.7064037919044495f,-0.10469185560941696f,-0.5970723628997803f,-0.11532747745513916f,-0.056722819805145264f,0.3814484775066376f,-0.31997600197792053f,-1.0150946378707886f,-0.14341303706169128f,-0.16012617945671082f}, |
Lightvalve | 241:01a01b683a42 | 240 | {0.16168537735939026f,-0.14201807975769043f,0.31686219573020935f,0.32939019799232483f,-0.03147497773170471f,0.06020855903625488f,0.3478873670101166f,0.21861043572425842f,-0.22429123520851135f,0.08997645974159241f,0.3664763271808624f,0.19881102442741394f,-0.3636687994003296f,0.4147737920284271f,0.35453346371650696f,0.04604136943817139f}, |
Lightvalve | 241:01a01b683a42 | 241 | {-0.29032397270202637f,0.2014656960964203f,0.3735828697681427f,-3.4767823219299316f,0.3723301887512207f,-0.04499373957514763f,-1.9226545095443726f,-0.12762506306171417f,-3.0551106929779053f,-0.1410510540008545f,-0.21891158819198608f,-0.0514804981648922f,0.21170467138290405f,0.08071070909500122f,0.3318640887737274f,0.38097336888313293f}, |
Lightvalve | 241:01a01b683a42 | 242 | {0.16257891058921814f,0.0996694266796112f,0.31571391224861145f,0.4180311858654022f,-0.3418576419353485f,0.07709315419197083f,0.10617253184318542f,0.030579179525375366f,-0.4301612675189972f,-0.40217241644859314f,0.2697773873806f,-0.3769958019256592f,0.21873018145561218f,0.32099226117134094f,0.39489391446113586f,-0.08232983946800232f}, |
Lightvalve | 241:01a01b683a42 | 243 | {0.30355945229530334f,-0.16754642128944397f,-0.17802706360816956f,0.3668130338191986f,0.393145889043808f,-0.1775915026664734f,0.2905433475971222f,-0.23535001277923584f,0.014866620302200317f,0.2935905158519745f,0.21305260062217712f,-0.2576427757740021f,-0.1282729208469391f,0.08102831244468689f,-0.1525687277317047f,-0.3962980806827545f}, |
Lightvalve | 241:01a01b683a42 | 244 | {0.09458079934120178f,-0.06502637267112732f,-0.14729604125022888f,-0.2023160308599472f,0.14334037899971008f,0.3970796763896942f,-0.2100629359483719f,0.13434165716171265f,-0.3714185953140259f,-0.04645279049873352f,-0.03904131054878235f,0.07442107796669006f,0.08182266354560852f,0.1442231386899948f,-0.3469599783420563f,-0.08394241333007812f}, |
Lightvalve | 241:01a01b683a42 | 245 | {0.31716951727867126f,0.37310466170310974f,0.04558217525482178f,-0.024619603529572487f,-0.35640236735343933f,-0.13858580589294434f,0.1675865799188614f,-0.06046037748456001f,0.45132821798324585f,-0.31382226943969727f,-0.31836947798728943f,-0.20997725427150726f,0.23931129276752472f,-0.15012578666210175f,0.22412005066871643f,0.40503552556037903f}, |
Lightvalve | 241:01a01b683a42 | 246 | {-1.0875605344772339f,-0.17172768712043762f,0.004891842603683472f,1.8138242959976196f,-1.3255338668823242f,-0.445677787065506f,-2.6614365577697754f,-0.14806877076625824f,0.3814290463924408f,-0.41088005900382996f,-0.08766138553619385f,-0.43765169382095337f,-0.16162249445915222f,-9.137566566467285f,-0.18640238046646118f,0.1494446098804474f}, |
Lightvalve | 241:01a01b683a42 | 247 | {0.26066020131111145f,-0.14465180039405823f,-0.20034056901931763f,0.18326883018016815f,0.35252615809440613f,0.08189520239830017f,-0.024351125583052635f,-0.4500708281993866f,-0.23714295029640198f,-0.27530673146247864f,0.31583067774772644f,0.03354582190513611f,-0.0901034027338028f,0.22537380456924438f,-0.42483383417129517f,-0.3218538761138916f}, |
Lightvalve | 241:01a01b683a42 | 248 | {-0.20048221945762634f,0.108843594789505f,0.3671865165233612f,0.4460105895996094f,0.13388679921627045f,0.12575259804725647f,-0.1123369112610817f,0.16847138106822968f,-3.2939646244049072f,-0.2101392298936844f,-0.21029119193553925f,0.24813100695610046f,0.3112282156944275f,-0.19797347486019135f,0.41747143864631653f,0.23782846331596375f}, |
Lightvalve | 66:a8e6799dbce3 | 249 | }; |
Lightvalve | 65:a2d7c63419c2 | 250 | |
Lightvalve | 241:01a01b683a42 | 251 | const float hout[16] = { -0.11225982010364532f,-0.2134566605091095f,0.07871907949447632f,-0.5606526732444763f,0.7008025646209717f,-0.2648985683917999f,0.2135406881570816f,0.033082034438848495f,0.4726049304008484f,-0.123055100440979f,-0.3025188744068146f,0.42589515447616577f,-0.19023969769477844f,-0.7951573133468628f,-0.2641253173351288f,0.2001369595527649f }; |
Lightvalve | 241:01a01b683a42 | 252 | |
Lightvalve | 241:01a01b683a42 | 253 | const float b1[16] = { 0.5834997296333313f,-2.3673934936523438f,-0.4688042402267456f,1.448708415031433f,0.29377326369285583f,-0.01529765222221613f,0.9366333484649658f,-0.27794721722602844f,0.08000090718269348f,-1.5066622495651245f,-0.06939087808132172f,-1.6357580423355103f,-0.5953267216682434f,0.339886873960495f,-0.3896206021308899f,-0.4488915205001831f }; |
Lightvalve | 241:01a01b683a42 | 254 | |
Lightvalve | 241:01a01b683a42 | 255 | const float b2[16] = { 0.8083082437515259f,-0.38208523392677307f,-0.9702872037887573f,-1.0819950103759766f,0.5426400899887085f,-0.3815934956073761f,1.1829123497009277f,-0.2744872272014618f,0.3254140317440033f,-1.1183902025222778f,-1.18619966506958f,-0.18792088329792023f,-0.07468055188655853f,0.6703487634658813f,-0.037320978939533234f,0.13912257552146912f }; |
Lightvalve | 241:01a01b683a42 | 256 | |
Lightvalve | 241:01a01b683a42 | 257 | const float b3[16] = { -0.38209134340286255f,-0.7163172960281372f,-0.3591786324977875f,0.5847482681274414f,1.2818635702133179f,-0.3154277205467224f,0.6467006802558899f,-0.04393617436289787f,0.6127511262893677f,-1.0913262367248535f,-0.6066873073577881f,-0.7334727048873901f,-0.048213500529527664f,-1.3823966979980469f,-0.6621314287185669f,-1.4114990234375f }; |
Lightvalve | 241:01a01b683a42 | 258 | |
Lightvalve | 241:01a01b683a42 | 259 | const float bout[1] = { -0.1606179177761078f }; |
Lightvalve | 225:278b48b86f27 | 260 | |
Lightvalve | 225:278b48b86f27 | 261 | float valve_ref_pos_buffer[10] = {0.0f}; |
Lightvalve | 65:a2d7c63419c2 | 262 | |
Lightvalve | 170:42c938a40313 | 263 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 264 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 265 | |
Lightvalve | 170:42c938a40313 | 266 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 267 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 268 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 269 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 270 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 271 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 272 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 273 | |
Lightvalve | 170:42c938a40313 | 274 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 275 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 276 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 277 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 278 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 279 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 280 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 281 | |
Lightvalve | 170:42c938a40313 | 282 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 283 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 284 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 285 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 286 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 287 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 288 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 289 | |
Lightvalve | 170:42c938a40313 | 290 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 291 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 292 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 293 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 294 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 295 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 296 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 297 | |
Lightvalve | 87:471334725012 | 298 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 299 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 300 | |
Lightvalve | 179:d5377766d7ea | 301 | /////////////////////////////////////////////RL tuning |
Lightvalve | 179:d5377766d7ea | 302 | float Gradient_Limit = 0.5f; |
Lightvalve | 179:d5377766d7ea | 303 | float gradient_rate_actor = 0.001f; |
Lightvalve | 179:d5377766d7ea | 304 | float gradient_rate_critic = 0.001f; |
Lightvalve | 179:d5377766d7ea | 305 | ////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 306 | |
Lightvalve | 170:42c938a40313 | 307 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 308 | { |
Lightvalve | 173:68c7914679ec | 309 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 310 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 311 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 312 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 313 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 314 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 315 | } |
Lightvalve | 173:68c7914679ec | 316 | //ReLU |
Lightvalve | 173:68c7914679ec | 317 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 318 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 319 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 320 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 321 | } |
Lightvalve | 173:68c7914679ec | 322 | //tanh |
Lightvalve | 173:68c7914679ec | 323 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 324 | } |
Lightvalve | 173:68c7914679ec | 325 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 326 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 327 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 328 | } |
Lightvalve | 173:68c7914679ec | 329 | //ReLU |
Lightvalve | 173:68c7914679ec | 330 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 331 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 332 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 333 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 334 | } |
Lightvalve | 173:68c7914679ec | 335 | //tanh |
Lightvalve | 173:68c7914679ec | 336 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 337 | } |
Lightvalve | 170:42c938a40313 | 338 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 339 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 340 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 341 | } |
Lightvalve | 173:68c7914679ec | 342 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 343 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 344 | } |
Lightvalve | 170:42c938a40313 | 345 | return output; |
Lightvalve | 170:42c938a40313 | 346 | } |
Lightvalve | 170:42c938a40313 | 347 | |
Lightvalve | 170:42c938a40313 | 348 | |
Lightvalve | 170:42c938a40313 | 349 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 350 | { |
Lightvalve | 173:68c7914679ec | 351 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 352 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 353 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 354 | |
Lightvalve | 173:68c7914679ec | 355 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 356 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 178:1074553d2f6f | 357 | output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 358 | } |
Lightvalve | 178:1074553d2f6f | 359 | output1[index2] = output1[index2] + ba1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 360 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 361 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 362 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 363 | } |
Lightvalve | 173:68c7914679ec | 364 | } |
Lightvalve | 173:68c7914679ec | 365 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 366 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 178:1074553d2f6f | 367 | output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 368 | } |
Lightvalve | 178:1074553d2f6f | 369 | output2[index2] = output2[index2] + ba2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 370 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 371 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 372 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 373 | } |
Lightvalve | 173:68c7914679ec | 374 | } |
Lightvalve | 173:68c7914679ec | 375 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 376 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 178:1074553d2f6f | 377 | output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 378 | } |
Lightvalve | 178:1074553d2f6f | 379 | hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 380 | } |
Lightvalve | 178:1074553d2f6f | 381 | |
Lightvalve | 178:1074553d2f6f | 382 | mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus |
Lightvalve | 178:1074553d2f6f | 383 | deviation_before_SP = output[1] + ba3_temp[1]; |
Lightvalve | 173:68c7914679ec | 384 | //Softplus |
Lightvalve | 173:68c7914679ec | 385 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 386 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 179:d5377766d7ea | 387 | logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 388 | logging4 = deviation; |
Lightvalve | 173:68c7914679ec | 389 | } |
Lightvalve | 173:68c7914679ec | 390 | |
Lightvalve | 173:68c7914679ec | 391 | |
Lightvalve | 173:68c7914679ec | 392 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 393 | { |
Lightvalve | 173:68c7914679ec | 394 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 395 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 396 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 397 | |
Lightvalve | 173:68c7914679ec | 398 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 399 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 400 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 401 | } |
Lightvalve | 170:42c938a40313 | 402 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 403 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 404 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 405 | } |
Lightvalve | 170:42c938a40313 | 406 | } |
Lightvalve | 173:68c7914679ec | 407 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 408 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 409 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 410 | } |
Lightvalve | 173:68c7914679ec | 411 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 412 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 413 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 414 | } |
Lightvalve | 170:42c938a40313 | 415 | } |
Lightvalve | 170:42c938a40313 | 416 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 417 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 418 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 419 | } |
Lightvalve | 170:42c938a40313 | 420 | } |
Lightvalve | 173:68c7914679ec | 421 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 422 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 423 | //Softplus |
Lightvalve | 173:68c7914679ec | 424 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 425 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 426 | } |
Lightvalve | 170:42c938a40313 | 427 | |
Lightvalve | 170:42c938a40313 | 428 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 429 | { |
Lightvalve | 170:42c938a40313 | 430 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 431 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 432 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 433 | } |
Lightvalve | 170:42c938a40313 | 434 | |
Lightvalve | 170:42c938a40313 | 435 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 436 | { |
Lightvalve | 170:42c938a40313 | 437 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 438 | grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation)); |
Lightvalve | 170:42c938a40313 | 439 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 440 | } |
Lightvalve | 170:42c938a40313 | 441 | |
Lightvalve | 173:68c7914679ec | 442 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 443 | { |
Lightvalve | 173:68c7914679ec | 444 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 445 | return x; |
Lightvalve | 173:68c7914679ec | 446 | } else { |
Lightvalve | 173:68c7914679ec | 447 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 448 | } |
Lightvalve | 173:68c7914679ec | 449 | } |
Lightvalve | 173:68c7914679ec | 450 | |
Lightvalve | 170:42c938a40313 | 451 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 452 | { |
Lightvalve | 173:68c7914679ec | 453 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 177:8e9cf31d63f4 | 454 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 455 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 456 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 457 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 458 | float d_V_d_hc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 459 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 460 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 461 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 462 | d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 463 | } |
Lightvalve | 173:68c7914679ec | 464 | } |
Lightvalve | 170:42c938a40313 | 465 | } |
Lightvalve | 177:8e9cf31d63f4 | 466 | G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); |
Lightvalve | 170:42c938a40313 | 467 | } |
Lightvalve | 170:42c938a40313 | 468 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 469 | if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 470 | else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 471 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 472 | } |
Lightvalve | 173:68c7914679ec | 473 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 474 | float d_V_d_bc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 475 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 476 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 477 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 478 | d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 479 | } |
Lightvalve | 173:68c7914679ec | 480 | } |
Lightvalve | 173:68c7914679ec | 481 | } |
Lightvalve | 177:8e9cf31d63f4 | 482 | G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); |
Lightvalve | 173:68c7914679ec | 483 | } |
Lightvalve | 173:68c7914679ec | 484 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 485 | if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 486 | else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 487 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 488 | } |
Lightvalve | 173:68c7914679ec | 489 | |
Lightvalve | 175:2f7289dbd488 | 490 | |
Lightvalve | 173:68c7914679ec | 491 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 492 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 493 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 494 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 495 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 496 | float d_V_d_hc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 497 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 498 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 499 | d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 500 | } |
