Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@253:0246366e0dcb, 2021-02-19 (annotated)

Committer:
Lightvalve
Date:
Fri Feb 19 11:23:51 2021 +0000
Revision:
253:0246366e0dcb
Parent:
252:179a8c8791dc
Child:
254:725d7435dfa3
210219 - forcesensor sign changed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 252:179a8c8791dc 1 //After RaL
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 251:4b0e0b1ff297 202 {-0.034636590629816055f,-0.08510791510343552f,-0.3801865577697754f,0.03776714578270912f,0.2840934693813324f,-0.1901460736989975f,0.12296205759048462f,0.2284609079360962f,0.14127975702285767f,-0.1274729073047638f,-0.6219204664230347f,-0.3406560719013214f,0.26510030031204224f,0.04862070083618164f,-0.10759569704532623f,0.15142720937728882f},
Lightvalve 252:179a8c8791dc 203 {-0.14657218754291534f,-0.34830769896507263f,-0.044384635984897614f,0.09097779542207718f,0.29299843311309814f,0.20048391819000244f,-0.3669555187225342f,0.577765166759491f,0.26391828060150146f,-0.6116664409637451f,-0.48967164754867554f,0.43264442682266235f,-0.2875143885612488f,0.20838868618011475f,0.4987501800060272f,-0.12150795757770538f},
Lightvalve 252:179a8c8791dc 204 {-0.36621227860450745f,-0.5775251388549805f,0.25328558683395386f,-0.4689198136329651f,0.48624423146247864f,0.1806947886943817f,-0.02977663278579712f,0.46608680486679077f,-0.3409912884235382f,0.09726854413747787f,-0.5142548680305481f,0.39275670051574707f,-0.05826932191848755f,-0.1345062553882599f,0.35789212584495544f,-0.3863421678543091f},
Lightvalve 252:179a8c8791dc 205 {-0.4689311385154724f,-0.5520263910293579f,0.11156318336725235f,-0.4460775554180145f,0.477514386177063f,-0.06286724656820297f,-0.20234209299087524f,-0.023230334743857384f,-0.39478203654289246f,0.22159633040428162f,-0.4476903975009918f,0.38044995069503784f,-0.17981481552124023f,0.2829986810684204f,0.041659221053123474f,0.010006793774664402f},
Lightvalve 252:179a8c8791dc 206 {0.07658018171787262f,-0.13551065325737f,-0.04930756241083145f,-0.18194161355495453f,-0.30434608459472656f,-0.3774596154689789f,0.030568987131118774f,0.45075833797454834f,-0.34993308782577515f,0.00814745482057333f,0.271629273891449f,0.2641938328742981f,0.3928338885307312f,0.3520948886871338f,0.2681606411933899f,0.04452916979789734f},
Lightvalve 252:179a8c8791dc 207 {0.1398475617170334f,-0.30324965715408325f,0.23745456337928772f,0.3544830083847046f,0.28628432750701904f,0.1924915313720703f,0.031466126441955566f,-0.05242495983839035f,-0.003589123487472534f,0.019043268635869026f,0.15009407699108124f,-0.33466243743896484f,-0.30160367488861084f,-0.2585424780845642f,-0.03835311904549599f,-0.620620608329773f},
Lightvalve 252:179a8c8791dc 208 {0.7865412831306458f,0.34918898344039917f,-0.1276814490556717f,-0.7611914873123169f,0.07091358304023743f,-0.3924251198768616f,-0.030166536569595337f,0.13422253727912903f,0.3674931526184082f,-0.10135196149349213f,-0.21664942800998688f,0.23833078145980835f,-0.27123963832855225f,-0.08386284112930298f,-0.01957280933856964f,0.8007774353027344f},
Lightvalve 252:179a8c8791dc 209 {0.6253918409347534f,0.3427291512489319f,0.2446969449520111f,-0.5424080491065979f,-0.4171082675457001f,-0.1339646875858307f,0.08264404535293579f,0.20667369663715363f,-0.16528040170669556f,0.10038857161998749f,0.2882964611053467f,0.19816702604293823f,0.37595224380493164f,-0.2227029651403427f,-0.20252738893032074f,0.4010050594806671f},
Lightvalve 252:179a8c8791dc 210 {-0.10320301353931427f,-0.0669734925031662f,-0.3952587842941284f,0.014424772933125496f,0.06123732402920723f,0.12584073841571808f,-0.15519720315933228f,-0.12384038418531418f,0.20291584730148315f,-0.013697299174964428f,0.34133532643318176f,-0.1940154880285263f,-0.2515442967414856f,-0.23373761773109436f,-0.3340805768966675f,-0.005585795734077692f},
Lightvalve 252:179a8c8791dc 211 {0.21723592281341553f,-0.3871166408061981f,-0.6769354343414307f,0.013060376048088074f,-0.3935699462890625f,-0.13699966669082642f,0.20312511920928955f,-0.24272094666957855f,0.28880298137664795f,0.012722134590148926f,0.6101362109184265f,0.1407831907272339f,-0.4085739254951477f,0.014354228973388672f,0.2012835443019867f,-0.41867175698280334f},
Lightvalve 252:179a8c8791dc 212 {-0.348349392414093f,0.10514415800571442f,-0.29263970255851746f,0.14298589527606964f,-0.4824093282222748f,-0.16298454999923706f,-0.3280268609523773f,-0.14835195243358612f,-0.3790266811847687f,0.12452945858240128f,0.09102929383516312f,-0.017614006996154785f,-0.18276402354240417f,0.21967029571533203f,0.18263429403305054f,0.12917377054691315f},
Lightvalve 252:179a8c8791dc 213 {-0.16717736423015594f,0.3654094338417053f,0.22285446524620056f,-0.2079508751630783f,0.15254132449626923f,-0.428370863199234f,0.12378334999084473f,0.042758338153362274f,-0.23888027667999268f,0.015105051919817924f,-0.03244645148515701f,0.07999944686889648f,-0.19709044694900513f,0.3904615044593811f,0.3818567395210266f,-0.1811094582080841f},
Lightvalve 252:179a8c8791dc 214 {0.44972071051597595f,-0.028732342645525932f,-0.12203003466129303f,-0.16853941977024078f,-0.002657646546140313f,-0.27321964502334595f,-0.39909395575523376f,-0.22719086706638336f,-0.04522088170051575f,0.39755183458328247f,0.26120442152023315f,0.2014879584312439f,0.2502625584602356f,-0.049918800592422485f,-0.2698128819465637f,-0.39346325397491455f},
Lightvalve 252:179a8c8791dc 215 {0.18112419545650482f,-0.0779980793595314f,-0.45121440291404724f,-0.5473600029945374f,-0.5366666913032532f,0.18330438435077667f,0.1997523307800293f,-0.09354571998119354f,-0.12511596083641052f,0.48358815908432007f,-0.172188401222229f,0.41015303134918213f,-0.3052411675453186f,-0.1892547309398651f,0.2224881649017334f,-0.10170229524374008f},
Lightvalve 252:179a8c8791dc 216 {0.10940403491258621f,-0.23863136768341064f,-0.6232994794845581f,0.16091983020305634f,-0.304459810256958f,0.2962200939655304f,0.18491721153259277f,0.01318122074007988f,0.18640142679214478f,0.13724061846733093f,0.24989944696426392f,0.35947704315185547f,-0.332058310508728f,0.40907591581344604f,-0.28181812167167664f,-0.16143277287483215f},
Lightvalve 65:a2d7c63419c2 217 };
Lightvalve 65:a2d7c63419c2 218
Lightvalve 169:645207e160ca 219 const float h2[16][16] = {
Lightvalve 251:4b0e0b1ff297 220 {0.04833245277404785f,0.8406158089637756f,0.3808237612247467f,0.3637321889400482f,0.644477128982544f,0.35276496410369873f,-1.0592999458312988f,-0.44195684790611267f,-2.155895948410034f,0.42358145117759705f,0.21362772583961487f,0.046894848346710205f,0.1278792917728424f,-0.37168267369270325f,0.04797150567173958f,0.41920337080955505f},
Lightvalve 252:179a8c8791dc 221 {-0.0274239182472229f,0.9419358372688293f,-0.34082740545272827f,0.2642888128757477f,0.7276898622512817f,0.002614683471620083f,-1.1622995138168335f,0.30911850929260254f,-0.6000240445137024f,0.026576727628707886f,-0.29539918899536133f,-0.20509253442287445f,-0.1801471710205078f,-0.5503743290901184f,-0.09623444825410843f,0.16039973497390747f},
Lightvalve 252:179a8c8791dc 222 {-0.35354936122894287f,-0.09730152785778046f,-0.24224385619163513f,-0.41592511534690857f,0.07027829438447952f,0.013607672415673733f,0.22128823399543762f,-0.10003288835287094f,-1.014364242553711f,-0.26868098974227905f,0.21410873532295227f,-0.228165864944458f,-0.05225086212158203f,-0.7968334555625916f,0.25415247678756714f,0.2862052619457245f},
Lightvalve 252:179a8c8791dc 223 {-0.11117833852767944f,0.46299421787261963f,0.11902371048927307f,0.35618194937705994f,0.15819178521633148f,-0.5194926261901855f,-0.1352825164794922f,0.4493905305862427f,-0.4192030429840088f,-0.4216589629650116f,-0.4289160966873169f,-0.3305668830871582f,0.43245211243629456f,-0.18652261793613434f,-0.4980774223804474f,0.2913265824317932f},
Lightvalve 252:179a8c8791dc 224 {0.39269885420799255f,-0.17476780712604523f,-0.07237827777862549f,0.09812912344932556f,-0.33486536145210266f,-0.47770196199417114f,0.9116359949111938f,0.20927821099758148f,0.6805155873298645f,-0.08264759182929993f,-0.15345615148544312f,0.3926151692867279f,-0.28366416692733765f,0.9803341031074524f,-0.7951028943061829f,-0.38231852650642395f},
Lightvalve 252:179a8c8791dc 225 {-0.02339586615562439f,-0.21557484567165375f,0.0382651686668396f,-0.10381102561950684f,0.20424866676330566f,0.0569344200193882f,-0.15795065462589264f,-0.2686183750629425f,0.02425282634794712f,0.2855292856693268f,0.3241807520389557f,0.08525893092155457f,-0.07454681396484375f,-0.3016861081123352f,0.30999064445495605f,-0.2047392874956131f},
Lightvalve 252:179a8c8791dc 226 {0.06456553936004639f,-0.29620951414108276f,-0.28450071811676025f,-0.3608437776565552f,0.14704784750938416f,-0.36015424132347107f,-0.315707266330719f,-0.2272750288248062f,-0.16718602180480957f,-0.3622615337371826f,0.3609362542629242f,0.3271537125110626f,-0.1134117841720581f,-0.24684466421604156f,-0.3105827271938324f,-0.29518258571624756f},
Lightvalve 252:179a8c8791dc 227 {0.40061601996421814f,-0.2499115914106369f,-0.42576566338539124f,0.2771916687488556f,0.1725580394268036f,0.24982130527496338f,0.032843999564647675f,-0.13448423147201538f,-0.30728211998939514f,-0.24666368961334229f,0.034479737281799316f,0.11201921105384827f,-0.3116337060928345f,0.20088200271129608f,0.07602878659963608f,-0.32380038499832153f},
Lightvalve 252:179a8c8791dc 228 {0.01738646626472473f,0.42550787329673767f,0.16973963379859924f,-0.19240723550319672f,-0.03196948766708374f,-0.12532320618629456f,-0.1082024872303009f,0.3715610206127167f,-0.23925665020942688f,0.15291878581047058f,0.21075895428657532f,-0.06213498115539551f,0.41508081555366516f,-0.27582913637161255f,0.06960871815681458f,-0.020523756742477417f},
Lightvalve 252:179a8c8791dc 229 {0.2798302471637726f,0.3964071571826935f,0.23923692107200623f,0.1867220103740692f,-0.3472009599208832f,-0.4335924983024597f,-0.35373935103416443f,0.16244973242282867f,-0.7462126612663269f,-0.2594975531101227f,-0.315661758184433f,-0.2793809175491333f,0.27418074011802673f,-0.10312201827764511f,0.4119209051132202f,-0.05471741408109665f},
Lightvalve 252:179a8c8791dc 230 {-0.14383485913276672f,1.081695318222046f,-0.404108464717865f,-0.22689129412174225f,-0.3717469274997711f,-0.41622504591941833f,-0.8190008401870728f,0.5285307168960571f,-3.050868034362793f,-0.16521230340003967f,-0.0948835015296936f,-0.3281487226486206f,-0.32793286442756653f,-1.8892099857330322f,-0.8883360028266907f,-0.44808080792427063f},
Lightvalve 252:179a8c8791dc 231 {-0.3993529975414276f,0.41353103518486023f,0.2625258266925812f,-0.40873271226882935f,0.3280826508998871f,0.10209885239601135f,0.22779449820518494f,0.27592143416404724f,-0.24499990046024323f,0.11430332064628601f,0.1062566339969635f,-0.3577694296836853f,-0.05476459860801697f,0.17576757073402405f,0.21356281638145447f,-0.21355248987674713f},
Lightvalve 252:179a8c8791dc 232 {0.26238974928855896f,0.13264122605323792f,0.17779704928398132f,0.3172527849674225f,-0.07196182012557983f,0.3440147936344147f,-0.20966216921806335f,0.19133642315864563f,-0.40352103114128113f,-0.01865154504776001f,0.4056650698184967f,0.4148031175136566f,-0.3938596844673157f,-0.15683236718177795f,-0.2691075801849365f,-0.31552961468696594f},
Lightvalve 252:179a8c8791dc 233 {0.04255214333534241f,-0.10101297497749329f,-0.20923052728176117f,0.2541695535182953f,0.41217753291130066f,-0.301749050617218f,0.16364464163780212f,-0.16757863759994507f,-0.33475184440612793f,-0.3079894781112671f,-0.15280935168266296f,-0.3279605209827423f,-0.21071602404117584f,-0.09943103790283203f,0.25322189927101135f,-0.047403186559677124f},
Lightvalve 252:179a8c8791dc 234 {-0.3407605290412903f,-1.6339330673217773f,-0.08496147394180298f,0.18828937411308289f,-1.2263431549072266f,-1.4933935403823853f,1.361119031906128f,1.3889564275741577f,1.7450194358825684f,0.3321857750415802f,0.10198095440864563f,0.14103266596794128f,0.07074931263923645f,1.626432180404663f,-1.5846821069717407f,-1.6313681602478027f},
Lightvalve 252:179a8c8791dc 235 {-0.430133581161499f,2.0306808948516846f,0.3826504647731781f,0.4254762828350067f,1.4177906513214111f,0.9060602188110352f,-2.047635793685913f,-0.610949695110321f,-4.190510272979736f,-0.26547297835350037f,0.17560508847236633f,0.4241798222064972f,-0.07467690110206604f,-3.596113681793213f,0.9893742203712463f,1.3326054811477661f},
Lightvalve 65:a2d7c63419c2 236 };
Lightvalve 65:a2d7c63419c2 237
Lightvalve 169:645207e160ca 238 const float h3[16][16] = {
Lightvalve 251:4b0e0b1ff297 239 {0.37046024203300476f,0.04798617959022522f,0.392690509557724f,-0.20555028319358826f,-0.04246211051940918f,-0.37363746762275696f,0.015186339616775513f,-0.061466217041015625f,-0.13781791925430298f,-0.11356508731842041f,0.30632129311561584f,-0.03401225805282593f,0.14026448130607605f,-0.41080594062805176f,-0.021881461143493652f,-0.1677863597869873f},
Lightvalve 252:179a8c8791dc 240 {-0.21526779234409332f,-1.1129813194274902f,-0.12068668007850647f,0.09446603804826736f,-0.015299053862690926f,0.23865419626235962f,-0.16593411564826965f,-1.1282691955566406f,-0.2572314739227295f,0.025441110134124756f,0.08321377635002136f,-0.22488360106945038f,0.10835165530443192f,0.01774216815829277f,-0.05000334233045578f,-0.3466002941131592f},
Lightvalve 252:179a8c8791dc 241 {-0.08673667907714844f,0.23056277632713318f,0.42949649691581726f,-0.3032870888710022f,0.4159357249736786f,0.03299093246459961f,-0.035138070583343506f,0.00458759069442749f,-0.2919609248638153f,0.13052961230278015f,-0.09829097986221313f,-0.24485144019126892f,0.3602481186389923f,0.3898719251155853f,-0.0538104772567749f,0.07017943263053894f},
Lightvalve 252:179a8c8791dc 242 {0.2464427649974823f,0.39936527609825134f,0.21032699942588806f,-0.2072734385728836f,0.19923558831214905f,0.2847035825252533f,-0.22418056428432465f,-0.43023446202278137f,-0.21198244392871857f,0.23950514197349548f,-0.3551802337169647f,0.11705091595649719f,0.18541833758354187f,-0.023748815059661865f,0.1462016999721527f,-0.08909019827842712f},
Lightvalve 252:179a8c8791dc 243 {0.34622398018836975f,-1.2129888534545898f,-0.20742447674274445f,-0.032929010689258575f,0.08672287315130234f,-0.08068259805440903f,0.45541882514953613f,-2.018517017364502f,0.10944971442222595f,0.04921719431877136f,-0.20607680082321167f,0.21179592609405518f,0.4078998863697052f,0.09382607787847519f,-0.6051720380783081f,-0.19378763437271118f},
Lightvalve 252:179a8c8791dc 244 {0.07416597008705139f,-0.1509564220905304f,-0.3286089599132538f,0.2575420141220093f,-0.32409292459487915f,-0.04360950365662575f,-0.05032980069518089f,0.03308649733662605f,-0.14956387877464294f,0.06287035346031189f,-0.18942220509052277f,-0.22120867669582367f,0.36484384536743164f,0.34050697088241577f,0.033385224640369415f,0.028106003999710083f},
Lightvalve 252:179a8c8791dc 245 {-0.24521887302398682f,0.3061828017234802f,-0.09969070553779602f,-0.835078239440918f,-1.1966766119003296f,0.7502152919769287f,-0.6856613159179688f,0.31733009219169617f,0.16320112347602844f,-0.08684051036834717f,-0.3433442711830139f,-0.3093454837799072f,-0.3787883520126343f,-0.6157321929931641f,0.27898073196411133f,-0.3274548649787903f},
Lightvalve 252:179a8c8791dc 246 {-0.037380099296569824f,-0.053829364478588104f,-0.23550507426261902f,-0.32296717166900635f,0.1419943869113922f,0.3212539851665497f,-0.5291021466255188f,-0.3196764588356018f,0.23772326111793518f,-0.15706628561019897f,-0.03474658727645874f,-0.42883461713790894f,-0.43303486704826355f,-0.46498894691467285f,0.23065359890460968f,-0.06882688403129578f},
Lightvalve 252:179a8c8791dc 247 {0.22414228320121765f,0.6167948842048645f,0.17398694157600403f,-1.2930227518081665f,-0.07601547241210938f,1.1093199253082275f,-0.4207235872745514f,0.2633194625377655f,-0.16447538137435913f,0.31832489371299744f,-0.01876583695411682f,0.425087034702301f,-1.1076250076293945f,0.1036156564950943f,-0.3688891530036926f,-0.37546294927597046f},
Lightvalve 252:179a8c8791dc 248 {-0.37478217482566833f,-0.10878506302833557f,-0.33313462138175964f,0.08732470870018005f,-0.4272407591342926f,0.42993465065956116f,-0.3373659551143646f,-0.1347610354423523f,0.27883973717689514f,0.15846404433250427f,0.23034706711769104f,0.2679099142551422f,0.26554760336875916f,-0.39576658606529236f,0.27645888924598694f,0.3027357757091522f},
Lightvalve 252:179a8c8791dc 249 {0.01714116334915161f,-0.41286614537239075f,-0.30441972613334656f,0.09042176604270935f,0.305792897939682f,0.25930657982826233f,-0.0077957212924957275f,0.2839451730251312f,0.06527414917945862f,0.30544695258140564f,-0.3269312381744385f,-0.23118992149829865f,-0.36912286281585693f,0.18185165524482727f,0.06934896111488342f,0.20831605792045593f},
Lightvalve 252:179a8c8791dc 250 {-0.16316500306129456f,0.09996911883354187f,-0.11835616827011108f,0.22180476784706116f,0.2730047404766083f,-0.39772462844848633f,0.3122676908969879f,0.025347262620925903f,-0.0864812433719635f,-0.2908649444580078f,0.05068853497505188f,-0.23324716091156006f,-0.27006956934928894f,0.3646886646747589f,-0.22474992275238037f,0.03918728232383728f},
Lightvalve 252:179a8c8791dc 251 {-0.2255314439535141f,0.0861915647983551f,-0.37378355860710144f,0.09740594029426575f,-0.17835164070129395f,-0.28151828050613403f,0.08090576529502869f,0.27042338252067566f,0.10048076510429382f,0.3275263011455536f,0.3301452696323395f,-0.33213010430336f,0.18207183480262756f,0.224577397108078f,-0.2358287274837494f,0.16939416527748108f},
Lightvalve 252:179a8c8791dc 252 {0.18313375115394592f,3.035151958465576f,0.15208670496940613f,-2.073854684829712f,0.9186175465583801f,0.35607829689979553f,-1.5632147789001465f,-0.4666653871536255f,-0.15266752243041992f,-0.3787156641483307f,-0.23417361080646515f,0.41418468952178955f,-2.05690336227417f,-2.3053674697875977f,-0.29849734902381897f,-0.3566729426383972f},
Lightvalve 252:179a8c8791dc 253 {0.19047978520393372f,0.24750559031963348f,-0.1217426061630249f,0.5728633403778076f,-0.08453264087438583f,0.24713492393493652f,0.41920486092567444f,0.4218023419380188f,-0.27937382459640503f,0.06346243619918823f,-0.3896019458770752f,0.36481839418411255f,0.7093786597251892f,-0.09001748263835907f,-0.4630468785762787f,-0.3792039752006531f},
Lightvalve 252:179a8c8791dc 254 {-0.3329339325428009f,-0.4124312996864319f,-0.00382271409034729f,0.05026526004076004f,-0.49761754274368286f,0.3193882703781128f,0.4324275553226471f,-0.7607815861701965f,-0.3335152566432953f,0.10636988282203674f,0.262630432844162f,-0.17788830399513245f,0.3869096338748932f,0.1590534746646881f,-0.16216763854026794f,-0.017990201711654663f},
Lightvalve 66:a8e6799dbce3 255 };
Lightvalve 65:a2d7c63419c2 256
Lightvalve 251:4b0e0b1ff297 257 const float hout[16] = { 0.28352612257003784f,7.027318000793457f,0.20054447650909424f,-1.0949580669403076f,-0.5842559933662415f,0.2186238020658493f,-1.2922117710113525f,2.97406268119812f,0.3234240412712097f,-0.5405333638191223f,-0.04778480529785156f,0.04107429087162018f,-1.542391300201416f,-0.6290411949157715f,0.531202495098114f,-0.49622899293899536f };