Lightvalve | 173:68c7914679ec | 501 | } |
Lightvalve | 177:8e9cf31d63f4 | 502 | G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); |
Lightvalve | 173:68c7914679ec | 503 | } |
Lightvalve | 173:68c7914679ec | 504 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 505 | if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 506 | else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 507 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 508 | } |
Lightvalve | 173:68c7914679ec | 509 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 510 | float d_V_d_bc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 511 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 512 | d_V_d_bc2 = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 513 | } |
Lightvalve | 177:8e9cf31d63f4 | 514 | G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); |
Lightvalve | 173:68c7914679ec | 515 | } |
Lightvalve | 173:68c7914679ec | 516 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 517 | if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 518 | else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 519 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 520 | } |
Lightvalve | 173:68c7914679ec | 521 | |
Lightvalve | 173:68c7914679ec | 522 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 523 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 524 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 525 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 526 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 527 | float d_V_d_hc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 528 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 529 | d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 530 | } |
Lightvalve | 177:8e9cf31d63f4 | 531 | G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); |
Lightvalve | 173:68c7914679ec | 532 | } |
Lightvalve | 173:68c7914679ec | 533 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 179:d5377766d7ea | 534 | if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 535 | else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 536 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 537 | } |
Lightvalve | 173:68c7914679ec | 538 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 539 | float d_V_d_bc3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 540 | d_V_d_bc3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 541 | G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); |
Lightvalve | 173:68c7914679ec | 542 | } |
Lightvalve | 173:68c7914679ec | 543 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 179:d5377766d7ea | 544 | if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 545 | else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 546 | //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 173:68c7914679ec | 547 | } |
Lightvalve | 173:68c7914679ec | 548 | |
Lightvalve | 173:68c7914679ec | 549 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 550 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 551 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 552 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 553 | } |
Lightvalve | 179:d5377766d7ea | 554 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 555 | } |
Lightvalve | 173:68c7914679ec | 556 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 557 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 558 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 559 | } |
Lightvalve | 179:d5377766d7ea | 560 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 561 | } |
Lightvalve | 170:42c938a40313 | 562 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 563 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 564 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 565 | } |
Lightvalve | 179:d5377766d7ea | 566 | bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 170:42c938a40313 | 567 | } |
Lightvalve | 170:42c938a40313 | 568 | } |
Lightvalve | 170:42c938a40313 | 569 | |
Lightvalve | 173:68c7914679ec | 570 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 571 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 572 | { |
Lightvalve | 218:066030f7951f | 573 | |
Lightvalve | 173:68c7914679ec | 574 | |
Lightvalve | 173:68c7914679ec | 575 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 576 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 577 | |
Lightvalve | 173:68c7914679ec | 578 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 579 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 580 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 581 | float d_x_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 582 | float d_y_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 583 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 584 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 585 | } else { |
Lightvalve | 173:68c7914679ec | 586 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 587 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 588 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 589 | d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 590 | d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 591 | } |
Lightvalve | 171:bfc1fd2629d8 | 592 | } |
Lightvalve | 170:42c938a40313 | 593 | } |
Lightvalve | 170:42c938a40313 | 594 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 595 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 596 | d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1; |
Lightvalve | 177:8e9cf31d63f4 | 597 | d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1; |
Lightvalve | 173:68c7914679ec | 598 | |
Lightvalve | 173:68c7914679ec | 599 | G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 600 | } |
Lightvalve | 170:42c938a40313 | 601 | } |
Lightvalve | 176:589ea3edcf3c | 602 | G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 603 | if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 604 | else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 605 | //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 606 | } |
Lightvalve | 173:68c7914679ec | 607 | |
Lightvalve | 173:68c7914679ec | 608 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 609 | float d_x_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 610 | float d_y_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 611 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 612 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 613 | } else { |
Lightvalve | 173:68c7914679ec | 614 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 615 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 616 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 617 | d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 618 | d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 619 | } |
Lightvalve | 171:bfc1fd2629d8 | 620 | } |
Lightvalve | 170:42c938a40313 | 621 | } |
Lightvalve | 170:42c938a40313 | 622 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 623 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 624 | d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1; |
Lightvalve | 177:8e9cf31d63f4 | 625 | d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1; |
Lightvalve | 173:68c7914679ec | 626 | |
Lightvalve | 173:68c7914679ec | 627 | G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 628 | } |
Lightvalve | 170:42c938a40313 | 629 | } |
Lightvalve | 176:589ea3edcf3c | 630 | G_ba1[index2] = -G_ba1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 631 | if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 632 | else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 633 | //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 634 | } |
Lightvalve | 170:42c938a40313 | 635 | |
Lightvalve | 173:68c7914679ec | 636 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 637 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 638 | |
Lightvalve | 173:68c7914679ec | 639 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 640 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 641 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 642 | float d_x_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 643 | float d_y_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 644 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 645 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 646 | } else { |
Lightvalve | 173:68c7914679ec | 647 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 648 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 649 | d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 650 | d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 651 | } |
Lightvalve | 170:42c938a40313 | 652 | } |
Lightvalve | 173:68c7914679ec | 653 | |
Lightvalve | 170:42c938a40313 | 654 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 655 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 656 | d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2; |
Lightvalve | 177:8e9cf31d63f4 | 657 | d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2; |
Lightvalve | 173:68c7914679ec | 658 | |
Lightvalve | 173:68c7914679ec | 659 | G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 660 | } |
Lightvalve | 170:42c938a40313 | 661 | } |
Lightvalve | 176:589ea3edcf3c | 662 | G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 663 | if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 664 | else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 665 | //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 666 | } |
Lightvalve | 173:68c7914679ec | 667 | |
Lightvalve | 173:68c7914679ec | 668 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 669 | float d_x_d_ba2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 670 | float d_y_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 671 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 672 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 673 | } else { |
Lightvalve | 170:42c938a40313 | 674 | |
Lightvalve | 173:68c7914679ec | 675 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 676 | d_x_d_ba2 = ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 677 | d_y_d_ba2 = ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 678 | } |
Lightvalve | 173:68c7914679ec | 679 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 680 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 681 | d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2; |
Lightvalve | 177:8e9cf31d63f4 | 682 | d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2; |
Lightvalve | 173:68c7914679ec | 683 | |
Lightvalve | 173:68c7914679ec | 684 | G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 685 | } |
Lightvalve | 170:42c938a40313 | 686 | } |
Lightvalve | 176:589ea3edcf3c | 687 | G_ba2[index2] = -G_ba2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 688 | if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 689 | else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 690 | //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 691 | } |
Lightvalve | 173:68c7914679ec | 692 | |
Lightvalve | 173:68c7914679ec | 693 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 694 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 695 | |
Lightvalve | 173:68c7914679ec | 696 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 697 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 698 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 699 | float d_x_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 700 | float d_y_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 701 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 702 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 703 | } else { |
Lightvalve | 173:68c7914679ec | 704 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 705 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 706 | d_x_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 177:8e9cf31d63f4 | 707 | d_y_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 708 | } |
Lightvalve | 173:68c7914679ec | 709 | } |
Lightvalve | 173:68c7914679ec | 710 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 711 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 712 | d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3; |
Lightvalve | 177:8e9cf31d63f4 | 713 | d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3; |
Lightvalve | 173:68c7914679ec | 714 | |
Lightvalve | 173:68c7914679ec | 715 | G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 173:68c7914679ec | 716 | } |
Lightvalve | 173:68c7914679ec | 717 | } |
Lightvalve | 176:589ea3edcf3c | 718 | G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 719 | if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 720 | else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 721 | //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 722 | } |
Lightvalve | 173:68c7914679ec | 723 | |
Lightvalve | 173:68c7914679ec | 724 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 725 | float d_x_d_ba3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 726 | float d_y_d_ba3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 727 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 728 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 729 | } else { |
Lightvalve | 173:68c7914679ec | 730 | |
Lightvalve | 177:8e9cf31d63f4 | 731 | d_x_d_ba3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 732 | d_y_d_ba3 = 1.0f; |
Lightvalve | 173:68c7914679ec | 733 | |
Lightvalve | 173:68c7914679ec | 734 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 735 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 736 | d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3; |
Lightvalve | 177:8e9cf31d63f4 | 737 | d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3; |
Lightvalve | 173:68c7914679ec | 738 | |
Lightvalve | 173:68c7914679ec | 739 | G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 173:68c7914679ec | 740 | } |
Lightvalve | 173:68c7914679ec | 741 | } |
Lightvalve | 176:589ea3edcf3c | 742 | G_ba3[index2] = -G_ba3[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 743 | if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 744 | else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 745 | //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 175:2f7289dbd488 | 746 | } |
Lightvalve | 177:8e9cf31d63f4 | 747 | |
Lightvalve | 175:2f7289dbd488 | 748 | // Simultaneous Update |
Lightvalve | 175:2f7289dbd488 | 749 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 175:2f7289dbd488 | 750 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 751 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 752 | } |
Lightvalve | 179:d5377766d7ea | 753 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 175:2f7289dbd488 | 754 | } |
Lightvalve | 175:2f7289dbd488 | 755 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 756 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 757 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 758 | } |
Lightvalve | 179:d5377766d7ea | 759 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 175:2f7289dbd488 | 760 | } |
Lightvalve | 175:2f7289dbd488 | 761 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 762 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 763 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 764 | } |
Lightvalve | 179:d5377766d7ea | 765 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 766 | } |
Lightvalve | 170:42c938a40313 | 767 | } |
Lightvalve | 170:42c938a40313 | 768 | |
Lightvalve | 170:42c938a40313 | 769 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 770 | { |
Lightvalve | 170:42c938a40313 | 771 | //Box muller method |
Lightvalve | 170:42c938a40313 | 772 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 773 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 774 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 775 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 776 | do { |
Lightvalve | 170:42c938a40313 | 777 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 778 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 779 | |
Lightvalve | 170:42c938a40313 | 780 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 781 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 782 | { |
Lightvalve | 170:42c938a40313 | 783 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 784 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 785 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 786 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 787 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 788 | return result; |
Lightvalve | 170:42c938a40313 | 789 | } |
Lightvalve | 170:42c938a40313 | 790 | } else { |
Lightvalve | 170:42c938a40313 | 791 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 792 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 793 | } |
Lightvalve | 170:42c938a40313 | 794 | } |
Lightvalve | 170:42c938a40313 | 795 | |
Lightvalve | 179:d5377766d7ea | 796 | float mean_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 797 | { |
Lightvalve | 179:d5377766d7ea | 798 | float add = 0.0f; |
Lightvalve | 179:d5377766d7ea | 799 | float result; |
Lightvalve | 218:066030f7951f | 800 | |
Lightvalve | 218:066030f7951f | 801 | for (int i=0; i<size; i++) { |
Lightvalve | 179:d5377766d7ea | 802 | add += x[i]; |
Lightvalve | 179:d5377766d7ea | 803 | } |
Lightvalve | 179:d5377766d7ea | 804 | result = (float) add/size; |
Lightvalve | 179:d5377766d7ea | 805 | return result; |
Lightvalve | 179:d5377766d7ea | 806 | } |
Lightvalve | 179:d5377766d7ea | 807 | float deviation_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 808 | { |
Lightvalve | 179:d5377766d7ea | 809 | float sigma = 0.0f; |
Lightvalve | 179:d5377766d7ea | 810 | float resultDeb = 0.0f; |
Lightvalve | 218:066030f7951f | 811 | |
Lightvalve | 218:066030f7951f | 812 | for (int k=0; k<size; k++) { |
Lightvalve | 179:d5377766d7ea | 813 | sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1); |
Lightvalve | 179:d5377766d7ea | 814 | resultDeb += sqrt(sigma); |
Lightvalve | 179:d5377766d7ea | 815 | } |
Lightvalve | 179:d5377766d7ea | 816 | return resultDeb; |
Lightvalve | 218:066030f7951f | 817 | } |
Lightvalve | 218:066030f7951f | 818 | |
Lightvalve | 173:68c7914679ec | 819 | |
Lightvalve | 170:42c938a40313 | 820 | void Overwirte_Critic_Networks() |
Lightvalve | 170:42c938a40313 | 821 | { |
Lightvalve | 173:68c7914679ec | 822 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 823 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 824 | hc1[index1][index2] = hc1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 825 | } |
Lightvalve | 170:42c938a40313 | 826 | bc1[index2] = bc1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 827 | } |
Lightvalve | 173:68c7914679ec | 828 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 829 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 830 | hc2[index1][index2] = hc2_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 831 | } |
Lightvalve | 173:68c7914679ec | 832 | bc2[index2] = bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 833 | hc3[index2] = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 834 | } |
Lightvalve | 173:68c7914679ec | 835 | bc3 = bc3_temp; |
Lightvalve | 170:42c938a40313 | 836 | } |
Lightvalve | 170:42c938a40313 | 837 | void Overwirte_Actor_Networks() |
Lightvalve | 170:42c938a40313 | 838 | { |
Lightvalve | 173:68c7914679ec | 839 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 840 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 841 | ha1[index1][index2] = ha1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 842 | } |
Lightvalve | 170:42c938a40313 | 843 | ba1[index2] = ba1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 844 | } |
Lightvalve | 173:68c7914679ec | 845 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 846 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 170:42c938a40313 | 847 | ha2[index1][index2] = ha2_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 848 | } |
Lightvalve | 170:42c938a40313 | 849 | ba2[index2] = ba2_temp[index2]; |
Lightvalve | 170:42c938a40313 | 850 | } |
Lightvalve | 173:68c7914679ec | 851 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 852 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 853 | ha3[index1][index2] = ha3_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 854 | } |
Lightvalve | 173:68c7914679ec | 855 | ba3[index2] = ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 856 | } |
Lightvalve | 170:42c938a40313 | 857 | } |
Lightvalve | 170:42c938a40313 | 858 | |
Lightvalve | 170:42c938a40313 | 859 | |
GiJeongKim | 0:51c43836c1d7 | 860 | int main() |
GiJeongKim | 0:51c43836c1d7 | 861 | { |
Lightvalve | 66:a8e6799dbce3 | 862 | |
Lightvalve | 65:a2d7c63419c2 | 863 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 864 | SystemClock_Config(); |
Lightvalve | 169:645207e160ca | 865 | |
jobuuu | 6:df07d3491e3a | 866 | /********************************* |
jobuuu | 1:e04e563be5ce | 867 | *** Initialization |
jobuuu | 6:df07d3491e3a | 868 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 869 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 870 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 871 | |
GiJeongKim | 0:51c43836c1d7 | 872 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 873 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 874 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 875 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 876 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 877 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 878 | |
GiJeongKim | 0:51c43836c1d7 | 879 | // // spi init |
Lightvalve | 170:42c938a40313 | 880 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 881 | eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 882 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 883 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 884 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 885 | |
Lightvalve | 16:903b5a4433b4 | 886 | //rom |
Lightvalve | 19:23b7c1ad8683 | 887 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 888 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 889 | |
GiJeongKim | 0:51c43836c1d7 | 890 | // ADC init |
jobuuu | 5:a4319f79457b | 891 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 892 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 893 | |
GiJeongKim | 0:51c43836c1d7 | 894 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 895 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 896 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 897 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 898 | |
Lightvalve | 11:82d8768d7351 | 899 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 900 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 901 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 902 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 903 | |
Lightvalve | 50:3c630b5eba9f | 904 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 905 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 906 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 907 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 908 | |
GiJeongKim | 0:51c43836c1d7 | 909 | // CAN |
jobuuu | 2:a1c0a37df760 | 910 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 911 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 912 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 913 | |
Lightvalve | 23:59218d4a256d | 914 | //Timer priority |
Lightvalve | 23:59218d4a256d | 915 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 916 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 917 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 918 | |
Lightvalve | 23:59218d4a256d | 919 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 920 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 921 | |
GiJeongKim | 0:51c43836c1d7 | 922 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 923 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 924 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 925 | |
Lightvalve | 11:82d8768d7351 | 926 | //DAC init |
Lightvalve | 58:2eade98630e2 | 927 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 928 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 929 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 930 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 931 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 932 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 933 | } |
Lightvalve | 11:82d8768d7351 | 934 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 935 | |
Lightvalve | 19:23b7c1ad8683 | 936 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 937 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 938 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 939 | else |
Lightvalve | 38:118df027d851 | 940 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 941 | } |
Lightvalve | 169:645207e160ca | 942 | |
Lightvalve | 173:68c7914679ec | 943 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 944 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 945 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; |
Lightvalve | 170:42c938a40313 | 946 | } |
Lightvalve | 179:d5377766d7ea | 947 | bc1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 948 | } |
Lightvalve | 173:68c7914679ec | 949 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 950 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 951 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 952 | } |
Lightvalve | 179:d5377766d7ea | 953 | bc2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 179:d5377766d7ea | 954 | hc3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 955 | } |
Lightvalve | 179:d5377766d7ea | 956 | bc3_temp = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 957 | |
Lightvalve | 173:68c7914679ec | 958 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 959 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 960 | ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 961 | } |
Lightvalve | 179:d5377766d7ea | 962 | ba1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 963 | } |
Lightvalve | 173:68c7914679ec | 964 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 965 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 966 | ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 967 | } |
Lightvalve | 179:d5377766d7ea | 968 | ba2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 969 | } |
Lightvalve | 170:42c938a40313 | 970 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 971 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 972 | ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 973 | } |
Lightvalve | 179:d5377766d7ea | 974 | ba3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 975 | } |
Lightvalve | 171:bfc1fd2629d8 | 976 | |
Lightvalve | 170:42c938a40313 | 977 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 978 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 979 | |
jobuuu | 6:df07d3491e3a | 980 | /************************************ |
jobuuu | 1:e04e563be5ce | 981 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 982 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 983 | while(1) { |
Lightvalve | 169:645207e160ca | 984 | |
Lightvalve | 171:bfc1fd2629d8 | 985 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 986 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 987 | // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5); |
Lightvalve | 171:bfc1fd2629d8 | 988 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 989 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 990 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 991 | // } |
Lightvalve | 169:645207e160ca | 992 | |
Lightvalve | 171:bfc1fd2629d8 | 993 | |
Lightvalve | 171:bfc1fd2629d8 | 994 | //i2c |
Lightvalve | 180:02be1711ee0b | 995 | read_field(i2c_slave_addr1); |
Lightvalve | 180:02be1711ee0b | 996 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 997 | |
Lightvalve | 177:8e9cf31d63f4 | 998 | //timer_while ++; |
Lightvalve | 169:645207e160ca | 999 | |
Lightvalve | 170:42c938a40313 | 1000 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1001 | |
Lightvalve | 73:f80dc3970c99 | 1002 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1003 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1004 | } |
Lightvalve | 169:645207e160ca | 1005 | |
Lightvalve | 73:f80dc3970c99 | 1006 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1007 | |
Lightvalve | 162:9dd4f35e9de8 | 1008 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1009 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1010 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1011 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1012 | } |
Lightvalve | 162:9dd4f35e9de8 | 1013 | |
Lightvalve | 162:9dd4f35e9de8 | 1014 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1015 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1016 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1017 | } |
Lightvalve | 162:9dd4f35e9de8 | 1018 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1019 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1020 | |
Lightvalve | 162:9dd4f35e9de8 | 1021 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1022 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1023 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1024 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1025 | |
Lightvalve | 162:9dd4f35e9de8 | 1026 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1027 | // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 208:408f9f15c486 | 1028 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1029 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1030 | } |
Lightvalve | 208:408f9f15c486 | 1031 | // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1032 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1033 | ind = ind + 1; |
Lightvalve | 238:e4bda4d06a7d | 1034 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1035 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1036 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; |
Lightvalve | 206:2e4d0c287578 | 1037 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1038 | input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1039 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1040 | } |
Lightvalve | 169:645207e160ca | 1041 | |
Lightvalve | 112:8dcb1600cb90 | 1042 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1043 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1044 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1045 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1046 | |
Lightvalve | 112:8dcb1600cb90 | 1047 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1048 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1049 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1050 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1051 | } |
Lightvalve | 66:a8e6799dbce3 | 1052 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1053 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1054 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1055 | } |
Lightvalve | 66:a8e6799dbce3 | 1056 | } |
Lightvalve | 65:a2d7c63419c2 | 1057 | |
Lightvalve | 112:8dcb1600cb90 | 1058 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1059 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1060 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1061 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1062 | } |
Lightvalve | 66:a8e6799dbce3 | 1063 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1064 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1065 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1066 | } |
Lightvalve | 66:a8e6799dbce3 | 1067 | } |
Lightvalve | 65:a2d7c63419c2 | 1068 | |
Lightvalve | 112:8dcb1600cb90 | 1069 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1070 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1071 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1072 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1073 | } |
Lightvalve | 66:a8e6799dbce3 | 1074 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1075 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1076 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1077 | } |
Lightvalve | 65:a2d7c63419c2 | 1078 | } |
Lightvalve | 66:a8e6799dbce3 | 1079 | |
Lightvalve | 66:a8e6799dbce3 | 1080 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1081 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1082 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1083 | } |
Lightvalve | 66:a8e6799dbce3 | 1084 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1085 | |
Lightvalve | 66:a8e6799dbce3 | 1086 | } |
Lightvalve | 73:f80dc3970c99 | 1087 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1088 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1089 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1090 | |
Lightvalve | 66:a8e6799dbce3 | 1091 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1092 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1093 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1094 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1095 | } |
Lightvalve | 87:471334725012 | 1096 | |
Lightvalve | 169:645207e160ca | 1097 | |
Lightvalve | 69:3995ffeaa786 | 1098 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1099 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1100 | } else |
Lightvalve | 69:3995ffeaa786 | 1101 | LED = 1; |
Lightvalve | 169:645207e160ca | 1102 | |
Lightvalve | 65:a2d7c63419c2 | 1103 | } |
Lightvalve | 171:bfc1fd2629d8 | 1104 | |
Lightvalve | 171:bfc1fd2629d8 | 1105 | |
Lightvalve | 170:42c938a40313 | 1106 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1107 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1108 | case 0: { |
Lightvalve | 170:42c938a40313 | 1109 | break; |
Lightvalve | 170:42c938a40313 | 1110 | } |
Lightvalve | 170:42c938a40313 | 1111 | case 1: { |
Lightvalve | 170:42c938a40313 | 1112 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1113 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1114 | float loss_sum = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1115 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 170:42c938a40313 | 1116 | //Calculate Estimated V |
Lightvalve | 175:2f7289dbd488 | 1117 | //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; |
Lightvalve | 175:2f7289dbd488 | 1118 | float temp_array[2] = {state_array[n][0], state_array[n][1]}; |
Lightvalve | 175:2f7289dbd488 | 1119 | V[n] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1120 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 175:2f7289dbd488 | 1121 | hx_c_sum_array[n][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1122 | } |
Lightvalve | 173:68c7914679ec | 1123 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 175:2f7289dbd488 | 1124 | hxh_c_sum_array[n][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1125 | } |
Lightvalve | 175:2f7289dbd488 | 1126 | hxhh_c_sum_array[n] = hxhh_c_sum; |
Lightvalve | 177:8e9cf31d63f4 | 1127 | |
Lightvalve | 175:2f7289dbd488 | 1128 | pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]); |
Lightvalve | 170:42c938a40313 | 1129 | Actor_Network_Old(temp_array); |
Lightvalve | 175:2f7289dbd488 | 1130 | pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old); |
Lightvalve | 179:d5377766d7ea | 1131 | r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); |
Lightvalve | 175:2f7289dbd488 | 1132 | if(n == batch_size-1) return_G[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1133 | else return_G[n] = gamma * return_G[n+1] + r[n]; |
Lightvalve | 175:2f7289dbd488 | 1134 | if(n == batch_size-1) td_target[n] = r[n]; |
Lightvalve | 175:2f7289dbd488 | 1135 | else td_target[n] = r[n] + gamma * V[n+1]; |
Lightvalve | 175:2f7289dbd488 | 1136 | delta[n] = td_target[n] - V[n]; |
Lightvalve | 175:2f7289dbd488 | 1137 | if(n == batch_size-1) advantage[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1138 | else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; |
Lightvalve | 179:d5377766d7ea | 1139 | // return_G[n] = advantage[n] + V[n]; |
Lightvalve | 175:2f7289dbd488 | 1140 | ratio[n] = pi[n]/pi_old[n]; |
Lightvalve | 179:d5377766d7ea | 1141 | } |
Lightvalve | 179:d5377766d7ea | 1142 | float mean_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1143 | float dev_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1144 | mean_advantage = mean_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1145 | dev_advantage = deviation_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1146 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 179:d5377766d7ea | 1147 | //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; |
Lightvalve | 175:2f7289dbd488 | 1148 | surr1[n] = ratio[n] * advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1149 | if (ratio[n] > 1.0f + epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1150 | surr2[n] = (1.0f + epsilon)*advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1151 | } else if( ratio[n] < 1.0f - epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1152 | surr2[n] = (1.0f - epsilon)*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1153 | } else { |