Lightvalve 251:4b0e0b1ff297 258
Lightvalve 251:4b0e0b1ff297 259 const float b1[16] = { -0.023235002532601357f,1.8784174919128418f,1.2490769624710083f,1.8262481689453125f,-0.7069734334945679f,0.3653741180896759f,-2.117748498916626f,0.10555768758058548f,-0.2616904079914093f,0.9018311500549316f,1.0800175666809082f,-2.6183178424835205f,-1.0385421514511108f,-0.8662141561508179f,-0.949005663394928f,0.9264617562294006f };
Lightvalve 251:4b0e0b1ff297 260
Lightvalve 251:4b0e0b1ff297 261 const float b2[16] = { -1.3552442789077759f,0.2431674301624298f,0.09128525853157043f,-1.9293867349624634f,0.07398243993520737f,1.9222168922424316f,1.02919340133667f,0.9952839016914368f,1.659902811050415f,-1.3622498512268066f,0.16149760782718658f,-0.7032756209373474f,-0.3943362534046173f,0.033961519598960876f,0.5282865166664124f,1.0235947370529175f };
Lightvalve 251:4b0e0b1ff297 262
Lightvalve 251:4b0e0b1ff297 263 const float b3[16] = { -1.2821701765060425f,0.5424966812133789f,-2.4415693283081055f,-0.10150174796581268f,1.364449381828308f,1.4641811847686768f,0.3352581560611725f,0.6453125476837158f,-0.42281195521354675f,-0.8339861035346985f,-1.7887413501739502f,0.39875528216362f,-1.0230937004089355f,-0.40120580792427063f,-0.31424298882484436f,-0.0870584174990654f };
Lightvalve 251:4b0e0b1ff297 264
Lightvalve 251:4b0e0b1ff297 265 const float bout[1] = { 1.0808764696121216f };
Lightvalve 225:278b48b86f27 266
Lightvalve 225:278b48b86f27 267 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 268
Lightvalve 170:42c938a40313 269 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 270 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 271
Lightvalve 170:42c938a40313 272 //Critic Networks
Lightvalve 173:68c7914679ec 273 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 274 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 275 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 276 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 277 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 278 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 279
Lightvalve 170:42c938a40313 280 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 281 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 282 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 283 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 284 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 285 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 286 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 287
Lightvalve 170:42c938a40313 288 //Actor Networks
Lightvalve 173:68c7914679ec 289 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 290 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 291 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 292 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 293 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 294 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 295
Lightvalve 170:42c938a40313 296 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 297 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 298 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 299 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 300 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 301 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 302 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 303
Lightvalve 87:471334725012 304 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 305 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 306
Lightvalve 179:d5377766d7ea 307 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 308 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 309 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 310 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 311 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 312
Lightvalve 170:42c938a40313 313 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 314 {
Lightvalve 173:68c7914679ec 315 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 316 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 317 float output = 0.0f;
Lightvalve 173:68c7914679ec 318 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 319 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 320 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 321 }
Lightvalve 173:68c7914679ec 322 //ReLU
Lightvalve 173:68c7914679ec 323 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 324 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 325 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 326 output1[index2] = 0;
Lightvalve 173:68c7914679ec 327 }
Lightvalve 173:68c7914679ec 328 //tanh
Lightvalve 173:68c7914679ec 329 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 330 }
Lightvalve 173:68c7914679ec 331 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 332 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 333 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 334 }
Lightvalve 173:68c7914679ec 335 //ReLU
Lightvalve 173:68c7914679ec 336 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 337 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 338 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 339 output2[index2] = 0;
Lightvalve 173:68c7914679ec 340 }
Lightvalve 173:68c7914679ec 341 //tanh
Lightvalve 173:68c7914679ec 342 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 343 }
Lightvalve 170:42c938a40313 344 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 345 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 346 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 347 }
Lightvalve 173:68c7914679ec 348 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 349 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 350 }
Lightvalve 170:42c938a40313 351 return output;
Lightvalve 170:42c938a40313 352 }
Lightvalve 170:42c938a40313 353
Lightvalve 170:42c938a40313 354
Lightvalve 170:42c938a40313 355 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 356 {
Lightvalve 173:68c7914679ec 357 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 358 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 359 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 360
Lightvalve 173:68c7914679ec 361 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 362 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 363 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 364 }
Lightvalve 178:1074553d2f6f 365 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 366 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 367 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 368 output1[index2] = 0;
Lightvalve 173:68c7914679ec 369 }
Lightvalve 173:68c7914679ec 370 }
Lightvalve 173:68c7914679ec 371 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 372 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 373 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 374 }
Lightvalve 178:1074553d2f6f 375 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 376 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 377 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 378 output2[index2] = 0;
Lightvalve 173:68c7914679ec 379 }
Lightvalve 173:68c7914679ec 380 }
Lightvalve 173:68c7914679ec 381 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 382 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 383 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 384 }
Lightvalve 178:1074553d2f6f 385 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 386 }
Lightvalve 178:1074553d2f6f 387
Lightvalve 178:1074553d2f6f 388 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 389 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 390 //Softplus
Lightvalve 173:68c7914679ec 391 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 392 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 393 logging2 = mean;
Lightvalve 179:d5377766d7ea 394 logging4 = deviation;
Lightvalve 173:68c7914679ec 395 }
Lightvalve 173:68c7914679ec 396
Lightvalve 173:68c7914679ec 397
Lightvalve 173:68c7914679ec 398 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 399 {
Lightvalve 173:68c7914679ec 400 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 401 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 402 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 403
Lightvalve 173:68c7914679ec 404 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 405 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 406 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 407 }
Lightvalve 170:42c938a40313 408 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 409 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 410 output1[index2] = 0;
Lightvalve 170:42c938a40313 411 }
Lightvalve 170:42c938a40313 412 }
Lightvalve 173:68c7914679ec 413 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 414 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 415 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 416 }
Lightvalve 173:68c7914679ec 417 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 418 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 419 output2[index2] = 0;