Lightvalve | 175:2f7289dbd488 | 1154 | surr2[n] = ratio[n]*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1155 | } |
Lightvalve | 175:2f7289dbd488 | 1156 | loss[n] = -min(surr1[n], surr2[n]); |
Lightvalve | 175:2f7289dbd488 | 1157 | loss_sum = loss_sum + loss[n]; |
Lightvalve | 170:42c938a40313 | 1158 | } |
Lightvalve | 170:42c938a40313 | 1159 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1160 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1161 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1162 | } |
Lightvalve | 170:42c938a40313 | 1163 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1164 | |
Lightvalve | 171:bfc1fd2629d8 | 1165 | |
Lightvalve | 170:42c938a40313 | 1166 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1167 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1168 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1169 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1170 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1171 | } |
Lightvalve | 170:42c938a40313 | 1172 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1173 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1174 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1175 | |
Lightvalve | 170:42c938a40313 | 1176 | break; |
Lightvalve | 170:42c938a40313 | 1177 | } |
Lightvalve | 170:42c938a40313 | 1178 | case 2: { |
Lightvalve | 170:42c938a40313 | 1179 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1180 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1181 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1182 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1183 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1184 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1185 | break; |
Lightvalve | 170:42c938a40313 | 1186 | } |
Lightvalve | 169:645207e160ca | 1187 | |
Lightvalve | 170:42c938a40313 | 1188 | } |
GiJeongKim | 0:51c43836c1d7 | 1189 | } |
jobuuu | 1:e04e563be5ce | 1190 | } |
jobuuu | 1:e04e563be5ce | 1191 | |
Lightvalve | 33:91b17819ec30 | 1192 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1193 | { |
Lightvalve | 14:8e7590227d22 | 1194 | |
Lightvalve | 13:747daba9cf59 | 1195 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1196 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1197 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1198 | 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 | 1199 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1200 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1201 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1202 | } else { |
Lightvalve | 57:f4819de54e7a | 1203 | Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; |
Lightvalve | 38:118df027d851 | 1204 | } |
Lightvalve | 14:8e7590227d22 | 1205 | } else { |
Lightvalve | 50:3c630b5eba9f | 1206 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1207 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1208 | } else { |
Lightvalve | 57:f4819de54e7a | 1209 | Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]); |
Lightvalve | 38:118df027d851 | 1210 | } |
Lightvalve | 13:747daba9cf59 | 1211 | } |
Lightvalve | 13:747daba9cf59 | 1212 | break; |
Lightvalve | 13:747daba9cf59 | 1213 | } |
Lightvalve | 13:747daba9cf59 | 1214 | } |
Lightvalve | 14:8e7590227d22 | 1215 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1216 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1217 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1218 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1219 | } |
Lightvalve | 36:a46e63505ed8 | 1220 | |
Lightvalve | 57:f4819de54e7a | 1221 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1222 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1223 | |
Lightvalve | 13:747daba9cf59 | 1224 | } |
jobuuu | 6:df07d3491e3a | 1225 | |
jobuuu | 6:df07d3491e3a | 1226 | |
Lightvalve | 30:8d561f16383b | 1227 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1228 | { |
Lightvalve | 13:747daba9cf59 | 1229 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1230 | |
Lightvalve | 38:118df027d851 | 1231 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1232 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1233 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1234 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1235 | } |
Lightvalve | 38:118df027d851 | 1236 | |
Lightvalve | 89:a7b45368ea0f | 1237 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1238 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1239 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1240 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1241 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1242 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1243 | |
Lightvalve | 13:747daba9cf59 | 1244 | 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 | 1245 | |
Lightvalve | 18:b8adf1582ea3 | 1246 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1247 | if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { |
Lightvalve | 14:8e7590227d22 | 1248 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1249 | 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 | 1250 | } else { |
Lightvalve | 48:889798ff9329 | 1251 | 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 | 1252 | } |
Lightvalve | 13:747daba9cf59 | 1253 | break; |
Lightvalve | 13:747daba9cf59 | 1254 | } |
Lightvalve | 13:747daba9cf59 | 1255 | } |
Lightvalve | 59:f308b1656d9c | 1256 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1257 | } |
Lightvalve | 13:747daba9cf59 | 1258 | |
Lightvalve | 14:8e7590227d22 | 1259 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1260 | 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 | 1261 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1262 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1263 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1264 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1265 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1266 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1267 | float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, |
Lightvalve | 67:c2812cf26c38 | 1268 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1269 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1270 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1271 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1272 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1273 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1274 | |
Lightvalve | 30:8d561f16383b | 1275 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1276 | { |
Lightvalve | 30:8d561f16383b | 1277 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1278 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1279 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1280 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1281 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1282 | } else { |
Lightvalve | 13:747daba9cf59 | 1283 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1284 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1285 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1286 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1287 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1288 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1289 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1290 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1291 | break; |
Lightvalve | 13:747daba9cf59 | 1292 | } |
Lightvalve | 13:747daba9cf59 | 1293 | } |
Lightvalve | 13:747daba9cf59 | 1294 | } |
Lightvalve | 14:8e7590227d22 | 1295 | |
Lightvalve | 13:747daba9cf59 | 1296 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1297 | } |
jobuuu | 6:df07d3491e3a | 1298 | |
Lightvalve | 57:f4819de54e7a | 1299 | |
Lightvalve | 57:f4819de54e7a | 1300 | |
Lightvalve | 57:f4819de54e7a | 1301 | |
Lightvalve | 57:f4819de54e7a | 1302 | |
jobuuu | 2:a1c0a37df760 | 1303 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1304 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1305 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1306 | |
Lightvalve | 51:b46bed7fec80 | 1307 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1308 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1309 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1310 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1311 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1312 | { |
Lightvalve | 19:23b7c1ad8683 | 1313 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1314 | |
Lightvalve | 21:e5f1a43ea6f9 | 1315 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1316 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1317 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1318 | |
Lightvalve | 57:f4819de54e7a | 1319 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1320 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1321 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1322 | } |
Lightvalve | 61:bc8c8270f0ab | 1323 | |
Lightvalve | 61:bc8c8270f0ab | 1324 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1325 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1326 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1327 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1328 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1329 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 1330 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1331 | |
Lightvalve | 67:c2812cf26c38 | 1332 | |
Lightvalve | 67:c2812cf26c38 | 1333 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1334 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1335 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1336 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1337 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1338 | |
Lightvalve | 17:1865016ca2e7 | 1339 | |
Lightvalve | 58:2eade98630e2 | 1340 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1341 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1342 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1343 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1344 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1345 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1346 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1347 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1348 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1349 | |
Lightvalve | 58:2eade98630e2 | 1350 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1351 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm |
Lightvalve | 58:2eade98630e2 | 1352 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1353 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N |
Lightvalve | 58:2eade98630e2 | 1354 | } |
Lightvalve | 58:2eade98630e2 | 1355 | } |
Lightvalve | 61:bc8c8270f0ab | 1356 | |
Lightvalve | 58:2eade98630e2 | 1357 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1358 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1359 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1360 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1361 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1362 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1363 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. |
Lightvalve | 58:2eade98630e2 | 1364 | // |
Lightvalve | 58:2eade98630e2 | 1365 | // |
Lightvalve | 58:2eade98630e2 | 1366 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1367 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1368 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1369 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1370 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1371 | |
Lightvalve | 17:1865016ca2e7 | 1372 | |
Lightvalve | 21:e5f1a43ea6f9 | 1373 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1374 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1375 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1376 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1377 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1378 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1379 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1380 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1381 | |
Lightvalve | 57:f4819de54e7a | 1382 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1383 | } |
Lightvalve | 11:82d8768d7351 | 1384 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1385 | } |
Lightvalve | 19:23b7c1ad8683 | 1386 | |
Lightvalve | 19:23b7c1ad8683 | 1387 | |
Lightvalve | 18:b8adf1582ea3 | 1388 | int j =0; |
Lightvalve | 54:647072f5307a | 1389 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1390 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1391 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1392 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 48:889798ff9329 | 1393 | |
Lightvalve | 11:82d8768d7351 | 1394 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1395 | { |
Lightvalve | 19:23b7c1ad8683 | 1396 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1397 | |
Lightvalve | 57:f4819de54e7a | 1398 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1399 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1400 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1401 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1402 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1403 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1404 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1405 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1406 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1407 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1408 | } |
Lightvalve | 50:3c630b5eba9f | 1409 | |
Lightvalve | 50:3c630b5eba9f | 1410 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1411 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1412 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1413 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1414 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1415 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1416 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1417 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1418 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1419 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1420 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1421 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1422 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1423 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1424 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1425 | } else { |
Lightvalve | 58:2eade98630e2 | 1426 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1427 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1428 | } |
Lightvalve | 45:35fa6884d0c6 | 1429 | |
Lightvalve | 50:3c630b5eba9f | 1430 | |
Lightvalve | 57:f4819de54e7a | 1431 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1432 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1433 | |
Lightvalve | 57:f4819de54e7a | 1434 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1435 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1436 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1437 | } else { |
Lightvalve | 57:f4819de54e7a | 1438 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1439 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1440 | } |
Lightvalve | 56:6f50d9d3bfee | 1441 | |
Lightvalve | 56:6f50d9d3bfee | 1442 | |
Lightvalve | 56:6f50d9d3bfee | 1443 | |
Lightvalve | 57:f4819de54e7a | 1444 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1445 | |
Lightvalve | 57:f4819de54e7a | 1446 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1447 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1448 | break; |
Lightvalve | 13:747daba9cf59 | 1449 | } |
Lightvalve | 14:8e7590227d22 | 1450 | |
Lightvalve | 14:8e7590227d22 | 1451 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1452 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1453 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1454 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1455 | |
Lightvalve | 14:8e7590227d22 | 1456 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1457 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1458 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1459 | |
Lightvalve | 84:c355d3e52bf1 | 1460 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1461 | |
Lightvalve | 30:8d561f16383b | 1462 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1463 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1464 | |
Lightvalve | 16:903b5a4433b4 | 1465 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1466 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1467 | } |
Lightvalve | 13:747daba9cf59 | 1468 | } else { |
Lightvalve | 58:2eade98630e2 | 1469 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1470 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1471 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1472 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1473 | |
Lightvalve | 170:42c938a40313 | 1474 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1475 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1476 | |
Lightvalve | 30:8d561f16383b | 1477 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1478 | |
Lightvalve | 13:747daba9cf59 | 1479 | } |
Lightvalve | 14:8e7590227d22 | 1480 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1481 | break; |
Lightvalve | 19:23b7c1ad8683 | 1482 | } |
Lightvalve | 14:8e7590227d22 | 1483 | |
Lightvalve | 50:3c630b5eba9f | 1484 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1485 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1486 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1487 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1488 | // } |
Lightvalve | 50:3c630b5eba9f | 1489 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1490 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1491 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1492 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1493 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1494 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1495 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1496 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1497 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1498 | // } |
Lightvalve | 50:3c630b5eba9f | 1499 | // |
Lightvalve | 50:3c630b5eba9f | 1500 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1501 | // 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 | 1502 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1503 | // |
Lightvalve | 50:3c630b5eba9f | 1504 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1505 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1506 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1507 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1508 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1509 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1510 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1511 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1512 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1513 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1514 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1515 | // |
Lightvalve | 50:3c630b5eba9f | 1516 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1517 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1518 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1519 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1520 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1521 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1522 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1523 | // |
Lightvalve | 50:3c630b5eba9f | 1524 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1525 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1526 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1527 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1528 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1529 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1530 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1531 | // } |
Lightvalve | 50:3c630b5eba9f | 1532 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1533 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1534 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1535 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1536 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1537 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1538 | // } |
Lightvalve | 50:3c630b5eba9f | 1539 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1540 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1541 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1542 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1543 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1544 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1545 | // } |
Lightvalve | 50:3c630b5eba9f | 1546 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1547 | // |
Lightvalve | 50:3c630b5eba9f | 1548 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1549 | // |
Lightvalve | 50:3c630b5eba9f | 1550 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1551 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1552 | // |
Lightvalve | 50:3c630b5eba9f | 1553 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1554 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1555 | // } |
Lightvalve | 50:3c630b5eba9f | 1556 | // } |
Lightvalve | 50:3c630b5eba9f | 1557 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1558 | // break; |
Lightvalve | 50:3c630b5eba9f | 1559 | // } |
Lightvalve | 14:8e7590227d22 | 1560 | |
Lightvalve | 14:8e7590227d22 | 1561 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1562 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1563 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1564 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1565 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1566 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1567 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1568 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1569 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1570 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1571 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1572 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1573 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1574 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1575 | } |
Lightvalve | 29:69f3f5445d6d | 1576 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1577 | |
Lightvalve | 29:69f3f5445d6d | 1578 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1579 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1580 | } else { |
Lightvalve | 29:69f3f5445d6d | 1581 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1582 | } |
Lightvalve | 19:23b7c1ad8683 | 1583 | |
Lightvalve | 57:f4819de54e7a | 1584 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1585 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1586 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1587 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1588 | |
Lightvalve | 59:f308b1656d9c | 1589 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1590 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1591 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1592 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1593 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1594 | |
Lightvalve | 59:f308b1656d9c | 1595 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1596 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1597 | |
Lightvalve | 34:bb2ca2fc2a8e | 1598 | |
Lightvalve | 29:69f3f5445d6d | 1599 | } else { |
Lightvalve | 29:69f3f5445d6d | 1600 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1601 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1602 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1603 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1604 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1605 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1606 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1607 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1608 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1609 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1610 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1611 | |
Lightvalve | 67:c2812cf26c38 | 1612 | |
Lightvalve | 67:c2812cf26c38 | 1613 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1614 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1615 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1616 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1617 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1618 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1619 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1620 | |
Lightvalve | 169:645207e160ca | 1621 | |
Lightvalve | 29:69f3f5445d6d | 1622 | } |
Lightvalve | 29:69f3f5445d6d | 1623 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1624 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1625 | pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1626 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1627 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1628 | |
Lightvalve | 29:69f3f5445d6d | 1629 | // input for position control |
Lightvalve | 169:645207e160ca | 1630 | |
Lightvalve | 67:c2812cf26c38 | 1631 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1632 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1633 | |
Lightvalve | 67:c2812cf26c38 | 1634 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1635 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1636 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1637 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1638 | |
Lightvalve | 67:c2812cf26c38 | 1639 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1640 | |
Lightvalve | 67:c2812cf26c38 | 1641 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1642 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1643 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1644 | |
Lightvalve | 67:c2812cf26c38 | 1645 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1646 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1647 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1648 | |
Lightvalve | 69:3995ffeaa786 | 1649 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1650 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s |
Lightvalve | 67:c2812cf26c38 | 1651 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1652 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1653 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 67:c2812cf26c38 | 1654 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1655 | } |
Lightvalve | 67:c2812cf26c38 | 1656 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1657 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1658 | |
Lightvalve | 67:c2812cf26c38 | 1659 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1660 | |
Lightvalve | 67:c2812cf26c38 | 1661 | |
Lightvalve | 67:c2812cf26c38 | 1662 | |
Lightvalve | 67:c2812cf26c38 | 1663 | } else { |
Lightvalve | 67:c2812cf26c38 | 1664 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1665 | VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 67:c2812cf26c38 | 1666 | |
Lightvalve | 67:c2812cf26c38 | 1667 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1668 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1669 | } else { |
Lightvalve | 67:c2812cf26c38 | 1670 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1671 | } |
Lightvalve | 67:c2812cf26c38 | 1672 | |
Lightvalve | 67:c2812cf26c38 | 1673 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1674 | |
Lightvalve | 67:c2812cf26c38 | 1675 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1676 | |
Lightvalve | 67:c2812cf26c38 | 1677 | } |
Lightvalve | 67:c2812cf26c38 | 1678 | |
Lightvalve | 67:c2812cf26c38 | 1679 | |
Lightvalve | 169:645207e160ca | 1680 | |
Lightvalve | 169:645207e160ca | 1681 | |
Lightvalve | 59:f308b1656d9c | 1682 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1683 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1684 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1685 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1686 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1687 | |
Lightvalve | 29:69f3f5445d6d | 1688 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1689 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1690 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1691 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1692 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1693 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1694 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1695 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1696 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1697 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1698 | } |
Lightvalve | 13:747daba9cf59 | 1699 | } |
Lightvalve | 19:23b7c1ad8683 | 1700 | |
Lightvalve | 13:747daba9cf59 | 1701 | break; |
Lightvalve | 13:747daba9cf59 | 1702 | } |
Lightvalve | 14:8e7590227d22 | 1703 | |
Lightvalve | 50:3c630b5eba9f | 1704 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1705 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1706 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1707 | // else { |
Lightvalve | 50:3c630b5eba9f | 1708 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1709 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1710 | // } |
Lightvalve | 50:3c630b5eba9f | 1711 | // } |
Lightvalve | 50:3c630b5eba9f | 1712 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1713 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1714 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1715 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1716 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1717 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1718 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1719 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1720 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1721 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1722 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1723 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1724 | // } |
Lightvalve | 50:3c630b5eba9f | 1725 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1726 | // } |
Lightvalve | 50:3c630b5eba9f | 1727 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1728 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1729 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1730 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1731 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1732 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1733 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1734 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1735 | // 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 | 1736 | // // 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 | 1737 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1738 | // } |
Lightvalve | 50:3c630b5eba9f | 1739 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1740 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1741 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1742 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1743 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1744 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1745 | // 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 | 1746 | // // 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 | 1747 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1748 | // } |
Lightvalve | 50:3c630b5eba9f | 1749 | // } |
Lightvalve | 50:3c630b5eba9f | 1750 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1751 | // |
Lightvalve | 50:3c630b5eba9f | 1752 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1753 | // |
Lightvalve | 50:3c630b5eba9f | 1754 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1755 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1756 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1757 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1758 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1759 | // } |
Lightvalve | 50:3c630b5eba9f | 1760 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1761 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1762 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1763 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1764 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1765 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1766 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1767 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1768 | // } |
Lightvalve | 50:3c630b5eba9f | 1769 | // |
Lightvalve | 50:3c630b5eba9f | 1770 | // } |
Lightvalve | 50:3c630b5eba9f | 1771 | // break; |
Lightvalve | 50:3c630b5eba9f | 1772 | // } |
Lightvalve | 50:3c630b5eba9f | 1773 | // |
Lightvalve | 50:3c630b5eba9f | 1774 | // } |
Lightvalve | 14:8e7590227d22 | 1775 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1776 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1777 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1778 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1779 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1780 | |
Lightvalve | 14:8e7590227d22 | 1781 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1782 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1783 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1784 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1785 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1786 | |
Lightvalve | 38:118df027d851 | 1787 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1788 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1789 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1790 | |
Lightvalve | 30:8d561f16383b | 1791 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1792 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1793 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1794 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1795 | |
Lightvalve | 30:8d561f16383b | 1796 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1797 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1798 | } |
Lightvalve | 13:747daba9cf59 | 1799 | } else { |
Lightvalve | 57:f4819de54e7a | 1800 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1801 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1802 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1803 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1804 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1805 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1806 | |
Lightvalve | 170:42c938a40313 | 1807 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1808 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1809 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1810 | |
Lightvalve | 30:8d561f16383b | 1811 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1812 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1813 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1814 | } |
Lightvalve | 14:8e7590227d22 | 1815 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1816 | break; |
Lightvalve | 13:747daba9cf59 | 1817 | } |
Lightvalve | 14:8e7590227d22 | 1818 | |
Lightvalve | 50:3c630b5eba9f | 1819 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1820 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1821 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1822 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1823 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1824 | // } |
Lightvalve | 50:3c630b5eba9f | 1825 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1826 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1827 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1828 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1829 | // } |
Lightvalve | 50:3c630b5eba9f | 1830 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1831 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1832 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1833 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1834 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1835 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1836 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1837 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1838 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1839 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1840 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1841 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1842 | // |
Lightvalve | 50:3c630b5eba9f | 1843 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1844 | // |
Lightvalve | 50:3c630b5eba9f | 1845 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1846 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1847 | // } |
Lightvalve | 50:3c630b5eba9f | 1848 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1849 | // break; |
Lightvalve | 50:3c630b5eba9f | 1850 | // } |
Lightvalve | 19:23b7c1ad8683 | 1851 | |