Lightvalve 170:42c938a40313 420 }
Lightvalve 170:42c938a40313 421 }
Lightvalve 170:42c938a40313 422 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 423 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 424 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 425 }
Lightvalve 170:42c938a40313 426 }
Lightvalve 173:68c7914679ec 427 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 428 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 429 //Softplus
Lightvalve 173:68c7914679ec 430 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 431 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 432 }
Lightvalve 170:42c938a40313 433
Lightvalve 170:42c938a40313 434 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 435 {
Lightvalve 170:42c938a40313 436 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 437 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 438 return grad_mean;
Lightvalve 170:42c938a40313 439 }
Lightvalve 170:42c938a40313 440
Lightvalve 170:42c938a40313 441 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 442 {
Lightvalve 170:42c938a40313 443 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 444 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 445 return grad_dev;
Lightvalve 170:42c938a40313 446 }
Lightvalve 170:42c938a40313 447
Lightvalve 173:68c7914679ec 448 float ReLU(float x)
Lightvalve 173:68c7914679ec 449 {
Lightvalve 173:68c7914679ec 450 if (x >= 0) {
Lightvalve 173:68c7914679ec 451 return x;
Lightvalve 173:68c7914679ec 452 } else {
Lightvalve 173:68c7914679ec 453 return 0.0f;
Lightvalve 173:68c7914679ec 454 }
Lightvalve 173:68c7914679ec 455 }
Lightvalve 173:68c7914679ec 456
Lightvalve 170:42c938a40313 457 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 458 {
Lightvalve 173:68c7914679ec 459 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 460 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 461 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 462 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 463 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 464 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 465 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 466 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 467 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 468 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 469 }
Lightvalve 173:68c7914679ec 470 }
Lightvalve 170:42c938a40313 471 }
Lightvalve 177:8e9cf31d63f4 472 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 473 }
Lightvalve 170:42c938a40313 474 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 475 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 476 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 477 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 478 }
Lightvalve 173:68c7914679ec 479 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 480 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 481 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 482 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 483 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 484 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 485 }
Lightvalve 173:68c7914679ec 486 }
Lightvalve 173:68c7914679ec 487 }
Lightvalve 177:8e9cf31d63f4 488 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 489 }
Lightvalve 173:68c7914679ec 490 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 491 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 492 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 493 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 494 }
Lightvalve 173:68c7914679ec 495
Lightvalve 175:2f7289dbd488 496
Lightvalve 173:68c7914679ec 497 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 498 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 499 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 500 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 501 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 502 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 503 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 504 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 505 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 506 }
Lightvalve 173:68c7914679ec 507 }
Lightvalve 177:8e9cf31d63f4 508 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 509 }
Lightvalve 173:68c7914679ec 510 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 511 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 512 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 513 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 514 }
Lightvalve 173:68c7914679ec 515 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 516 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 517 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 518 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 519 }
Lightvalve 177:8e9cf31d63f4 520 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 521 }
Lightvalve 173:68c7914679ec 522 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 523 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 524 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 525 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 526 }
Lightvalve 173:68c7914679ec 527
Lightvalve 173:68c7914679ec 528 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 529 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 530 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 531 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 532 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 533 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 534 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 535 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 536 }
Lightvalve 177:8e9cf31d63f4 537 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 538 }
Lightvalve 173:68c7914679ec 539 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 540 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 541 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 542 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 543 }
Lightvalve 173:68c7914679ec 544 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 545 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 546 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 547 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 548 }
Lightvalve 173:68c7914679ec 549 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 550 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 551 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 552 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 553 }
Lightvalve 173:68c7914679ec 554
Lightvalve 173:68c7914679ec 555 // Simultaneous Update
Lightvalve 173:68c7914679ec 556 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 557 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 558 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 559 }
Lightvalve 179:d5377766d7ea 560 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 561 }
Lightvalve 173:68c7914679ec 562 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 563 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 564 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 565 }
Lightvalve 179:d5377766d7ea 566 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 567 }
Lightvalve 170:42c938a40313 568 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 569 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 570 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 571 }
Lightvalve 179:d5377766d7ea 572 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 573 }
Lightvalve 170:42c938a40313 574 }
Lightvalve 170:42c938a40313 575
Lightvalve 173:68c7914679ec 576 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 577 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 578 {
Lightvalve 218:066030f7951f 579
Lightvalve 173:68c7914679ec 580
Lightvalve 173:68c7914679ec 581 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 582 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 583
Lightvalve 173:68c7914679ec 584 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 585 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 586 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 587 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 588 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 589 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 590 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 591 } else {
Lightvalve 173:68c7914679ec 592 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 593 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 594 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 595 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 596 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 597 }
Lightvalve 171:bfc1fd2629d8 598 }
Lightvalve 170:42c938a40313 599 }
Lightvalve 170:42c938a40313 600 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 601 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 602 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 603 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 604
Lightvalve 173:68c7914679ec 605 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 606 }