Lightvalve | 50:3c630b5eba9f | 1852 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1853 | // 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 | 1854 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1855 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1856 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1857 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1858 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1859 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1860 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1861 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1862 | // } |
Lightvalve | 50:3c630b5eba9f | 1863 | // break; |
Lightvalve | 50:3c630b5eba9f | 1864 | // } |
Lightvalve | 14:8e7590227d22 | 1865 | |
Lightvalve | 14:8e7590227d22 | 1866 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1867 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1868 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1869 | |
Lightvalve | 14:8e7590227d22 | 1870 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1871 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1872 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1873 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1874 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1875 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1876 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1877 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1878 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1879 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1880 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1881 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1882 | } else { |
Lightvalve | 13:747daba9cf59 | 1883 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1884 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1885 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1886 | } |
Lightvalve | 14:8e7590227d22 | 1887 | |
Lightvalve | 17:1865016ca2e7 | 1888 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1889 | int i; |
Lightvalve | 13:747daba9cf59 | 1890 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1891 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1892 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1893 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1894 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1895 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1896 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1897 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1898 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1899 | } |
Lightvalve | 13:747daba9cf59 | 1900 | } |
Lightvalve | 170:42c938a40313 | 1901 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1902 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1903 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1904 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1905 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1906 | } |
Lightvalve | 13:747daba9cf59 | 1907 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1908 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1909 | } |
Lightvalve | 14:8e7590227d22 | 1910 | |
Lightvalve | 14:8e7590227d22 | 1911 | |
Lightvalve | 13:747daba9cf59 | 1912 | break; |
Lightvalve | 13:747daba9cf59 | 1913 | } |
Lightvalve | 14:8e7590227d22 | 1914 | |
Lightvalve | 14:8e7590227d22 | 1915 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1916 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1917 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1918 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1919 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1920 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1921 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1922 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1923 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1924 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1925 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1926 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1927 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1928 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1929 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1930 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 30:8d561f16383b | 1931 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1932 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1933 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1934 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1935 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1936 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1937 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1938 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1939 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1940 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1941 | |
Lightvalve | 30:8d561f16383b | 1942 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1943 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1944 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1945 | |
Lightvalve | 30:8d561f16383b | 1946 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1947 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1948 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1949 | |
Lightvalve | 30:8d561f16383b | 1950 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1951 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1952 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1953 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1954 | |
Lightvalve | 60:64181f1d3e60 | 1955 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1956 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1957 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1958 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1959 | } else { |
Lightvalve | 13:747daba9cf59 | 1960 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1961 | } |
Lightvalve | 61:bc8c8270f0ab | 1962 | |
Lightvalve | 60:64181f1d3e60 | 1963 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1964 | |
Lightvalve | 13:747daba9cf59 | 1965 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1966 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1967 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1968 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1969 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1970 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1971 | |
Lightvalve | 13:747daba9cf59 | 1972 | } |
Lightvalve | 19:23b7c1ad8683 | 1973 | } else { |
Lightvalve | 14:8e7590227d22 | 1974 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1975 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1976 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1977 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1978 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1979 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1980 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1981 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1982 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1983 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1984 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1985 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1986 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1987 | } |
Lightvalve | 14:8e7590227d22 | 1988 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1989 | |
Lightvalve | 30:8d561f16383b | 1990 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1991 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1992 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1993 | |
Lightvalve | 14:8e7590227d22 | 1994 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1995 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1996 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1997 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1998 | } else { |
Lightvalve | 13:747daba9cf59 | 1999 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2000 | } |
Lightvalve | 14:8e7590227d22 | 2001 | |
Lightvalve | 13:747daba9cf59 | 2002 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2003 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2004 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2005 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2006 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2007 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2008 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2009 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2010 | } |
Lightvalve | 13:747daba9cf59 | 2011 | } |
Lightvalve | 14:8e7590227d22 | 2012 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2013 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2014 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2015 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2016 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2017 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2018 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2019 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2020 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2021 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2022 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2023 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2024 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2025 | } |
Lightvalve | 14:8e7590227d22 | 2026 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2027 | |
Lightvalve | 30:8d561f16383b | 2028 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2029 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2030 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2031 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2032 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2033 | |
Lightvalve | 14:8e7590227d22 | 2034 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2035 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2036 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2037 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2038 | } else { |
Lightvalve | 60:64181f1d3e60 | 2039 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2040 | } |
Lightvalve | 14:8e7590227d22 | 2041 | |
Lightvalve | 13:747daba9cf59 | 2042 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2043 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2044 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2045 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2046 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2047 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2048 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2049 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2050 | |
Lightvalve | 170:42c938a40313 | 2051 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2052 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2053 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2054 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2055 | |
Lightvalve | 60:64181f1d3e60 | 2056 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2057 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2058 | } |
Lightvalve | 13:747daba9cf59 | 2059 | } |
Lightvalve | 14:8e7590227d22 | 2060 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2061 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2062 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2063 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2064 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2065 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2066 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2067 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2068 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2069 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2070 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2071 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2072 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2073 | } |
Lightvalve | 14:8e7590227d22 | 2074 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2075 | |
Lightvalve | 30:8d561f16383b | 2076 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2077 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2078 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2079 | |
Lightvalve | 14:8e7590227d22 | 2080 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2081 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2082 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2083 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2084 | } else { |
Lightvalve | 13:747daba9cf59 | 2085 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2086 | } |
Lightvalve | 13:747daba9cf59 | 2087 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2088 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2089 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2090 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2091 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2092 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2093 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2094 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2095 | } |
Lightvalve | 13:747daba9cf59 | 2096 | } |
Lightvalve | 14:8e7590227d22 | 2097 | } else { |
Lightvalve | 30:8d561f16383b | 2098 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2099 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2100 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2101 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2102 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2103 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2104 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2105 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2106 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2107 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2108 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2109 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2110 | } |
Lightvalve | 14:8e7590227d22 | 2111 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2112 | |
Lightvalve | 30:8d561f16383b | 2113 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2114 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2115 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2116 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2117 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2118 | |
Lightvalve | 60:64181f1d3e60 | 2119 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2120 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2121 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2122 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2123 | } else { |
Lightvalve | 13:747daba9cf59 | 2124 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2125 | } |
Lightvalve | 14:8e7590227d22 | 2126 | |
Lightvalve | 13:747daba9cf59 | 2127 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2128 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2129 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2130 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2131 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2132 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2133 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2134 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2135 | |
Lightvalve | 170:42c938a40313 | 2136 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2137 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2138 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2139 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2140 | |
Lightvalve | 57:f4819de54e7a | 2141 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2142 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2143 | } |
Lightvalve | 13:747daba9cf59 | 2144 | } |
Lightvalve | 13:747daba9cf59 | 2145 | } |
Lightvalve | 14:8e7590227d22 | 2146 | } |
Lightvalve | 13:747daba9cf59 | 2147 | break; |
Lightvalve | 13:747daba9cf59 | 2148 | } |
Lightvalve | 14:8e7590227d22 | 2149 | |
Lightvalve | 14:8e7590227d22 | 2150 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2151 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2152 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2153 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2154 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2155 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2156 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2157 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2158 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2159 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2160 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2161 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2162 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2163 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2164 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2165 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2166 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2167 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2168 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2169 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2170 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2171 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2172 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2173 | } |
Lightvalve | 14:8e7590227d22 | 2174 | } else { |
Lightvalve | 30:8d561f16383b | 2175 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2176 | //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 | 59:f308b1656d9c | 2177 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2178 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2179 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2180 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2181 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2182 | |
Lightvalve | 14:8e7590227d22 | 2183 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2184 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2185 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2186 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2187 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2188 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2189 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2190 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2191 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2192 | } |
Lightvalve | 30:8d561f16383b | 2193 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2194 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2195 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2196 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2197 | } |
Lightvalve | 14:8e7590227d22 | 2198 | |
Lightvalve | 14:8e7590227d22 | 2199 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2200 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2201 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2202 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2203 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2204 | } |
Lightvalve | 13:747daba9cf59 | 2205 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2206 | |
Lightvalve | 13:747daba9cf59 | 2207 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2208 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2209 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2210 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2211 | } |
Lightvalve | 14:8e7590227d22 | 2212 | |
Lightvalve | 14:8e7590227d22 | 2213 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2214 | |
Lightvalve | 13:747daba9cf59 | 2215 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2216 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2217 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2218 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2219 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2220 | } |
Lightvalve | 13:747daba9cf59 | 2221 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2222 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2223 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2224 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2225 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2226 | } |
Lightvalve | 13:747daba9cf59 | 2227 | } |
Lightvalve | 13:747daba9cf59 | 2228 | break; |
Lightvalve | 13:747daba9cf59 | 2229 | } |
Lightvalve | 58:2eade98630e2 | 2230 | |
Lightvalve | 57:f4819de54e7a | 2231 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2232 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2233 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2234 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2235 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2236 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2237 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2238 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2239 | } |
Lightvalve | 57:f4819de54e7a | 2240 | break; |
Lightvalve | 57:f4819de54e7a | 2241 | } |
Lightvalve | 58:2eade98630e2 | 2242 | |
Lightvalve | 169:645207e160ca | 2243 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2244 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2245 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2246 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2247 | } else { |
Lightvalve | 169:645207e160ca | 2248 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2249 | } |
Lightvalve | 169:645207e160ca | 2250 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2251 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2252 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2253 | } else { |
Lightvalve | 169:645207e160ca | 2254 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2255 | } |
Lightvalve | 58:2eade98630e2 | 2256 | |
Lightvalve | 169:645207e160ca | 2257 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2258 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2259 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2260 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2261 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2262 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2263 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2264 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2265 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2266 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2267 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2268 | } |
Lightvalve | 169:645207e160ca | 2269 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2270 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2271 | |
Lightvalve | 169:645207e160ca | 2272 | } |
Lightvalve | 169:645207e160ca | 2273 | break; |
Lightvalve | 169:645207e160ca | 2274 | } |
Lightvalve | 169:645207e160ca | 2275 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2276 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2277 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2278 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2279 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2280 | // } |
Lightvalve | 169:645207e160ca | 2281 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2282 | // } |
Lightvalve | 169:645207e160ca | 2283 | |
Lightvalve | 169:645207e160ca | 2284 | break; |
Lightvalve | 169:645207e160ca | 2285 | } |
Lightvalve | 169:645207e160ca | 2286 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2287 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2288 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2289 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2290 | break; |
Lightvalve | 169:645207e160ca | 2291 | } |
Lightvalve | 170:42c938a40313 | 2292 | |
Lightvalve | 169:645207e160ca | 2293 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2294 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2295 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2296 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2297 | } else { |
Lightvalve | 169:645207e160ca | 2298 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2299 | } |
Lightvalve | 169:645207e160ca | 2300 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2301 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2302 | } else { |
Lightvalve | 169:645207e160ca | 2303 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2304 | } |
Lightvalve | 169:645207e160ca | 2305 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2306 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2307 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2308 | } else { |
Lightvalve | 169:645207e160ca | 2309 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2310 | } |
Lightvalve | 169:645207e160ca | 2311 | |
Lightvalve | 169:645207e160ca | 2312 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2313 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2314 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2315 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2316 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2317 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2318 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2319 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2320 | } |
Lightvalve | 169:645207e160ca | 2321 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2322 | // { |
Lightvalve | 169:645207e160ca | 2323 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2324 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2325 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2326 | // } |
Lightvalve | 170:42c938a40313 | 2327 | |
Lightvalve | 169:645207e160ca | 2328 | break; |
Lightvalve | 169:645207e160ca | 2329 | } |
Lightvalve | 57:f4819de54e7a | 2330 | |
Lightvalve | 57:f4819de54e7a | 2331 | default: |
Lightvalve | 57:f4819de54e7a | 2332 | break; |
Lightvalve | 57:f4819de54e7a | 2333 | } |
Lightvalve | 57:f4819de54e7a | 2334 | |
Lightvalve | 57:f4819de54e7a | 2335 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2336 | |
Lightvalve | 57:f4819de54e7a | 2337 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2338 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2339 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2340 | break; |
Lightvalve | 57:f4819de54e7a | 2341 | } |
Lightvalve | 57:f4819de54e7a | 2342 | |
Lightvalve | 57:f4819de54e7a | 2343 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2344 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 225:278b48b86f27 | 2345 | ////For Test LIMC////////////////////////////////////////// |
Lightvalve | 233:0a37cdd59651 | 2346 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 233:0a37cdd59651 | 2347 | // for(int i=0; i<9; i++){ |
Lightvalve | 233:0a37cdd59651 | 2348 | // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1]; |
Lightvalve | 233:0a37cdd59651 | 2349 | // } |
Lightvalve | 233:0a37cdd59651 | 2350 | // valve_ref_pos_buffer[9] = valve_pos.ref; |
Lightvalve | 233:0a37cdd59651 | 2351 | // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]); |
Lightvalve | 225:278b48b86f27 | 2352 | //////////////////////////////////////////////////////////// |
Lightvalve | 225:278b48b86f27 | 2353 | |
Lightvalve | 59:f308b1656d9c | 2354 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2355 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2356 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2357 | } else { |
Lightvalve | 67:c2812cf26c38 | 2358 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2359 | } |
Lightvalve | 57:f4819de54e7a | 2360 | break; |
Lightvalve | 57:f4819de54e7a | 2361 | } |
Lightvalve | 57:f4819de54e7a | 2362 | |
Lightvalve | 57:f4819de54e7a | 2363 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2364 | |
Lightvalve | 57:f4819de54e7a | 2365 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2366 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2367 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2368 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2369 | |
Lightvalve | 67:c2812cf26c38 | 2370 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2371 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2372 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2373 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2374 | |
Lightvalve | 139:15621998925b | 2375 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2376 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2377 | |
Lightvalve | 57:f4819de54e7a | 2378 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2379 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2380 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2381 | |
Lightvalve | 57:f4819de54e7a | 2382 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2383 | |
Lightvalve | 57:f4819de54e7a | 2384 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2385 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2386 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2387 | |
Lightvalve | 57:f4819de54e7a | 2388 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2389 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2390 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2391 | |
Lightvalve | 69:3995ffeaa786 | 2392 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2393 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2394 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2395 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2396 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2397 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2398 | } |
Lightvalve | 57:f4819de54e7a | 2399 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2400 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2401 | |
Lightvalve | 57:f4819de54e7a | 2402 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2403 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2404 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2405 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s |
Lightvalve | 57:f4819de54e7a | 2406 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2407 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2408 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2409 | I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive. |
Lightvalve | 57:f4819de54e7a | 2410 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2411 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2412 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2413 | } |
Lightvalve | 57:f4819de54e7a | 2414 | if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2415 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2416 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2417 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2418 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2419 | |
Lightvalve | 57:f4819de54e7a | 2420 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2421 | |
Lightvalve | 67:c2812cf26c38 | 2422 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2423 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2424 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2425 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2426 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2427 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2428 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2429 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2430 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2431 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2432 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2433 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2434 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2435 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2436 | } |
Lightvalve | 67:c2812cf26c38 | 2437 | } |
Lightvalve | 57:f4819de54e7a | 2438 | |
Lightvalve | 57:f4819de54e7a | 2439 | } else { |
Lightvalve | 57:f4819de54e7a | 2440 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2441 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2442 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2443 | |
Lightvalve | 209:ebc69d6ee6f1 | 2444 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 57:f4819de54e7a | 2445 | |
Lightvalve | 72:3436ce769b1e | 2446 | VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; |
Lightvalve | 169:645207e160ca | 2447 | |
Lightvalve | 72:3436ce769b1e | 2448 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2449 | |
Lightvalve | 169:645207e160ca | 2450 | |
Lightvalve | 72:3436ce769b1e | 2451 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2452 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2453 | } else { |
Lightvalve | 72:3436ce769b1e | 2454 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2455 | } |
Lightvalve | 57:f4819de54e7a | 2456 | |
Lightvalve | 57:f4819de54e7a | 2457 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2458 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2459 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2460 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2461 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2462 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2463 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2464 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2465 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2466 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2467 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2468 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2469 | } |
Lightvalve | 57:f4819de54e7a | 2470 | } |
Lightvalve | 61:bc8c8270f0ab | 2471 | |
Lightvalve | 57:f4819de54e7a | 2472 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2473 | |
Lightvalve | 67:c2812cf26c38 | 2474 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2475 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2476 | |
Lightvalve | 57:f4819de54e7a | 2477 | } |
Lightvalve | 169:645207e160ca | 2478 | |
Lightvalve | 72:3436ce769b1e | 2479 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2480 | |
Lightvalve | 133:22ab22818e01 | 2481 | |
Lightvalve | 57:f4819de54e7a | 2482 | break; |
Lightvalve | 57:f4819de54e7a | 2483 | } |
Lightvalve | 58:2eade98630e2 | 2484 | |
Lightvalve | 57:f4819de54e7a | 2485 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2486 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2487 | break; |
Lightvalve | 57:f4819de54e7a | 2488 | } |
Lightvalve | 169:645207e160ca | 2489 | |
Lightvalve | 138:a843f32ced33 | 2490 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2491 | |
Lightvalve | 169:645207e160ca | 2492 | |
Lightvalve | 139:15621998925b | 2493 | float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 |
Lightvalve | 139:15621998925b | 2494 | float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 218:066030f7951f | 2495 | |
Lightvalve | 170:42c938a40313 | 2496 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2497 | |
Lightvalve | 218:066030f7951f | 2498 | //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 218:066030f7951f | 2499 | float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 169:645207e160ca | 2500 | |
Lightvalve | 138:a843f32ced33 | 2501 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2502 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2503 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2504 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2505 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2506 | } else { |
Lightvalve | 138:a843f32ced33 | 2507 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2508 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2509 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2510 | } else { |
Lightvalve | 138:a843f32ced33 | 2511 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2512 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2513 | } |
Lightvalve | 138:a843f32ced33 | 2514 | } |
Lightvalve | 138:a843f32ced33 | 2515 | float tau = 0.01f; |
Lightvalve | 142:43026242815a | 2516 | float K_valve = 0.0004f; |
Lightvalve | 169:645207e160ca | 2517 | |
Lightvalve | 138:a843f32ced33 | 2518 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2519 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2520 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2521 | } else { |
Lightvalve | 138:a843f32ced33 | 2522 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2523 | } |
Lightvalve | 138:a843f32ced33 | 2524 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2525 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2526 | |
Lightvalve | 139:15621998925b | 2527 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2528 | |
Lightvalve | 138:a843f32ced33 | 2529 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2530 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2531 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2532 | |
Lightvalve | 138:a843f32ced33 | 2533 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2534 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2535 | |
Lightvalve | 212:ec41f1449ef9 | 2536 | float k3 = 2000.0f; //2000 //20000 |
Lightvalve | 142:43026242815a | 2537 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2538 | float rho3 = 3.2f; |