Lightvalve 170:42c938a40313 607 }
Lightvalve 176:589ea3edcf3c 608 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 609 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 610 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 611 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 612 }
Lightvalve 173:68c7914679ec 613
Lightvalve 173:68c7914679ec 614 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 615 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 616 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 617 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 618 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 619 } else {
Lightvalve 173:68c7914679ec 620 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 621 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 622 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 623 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 624 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 625 }
Lightvalve 171:bfc1fd2629d8 626 }
Lightvalve 170:42c938a40313 627 }
Lightvalve 170:42c938a40313 628 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 629 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 630 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 631 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 632
Lightvalve 173:68c7914679ec 633 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 634 }
Lightvalve 170:42c938a40313 635 }
Lightvalve 176:589ea3edcf3c 636 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 637 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 638 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 639 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 640 }
Lightvalve 170:42c938a40313 641
Lightvalve 173:68c7914679ec 642 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 643 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 644
Lightvalve 173:68c7914679ec 645 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 646 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 647 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 648 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 649 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 650 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 651 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 652 } else {
Lightvalve 173:68c7914679ec 653 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 654 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 655 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 656 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 657 }
Lightvalve 170:42c938a40313 658 }
Lightvalve 173:68c7914679ec 659
Lightvalve 170:42c938a40313 660 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 661 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 662 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 663 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 664
Lightvalve 173:68c7914679ec 665 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 666 }
Lightvalve 170:42c938a40313 667 }
Lightvalve 176:589ea3edcf3c 668 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 669 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 670 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 671 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 672 }
Lightvalve 173:68c7914679ec 673
Lightvalve 173:68c7914679ec 674 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 675 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 676 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 677 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 678 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 679 } else {
Lightvalve 170:42c938a40313 680
Lightvalve 173:68c7914679ec 681 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 682 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 683 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 684 }
Lightvalve 173:68c7914679ec 685 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 686 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 687 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 688 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 689
Lightvalve 173:68c7914679ec 690 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 691 }
Lightvalve 170:42c938a40313 692 }
Lightvalve 176:589ea3edcf3c 693 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 694 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 695 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 696 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 697 }
Lightvalve 173:68c7914679ec 698
Lightvalve 173:68c7914679ec 699 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 700 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 701
Lightvalve 173:68c7914679ec 702 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 703 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 704 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 705 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 706 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 707 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 708 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 709 } else {
Lightvalve 173:68c7914679ec 710 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 711 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 712 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 713 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 714 }
Lightvalve 173:68c7914679ec 715 }
Lightvalve 173:68c7914679ec 716 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 717 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 718 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 719 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 720
Lightvalve 173:68c7914679ec 721 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 722 }
Lightvalve 173:68c7914679ec 723 }
Lightvalve 176:589ea3edcf3c 724 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 725 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 726 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 727 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 728 }
Lightvalve 173:68c7914679ec 729
Lightvalve 173:68c7914679ec 730 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 731 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 732 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 733 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 734 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 735 } else {
Lightvalve 173:68c7914679ec 736
Lightvalve 177:8e9cf31d63f4 737 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 738 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 739
Lightvalve 173:68c7914679ec 740 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 741 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 742 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 743 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 744
Lightvalve 173:68c7914679ec 745 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 746 }
Lightvalve 173:68c7914679ec 747 }
Lightvalve 176:589ea3edcf3c 748 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 749 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 750 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 751 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 752 }
Lightvalve 177:8e9cf31d63f4 753
Lightvalve 175:2f7289dbd488 754 // Simultaneous Update
Lightvalve 175:2f7289dbd488 755 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 756 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 757 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 758 }
Lightvalve 179:d5377766d7ea 759 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 760 }
Lightvalve 175:2f7289dbd488 761 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 762 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 763 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 764 }
Lightvalve 179:d5377766d7ea 765 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 766 }
Lightvalve 175:2f7289dbd488 767 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 768 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 769 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 770 }
Lightvalve 179:d5377766d7ea 771 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 772 }
Lightvalve 170:42c938a40313 773 }
Lightvalve 170:42c938a40313 774
Lightvalve 170:42c938a40313 775 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 776 {
Lightvalve 170:42c938a40313 777 //Box muller method
Lightvalve 170:42c938a40313 778 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 779 static int n2_cached = 0;
Lightvalve 170:42c938a40313 780 if (!n2_cached) {
Lightvalve 170:42c938a40313 781 double x, y, r;
Lightvalve 170:42c938a40313 782 do {
Lightvalve 170:42c938a40313 783 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 784 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 785
Lightvalve 170:42c938a40313 786 r = x*x + y*y;
Lightvalve 170:42c938a40313 787 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 788 {
Lightvalve 170:42c938a40313 789 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 790 double n1 = x*d;