Lightvalve | 212:ec41f1449ef9 | 2539 | float rho4 = 10000000.0f; //25000000.0f; |
Lightvalve | 218:066030f7951f | 2540 | float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2541 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2542 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2543 | |
Lightvalve | 139:15621998925b | 2544 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2545 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2546 | } else { |
Lightvalve | 139:15621998925b | 2547 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2548 | } |
Lightvalve | 169:645207e160ca | 2549 | |
Lightvalve | 138:a843f32ced33 | 2550 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2551 | x_4_des_old = x_4_des; |
Lightvalve | 212:ec41f1449ef9 | 2552 | float V_input = 0.0f; |
Lightvalve | 139:15621998925b | 2553 | V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; |
Lightvalve | 212:ec41f1449ef9 | 2554 | // //V_out LPF |
Lightvalve | 212:ec41f1449ef9 | 2555 | // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz |
Lightvalve | 212:ec41f1449ef9 | 2556 | // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out); |
Lightvalve | 212:ec41f1449ef9 | 2557 | |
Lightvalve | 218:066030f7951f | 2558 | // float rho_gamma = 5000.0f;//5000 for change //50000 for not change |
Lightvalve | 218:066030f7951f | 2559 | // float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); |
Lightvalve | 218:066030f7951f | 2560 | // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2561 | // |
Lightvalve | 218:066030f7951f | 2562 | // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f; |
Lightvalve | 218:066030f7951f | 2563 | // else if(gamma_hat < 100.0f) gamma_hat = 100.0f; |
Lightvalve | 218:066030f7951f | 2564 | |
Lightvalve | 218:066030f7951f | 2565 | float rho_a = 0.00001f; |
Lightvalve | 218:066030f7951f | 2566 | float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err); |
Lightvalve | 218:066030f7951f | 2567 | a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2568 | |
Lightvalve | 218:066030f7951f | 2569 | if(a_hat > -3000000.0f) a_hat = -3000000.0f; |
Lightvalve | 218:066030f7951f | 2570 | else if(a_hat < -30000000.0f) a_hat = -30000000.0f; |
Lightvalve | 218:066030f7951f | 2571 | |
Lightvalve | 169:645207e160ca | 2572 | break; |
Lightvalve | 138:a843f32ced33 | 2573 | } |
Lightvalve | 171:bfc1fd2629d8 | 2574 | |
Lightvalve | 170:42c938a40313 | 2575 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2576 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2577 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2578 | |
Lightvalve | 170:42c938a40313 | 2579 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2580 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2581 | |
Lightvalve | 170:42c938a40313 | 2582 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2583 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2584 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2585 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2586 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2587 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2588 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2589 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2590 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2591 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2592 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2593 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2594 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2595 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2596 | } |
Lightvalve | 173:68c7914679ec | 2597 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2598 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2599 | } |
Lightvalve | 173:68c7914679ec | 2600 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2601 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2602 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2603 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2604 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2605 | |
Lightvalve | 179:d5377766d7ea | 2606 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2607 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2608 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2609 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2610 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2611 | } |
Lightvalve | 171:bfc1fd2629d8 | 2612 | |
Lightvalve | 170:42c938a40313 | 2613 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2614 | |
Lightvalve | 170:42c938a40313 | 2615 | |
Lightvalve | 170:42c938a40313 | 2616 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2617 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2618 | batch++; |
Lightvalve | 170:42c938a40313 | 2619 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2620 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2621 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2622 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2623 | } |
Lightvalve | 170:42c938a40313 | 2624 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2625 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2626 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2627 | |
Lightvalve | 170:42c938a40313 | 2628 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2629 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2630 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2631 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2632 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2633 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2634 | } |
Lightvalve | 170:42c938a40313 | 2635 | } |
Lightvalve | 170:42c938a40313 | 2636 | } |
Lightvalve | 170:42c938a40313 | 2637 | |
Lightvalve | 170:42c938a40313 | 2638 | else { |
Lightvalve | 170:42c938a40313 | 2639 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2640 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2641 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2642 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2643 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2644 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2645 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2646 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2647 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2648 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2649 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2650 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2651 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2652 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2653 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2654 | } |
Lightvalve | 170:42c938a40313 | 2655 | |
Lightvalve | 170:42c938a40313 | 2656 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2657 | } |
Lightvalve | 170:42c938a40313 | 2658 | |
Lightvalve | 170:42c938a40313 | 2659 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2660 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2661 | |
Lightvalve | 170:42c938a40313 | 2662 | break; |
Lightvalve | 170:42c938a40313 | 2663 | } |
Lightvalve | 14:8e7590227d22 | 2664 | |
Lightvalve | 12:6f2531038ea4 | 2665 | default: |
Lightvalve | 12:6f2531038ea4 | 2666 | break; |
Lightvalve | 12:6f2531038ea4 | 2667 | } |
Lightvalve | 14:8e7590227d22 | 2668 | |
Lightvalve | 57:f4819de54e7a | 2669 | |
Lightvalve | 57:f4819de54e7a | 2670 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2671 | |
Lightvalve | 57:f4819de54e7a | 2672 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2673 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2674 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2675 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2676 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2677 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2678 | |
Lightvalve | 57:f4819de54e7a | 2679 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2680 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2681 | |
Lightvalve | 57:f4819de54e7a | 2682 | |
Lightvalve | 57:f4819de54e7a | 2683 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2684 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2685 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2686 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2687 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2688 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2689 | |
Lightvalve | 57:f4819de54e7a | 2690 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2691 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2692 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2693 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2694 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2695 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2696 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2697 | } |
Lightvalve | 57:f4819de54e7a | 2698 | |
Lightvalve | 57:f4819de54e7a | 2699 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2700 | |
Lightvalve | 67:c2812cf26c38 | 2701 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2702 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2703 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2704 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2705 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2706 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2707 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2708 | |
Lightvalve | 57:f4819de54e7a | 2709 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2710 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2711 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2712 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2713 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2714 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2715 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2716 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2717 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2718 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2719 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2720 | } |
Lightvalve | 57:f4819de54e7a | 2721 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2722 | } else { |
Lightvalve | 57:f4819de54e7a | 2723 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2724 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2725 | } |
Lightvalve | 57:f4819de54e7a | 2726 | |
Lightvalve | 57:f4819de54e7a | 2727 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2728 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2729 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2730 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2731 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2732 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2733 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2734 | |
Lightvalve | 57:f4819de54e7a | 2735 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2736 | |
Lightvalve | 57:f4819de54e7a | 2737 | } else { |
Lightvalve | 57:f4819de54e7a | 2738 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2739 | } |
Lightvalve | 57:f4819de54e7a | 2740 | |
Lightvalve | 57:f4819de54e7a | 2741 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2742 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2743 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2744 | |
Lightvalve | 57:f4819de54e7a | 2745 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2746 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2747 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2748 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2749 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2750 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2751 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2752 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2753 | |
Lightvalve | 89:a7b45368ea0f | 2754 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2755 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2756 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2757 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2758 | |
Lightvalve | 135:79885a39c161 | 2759 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2760 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2761 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2762 | } |
Lightvalve | 169:645207e160ca | 2763 | |
Lightvalve | 67:c2812cf26c38 | 2764 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2765 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2766 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2767 | |
jobuuu | 7:e9086c72bb22 | 2768 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2769 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2770 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2771 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2772 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2773 | } |
Lightvalve | 169:645207e160ca | 2774 | |
Lightvalve | 49:e7bcfc244d40 | 2775 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2776 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2777 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2778 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2779 | } |
Lightvalve | 49:e7bcfc244d40 | 2780 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2781 | |
Lightvalve | 19:23b7c1ad8683 | 2782 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2783 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2784 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2785 | |
Lightvalve | 30:8d561f16383b | 2786 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2787 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2788 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2789 | } else { |
jobuuu | 2:a1c0a37df760 | 2790 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2791 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2792 | } |
Lightvalve | 13:747daba9cf59 | 2793 | |
jobuuu | 1:e04e563be5ce | 2794 | //pwm |
Lightvalve | 30:8d561f16383b | 2795 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2796 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2797 | |
Lightvalve | 61:bc8c8270f0ab | 2798 | |
Lightvalve | 233:0a37cdd59651 | 2799 | |
Lightvalve | 233:0a37cdd59651 | 2800 | /* |
Lightvalve | 237:aa3863117889 | 2801 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 233:0a37cdd59651 | 2802 | |
Lightvalve | 54:647072f5307a | 2803 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2804 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2805 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2806 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2807 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2808 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2809 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 2810 | } |
Lightvalve | 57:f4819de54e7a | 2811 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2812 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2813 | CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); |
Lightvalve | 54:647072f5307a | 2814 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2815 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 2816 | } |
Lightvalve | 52:8ea76864368a | 2817 | } |
Lightvalve | 52:8ea76864368a | 2818 | } |
Lightvalve | 233:0a37cdd59651 | 2819 | |
Lightvalve | 56:6f50d9d3bfee | 2820 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 179:d5377766d7ea | 2821 | CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 54:647072f5307a | 2822 | } |
Lightvalve | 58:2eade98630e2 | 2823 | |
Lightvalve | 58:2eade98630e2 | 2824 | |
Lightvalve | 171:bfc1fd2629d8 | 2825 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2826 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2827 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2828 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2829 | } else { |
Lightvalve | 131:d08121ac87ba | 2830 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2831 | } |
Lightvalve | 169:645207e160ca | 2832 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2833 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2834 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2835 | } else { |
Lightvalve | 169:645207e160ca | 2836 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2837 | } |
Lightvalve | 169:645207e160ca | 2838 | |
Lightvalve | 169:645207e160ca | 2839 | |
Lightvalve | 169:645207e160ca | 2840 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2841 | } |
Lightvalve | 58:2eade98630e2 | 2842 | |
Lightvalve | 57:f4819de54e7a | 2843 | //If it doesn't rest, below can can not work. |
Lightvalve | 233:0a37cdd59651 | 2844 | for (int can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2845 | ; |
Lightvalve | 57:f4819de54e7a | 2846 | } |
Lightvalve | 58:2eade98630e2 | 2847 | |
Lightvalve | 169:645207e160ca | 2848 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2849 | //PWM |
Lightvalve | 209:ebc69d6ee6f1 | 2850 | CAN_TX_PWM((int16_t) (torq.ref)); //1500 |
Lightvalve | 209:ebc69d6ee6f1 | 2851 | // CAN_TX_PWM((int16_t) (f_future[1])); //1500 |
Lightvalve | 54:647072f5307a | 2852 | } |
Lightvalve | 179:d5377766d7ea | 2853 | |
Lightvalve | 56:6f50d9d3bfee | 2854 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2855 | //valve position |
Lightvalve | 212:ec41f1449ef9 | 2856 | //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600 |
Lightvalve | 218:066030f7951f | 2857 | CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600 |
Lightvalve | 54:647072f5307a | 2858 | } |
Lightvalve | 237:aa3863117889 | 2859 | |
Lightvalve | 233:0a37cdd59651 | 2860 | |
Lightvalve | 20:806196fda269 | 2861 | |
Lightvalve | 54:647072f5307a | 2862 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 237:aa3863117889 | 2863 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 237:aa3863117889 | 2864 | CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 237:aa3863117889 | 2865 | } |
Lightvalve | 237:aa3863117889 | 2866 | if (flag_delay_test == 1){ |
Lightvalve | 237:aa3863117889 | 2867 | CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 237:aa3863117889 | 2868 | } |
Lightvalve | 52:8ea76864368a | 2869 | |
Lightvalve | 54:647072f5307a | 2870 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2871 | } |
Lightvalve | 54:647072f5307a | 2872 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 237:aa3863117889 | 2873 | |
Lightvalve | 237:aa3863117889 | 2874 | */ |
Lightvalve | 237:aa3863117889 | 2875 | |
Lightvalve | 20:806196fda269 | 2876 | } |
Lightvalve | 52:8ea76864368a | 2877 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2878 | |
Lightvalve | 58:2eade98630e2 | 2879 | } |