Lightvalve 170:42c938a40313 791 n2 = y*d;
Lightvalve 170:42c938a40313 792 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 793 n2_cached = 1;
Lightvalve 170:42c938a40313 794 return result;
Lightvalve 170:42c938a40313 795 }
Lightvalve 170:42c938a40313 796 } else {
Lightvalve 170:42c938a40313 797 n2_cached = 0;
Lightvalve 170:42c938a40313 798 return n2*stddev + mean;
Lightvalve 170:42c938a40313 799 }
Lightvalve 170:42c938a40313 800 }
Lightvalve 170:42c938a40313 801
Lightvalve 179:d5377766d7ea 802 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 803 {
Lightvalve 179:d5377766d7ea 804 float add = 0.0f;
Lightvalve 179:d5377766d7ea 805 float result;
Lightvalve 218:066030f7951f 806
Lightvalve 218:066030f7951f 807 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 808 add += x[i];
Lightvalve 179:d5377766d7ea 809 }
Lightvalve 179:d5377766d7ea 810 result = (float) add/size;
Lightvalve 179:d5377766d7ea 811 return result;
Lightvalve 179:d5377766d7ea 812 }
Lightvalve 179:d5377766d7ea 813 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 814 {
Lightvalve 179:d5377766d7ea 815 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 816 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 817
Lightvalve 218:066030f7951f 818 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 819 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 820 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 821 }
Lightvalve 179:d5377766d7ea 822 return resultDeb;
Lightvalve 218:066030f7951f 823 }
Lightvalve 218:066030f7951f 824
Lightvalve 173:68c7914679ec 825
Lightvalve 170:42c938a40313 826 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 827 {
Lightvalve 173:68c7914679ec 828 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 829 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 830 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 831 }
Lightvalve 170:42c938a40313 832 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 833 }
Lightvalve 173:68c7914679ec 834 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 835 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 836 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 837 }
Lightvalve 173:68c7914679ec 838 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 839 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 840 }
Lightvalve 173:68c7914679ec 841 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 842 }
Lightvalve 170:42c938a40313 843 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 844 {
Lightvalve 173:68c7914679ec 845 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 846 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 847 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 848 }
Lightvalve 170:42c938a40313 849 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 850 }
Lightvalve 173:68c7914679ec 851 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 852 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 853 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 854 }
Lightvalve 170:42c938a40313 855 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 856 }
Lightvalve 173:68c7914679ec 857 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 858 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 859 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 860 }
Lightvalve 173:68c7914679ec 861 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 862 }
Lightvalve 170:42c938a40313 863 }
Lightvalve 170:42c938a40313 864
Lightvalve 170:42c938a40313 865
GiJeongKim 0:51c43836c1d7 866 int main()
GiJeongKim 0:51c43836c1d7 867 {
Lightvalve 66:a8e6799dbce3 868
Lightvalve 65:a2d7c63419c2 869 HAL_Init();
Lightvalve 65:a2d7c63419c2 870 SystemClock_Config();
Lightvalve 169:645207e160ca 871
jobuuu 6:df07d3491e3a 872 /*********************************
jobuuu 1:e04e563be5ce 873 *** Initialization
jobuuu 6:df07d3491e3a 874 *********************************/
Lightvalve 69:3995ffeaa786 875 LED = 0;
Lightvalve 61:bc8c8270f0ab 876 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 877
GiJeongKim 0:51c43836c1d7 878 // i2c init
Lightvalve 8:5d2eebdad025 879 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 880 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 881 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 882 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 883 make_delay();
jobuuu 2:a1c0a37df760 884
GiJeongKim 0:51c43836c1d7 885 // // spi init
Lightvalve 170:42c938a40313 886 eeprom.format(8,3);
Lightvalve 170:42c938a40313 887 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 888 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 889 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 890 make_delay();
Lightvalve 21:e5f1a43ea6f9 891
Lightvalve 16:903b5a4433b4 892 //rom
Lightvalve 19:23b7c1ad8683 893 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 894 make_delay();
Lightvalve 13:747daba9cf59 895
GiJeongKim 0:51c43836c1d7 896 // ADC init
jobuuu 5:a4319f79457b 897 Init_ADC();
Lightvalve 11:82d8768d7351 898 make_delay();
jobuuu 2:a1c0a37df760 899
GiJeongKim 0:51c43836c1d7 900 // Pwm init
GiJeongKim 0:51c43836c1d7 901 Init_PWM();
GiJeongKim 0:51c43836c1d7 902 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 903 make_delay();
Lightvalve 13:747daba9cf59 904
Lightvalve 11:82d8768d7351 905 // TMR3 init
Lightvalve 11:82d8768d7351 906 Init_TMR3();
Lightvalve 11:82d8768d7351 907 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 908 make_delay();
Lightvalve 21:e5f1a43ea6f9 909
Lightvalve 50:3c630b5eba9f 910 // TMR2 init
Lightvalve 56:6f50d9d3bfee 911 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 912 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 913 // make_delay();
Lightvalve 21:e5f1a43ea6f9 914
GiJeongKim 0:51c43836c1d7 915 // CAN
jobuuu 2:a1c0a37df760 916 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 917 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 918 make_delay();
Lightvalve 34:bb2ca2fc2a8e 919
Lightvalve 23:59218d4a256d 920 //Timer priority
Lightvalve 23:59218d4a256d 921 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 922 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 923 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 924
Lightvalve 23:59218d4a256d 925 //can.reset();
Lightvalve 19:23b7c1ad8683 926 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 927
GiJeongKim 0:51c43836c1d7 928 // spi _ enc
GiJeongKim 0:51c43836c1d7 929 spi_enc_set_init();
Lightvalve 11:82d8768d7351 930 make_delay();
Lightvalve 13:747daba9cf59 931
Lightvalve 11:82d8768d7351 932 //DAC init
Lightvalve 58:2eade98630e2 933 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 934 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 935 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 936 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 937 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 938 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 939 }
Lightvalve 11:82d8768d7351 940 make_delay();
Lightvalve 13:747daba9cf59 941
Lightvalve 19:23b7c1ad8683 942 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 943 if(i%2==0)
Lightvalve 38:118df027d851 944 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 945 else
Lightvalve 38:118df027d851 946 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 947 }
Lightvalve 169:645207e160ca 948
Lightvalve 173:68c7914679ec 949 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 950 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 951 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 952 }
Lightvalve 179:d5377766d7ea 953 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 954 }
Lightvalve 173:68c7914679ec 955 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 956 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 957 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 958 }
Lightvalve 179:d5377766d7ea 959 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 960 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 961 }
Lightvalve 179:d5377766d7ea 962 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 963
Lightvalve 173:68c7914679ec 964 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 965 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 966 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 967 }
Lightvalve 179:d5377766d7ea 968 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 969 }
Lightvalve 173:68c7914679ec 970 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 971 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 972 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 973 }
Lightvalve 179:d5377766d7ea 974 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 975 }
Lightvalve 170:42c938a40313 976 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 977 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 978 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 979 }
Lightvalve 179:d5377766d7ea 980 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 981 }
Lightvalve 171:bfc1fd2629d8 982
Lightvalve 170:42c938a40313 983 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 984 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 985
jobuuu 6:df07d3491e3a 986 /************************************
jobuuu 1:e04e563be5ce 987 *** Program is operating!
jobuuu 6:df07d3491e3a 988 *************************************/
GiJeongKim 0:51c43836c1d7 989 while(1) {
Lightvalve 169:645207e160ca 990
Lightvalve 171:bfc1fd2629d8 991 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 992 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 993 // 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 994 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 995 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 996 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 997 // }
Lightvalve 169:645207e160ca 998
Lightvalve 171:bfc1fd2629d8 999
Lightvalve 171:bfc1fd2629d8 1000 //i2c
Lightvalve 180:02be1711ee0b 1001 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 1002 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 1003
Lightvalve 177:8e9cf31d63f4 1004 //timer_while ++;
Lightvalve 169:645207e160ca 1005
Lightvalve 170:42c938a40313 1006 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1007
Lightvalve 73:f80dc3970c99 1008 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1009 LED = 0;
Lightvalve 73:f80dc3970c99 1010 }
Lightvalve 169:645207e160ca 1011
Lightvalve 73:f80dc3970c99 1012 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1013
Lightvalve 162:9dd4f35e9de8 1014 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1015 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1016 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1017 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1018 }
Lightvalve 162:9dd4f35e9de8 1019
Lightvalve 162:9dd4f35e9de8 1020 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1021 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1022 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1023 }
Lightvalve 162:9dd4f35e9de8 1024 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1025 ind = ind + 1;
Lightvalve 169:645207e160ca 1026
Lightvalve 162:9dd4f35e9de8 1027 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1028 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1029 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1030 // }
Lightvalve 162:9dd4f35e9de8 1031
Lightvalve 162:9dd4f35e9de8 1032 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1033 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1034 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1035 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1036 }
Lightvalve 208:408f9f15c486 1037 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1038 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1039 ind = ind + 1;
Lightvalve 238:e4bda4d06a7d 1040 for(int i=0; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1041 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1042 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1043 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1044 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1045 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1046 }
Lightvalve 169:645207e160ca 1047
Lightvalve 112:8dcb1600cb90 1048 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1049 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1050 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1051 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1052
Lightvalve 112:8dcb1600cb90 1053 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1054 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1055 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1056 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1057 }
Lightvalve 66:a8e6799dbce3 1058 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1059 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1060 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1061 }
Lightvalve 66:a8e6799dbce3 1062 }
Lightvalve 65:a2d7c63419c2 1063
Lightvalve 112:8dcb1600cb90 1064 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1065 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1066 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1067 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1068 }
Lightvalve 66:a8e6799dbce3 1069 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1070 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1071 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1072 }
Lightvalve 66:a8e6799dbce3 1073 }
Lightvalve 65:a2d7c63419c2 1074
Lightvalve 112:8dcb1600cb90 1075 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1076 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1077 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1078 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1079 }
Lightvalve 66:a8e6799dbce3 1080 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1081 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1082 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1083 }
Lightvalve 65:a2d7c63419c2 1084 }
Lightvalve 66:a8e6799dbce3 1085
Lightvalve 66:a8e6799dbce3 1086 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1087 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1088 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1089 }
Lightvalve 66:a8e6799dbce3 1090 output = output + bout[index2];
Lightvalve 169:645207e160ca 1091
Lightvalve 66:a8e6799dbce3 1092 }
Lightvalve 73:f80dc3970c99 1093 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1094 output_normalized = output;
Lightvalve 68:328e1be06f5d 1095 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1096
Lightvalve 66:a8e6799dbce3 1097 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1098 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1099 } else {
Lightvalve 66:a8e6799dbce3 1100 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1101 }
Lightvalve 87:471334725012 1102
Lightvalve 169:645207e160ca 1103
Lightvalve 69:3995ffeaa786 1104 if(LED==1) {
Lightvalve 69:3995ffeaa786 1105 LED=0;
Lightvalve 69:3995ffeaa786 1106 } else
Lightvalve 69:3995ffeaa786 1107 LED = 1;
Lightvalve 169:645207e160ca 1108
Lightvalve 65:a2d7c63419c2 1109 }
Lightvalve 171:bfc1fd2629d8 1110
Lightvalve 171:bfc1fd2629d8 1111
Lightvalve 170:42c938a40313 1112 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1113 switch (Update_Case) {
Lightvalve 170:42c938a40313 1114 case 0: {
Lightvalve 170:42c938a40313 1115 break;
Lightvalve 170:42c938a40313 1116 }
Lightvalve 170:42c938a40313 1117 case 1: {
Lightvalve 170:42c938a40313 1118 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1119 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1120 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1121 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1122 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1123 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1124 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1125 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1126 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1127 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1128 }
Lightvalve 173:68c7914679ec 1129 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1130 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1131 }
Lightvalve 175:2f7289dbd488 1132 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1133
Lightvalve 175:2f7289dbd488 1134 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 1135 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1136 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 1137 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1138 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1139 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1140 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1141 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1142 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1143 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1144 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1145 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1146 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1147 }
Lightvalve 179:d5377766d7ea 1148 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1149 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1150 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1151 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1152 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1153 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1154 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1155 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1156 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1157 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1158 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1159 } else {
Lightvalve 175:2f7289dbd488 1160 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1161 }
Lightvalve 175:2f7289dbd488 1162 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1163 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1164 }
Lightvalve 170:42c938a40313 1165 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1166 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1167 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1168 }
Lightvalve 170:42c938a40313 1169 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1170
Lightvalve 171:bfc1fd2629d8 1171
Lightvalve 170:42c938a40313 1172 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1173 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1174 //Update Networks
Lightvalve 170:42c938a40313 1175 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1176 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1177 }
Lightvalve 170:42c938a40313 1178 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1179 Update_Case = 0;
Lightvalve 170:42c938a40313 1180 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1181
Lightvalve 170:42c938a40313 1182 break;
Lightvalve 170:42c938a40313 1183 }
Lightvalve 170:42c938a40313 1184 case 2: {
Lightvalve 170:42c938a40313 1185 //Network apply to next Network
Lightvalve 170:42c938a40313 1186 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1187 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1188 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1189 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1190 Update_Case = 0;
Lightvalve 170:42c938a40313 1191 break;
Lightvalve 170:42c938a40313 1192 }
Lightvalve 169:645207e160ca 1193
Lightvalve 170:42c938a40313 1194 }
GiJeongKim 0:51c43836c1d7 1195 }
jobuuu 1:e04e563be5ce 1196 }
jobuuu 1:e04e563be5ce 1197
Lightvalve 33:91b17819ec30 1198 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1199 {
Lightvalve 14:8e7590227d22 1200
Lightvalve 13:747daba9cf59 1201 int i = 0;
Lightvalve 48:889798ff9329 1202 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1203 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1204 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 1205 if(i==0) {
Lightvalve 50:3c630b5eba9f 1206 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
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/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 1210 }
Lightvalve 14:8e7590227d22 1211 } else {
Lightvalve 50:3c630b5eba9f 1212 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1213 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1214 } else {
Lightvalve 57:f4819de54e7a 1215 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 1216 }
Lightvalve 13:747daba9cf59 1217 }
Lightvalve 13:747daba9cf59 1218 break;
Lightvalve 13:747daba9cf59 1219 }
Lightvalve 13:747daba9cf59 1220 }
Lightvalve 14:8e7590227d22 1221 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1222 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1223 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1224 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1225 }
Lightvalve 36:a46e63505ed8 1226
Lightvalve 57:f4819de54e7a 1227 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1228 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1229
Lightvalve 13:747daba9cf59 1230 }
jobuuu 6:df07d3491e3a 1231
jobuuu 6:df07d3491e3a 1232
Lightvalve 30:8d561f16383b 1233 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1234 {
Lightvalve 13:747daba9cf59 1235 int i = 0;
Lightvalve 13:747daba9cf59 1236
Lightvalve 38:118df027d851 1237 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1238 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1239 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1240 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1241 }
Lightvalve 38:118df027d851 1242
Lightvalve 89:a7b45368ea0f 1243 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1244 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1245 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1246 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1247 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1248 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1249
Lightvalve 13:747daba9cf59 1250 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 1251
Lightvalve 18:b8adf1582ea3 1252 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1253 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 1254 if(i==0) {
Lightvalve 48:889798ff9329 1255 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 1256 } else {
Lightvalve 48:889798ff9329 1257 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 1258 }
Lightvalve 13:747daba9cf59 1259 break;
Lightvalve 13:747daba9cf59 1260 }
Lightvalve 13:747daba9cf59 1261 }
Lightvalve 59:f308b1656d9c 1262 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1263 }
Lightvalve 13:747daba9cf59 1264
Lightvalve 14:8e7590227d22 1265 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1266 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 1267 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1268 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1269 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1270 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1271 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1272 }; // duty
Lightvalve 67:c2812cf26c38 1273 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 1274 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1275 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1276 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1277 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1278 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1279 }; // mV
Lightvalve 13:747daba9cf59 1280
Lightvalve 30:8d561f16383b 1281 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1282 {
Lightvalve 30:8d561f16383b 1283 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1284 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1285 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1286 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1287 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1288 } else {
Lightvalve 13:747daba9cf59 1289 int idx = 0;
Lightvalve 13:747daba9cf59 1290 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1291 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1292 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1293 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1294 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1295 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1296 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1297 break;
Lightvalve 13:747daba9cf59 1298 }
Lightvalve 13:747daba9cf59 1299 }
Lightvalve 13:747daba9cf59 1300 }
Lightvalve 14:8e7590227d22 1301
Lightvalve 13:747daba9cf59 1302 return PWM_duty;
Lightvalve 13:747daba9cf59 1303 }
jobuuu 6:df07d3491e3a 1304
Lightvalve 57:f4819de54e7a 1305
Lightvalve 57:f4819de54e7a 1306
Lightvalve 57:f4819de54e7a 1307
Lightvalve 57:f4819de54e7a 1308
jobuuu 2:a1c0a37df760 1309 /*******************************************************************************
jobuuu 2:a1c0a37df760 1310 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1311 *******************************************************************************/
jobuuu 2:a1c0a37df760 1312
Lightvalve 51:b46bed7fec80 1313 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1314 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1315 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1316 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1317 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1318 {
Lightvalve 19:23b7c1ad8683 1319 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1320
Lightvalve 21:e5f1a43ea6f9 1321 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1322 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1323 ********************************************************/
Lightvalve 13:747daba9cf59 1324
Lightvalve 57:f4819de54e7a 1325 //Encoder
Lightvalve 57:f4819de54e7a 1326 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1327 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1328 }
Lightvalve 61:bc8c8270f0ab 1329
Lightvalve 61:bc8c8270f0ab 1330 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1331 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1332 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1333 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1334 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1335 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 253:0246366e0dcb 1336 torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1337
Lightvalve 67:c2812cf26c38 1338
Lightvalve 67:c2812cf26c38 1339 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1340 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1341 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1342 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1343 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1344
Lightvalve 17:1865016ca2e7 1345
Lightvalve 58:2eade98630e2 1346 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1347 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1348 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1349 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1350 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1351 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1352 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1353 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1354 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1355
Lightvalve 58:2eade98630e2 1356 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1357 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 1358 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1359 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 1360 }
Lightvalve 58:2eade98630e2 1361 }
Lightvalve 61:bc8c8270f0ab 1362
Lightvalve 58:2eade98630e2 1363 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1364 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1365 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1366 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1367 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1368 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1369 // 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 1370 //
Lightvalve 58:2eade98630e2 1371 //
Lightvalve 58:2eade98630e2 1372 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1373 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1374 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1375 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1376 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1377
Lightvalve 17:1865016ca2e7 1378
Lightvalve 21:e5f1a43ea6f9 1379 //Current
Lightvalve 21:e5f1a43ea6f9 1380 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1381 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1382 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1383 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1384 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1385 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1386 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1387
Lightvalve 57:f4819de54e7a 1388 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1389 }
Lightvalve 11:82d8768d7351 1390 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1391 }
Lightvalve 19:23b7c1ad8683 1392
Lightvalve 19:23b7c1ad8683 1393
Lightvalve 18:b8adf1582ea3 1394 int j =0;
Lightvalve 54:647072f5307a 1395 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1396 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1397 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1398 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 1399
Lightvalve 11:82d8768d7351 1400 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1401 {
Lightvalve 19:23b7c1ad8683 1402 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1403
Lightvalve 57:f4819de54e7a 1404 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1405 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1406 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1407 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1408 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1409 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1410 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1411 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1412 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1413 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1414 }
Lightvalve 50:3c630b5eba9f 1415
Lightvalve 50:3c630b5eba9f 1416 if(MODE_POS_FT_TRANS == 1) {
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 = 2;
Lightvalve 50:3c630b5eba9f 1422 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1423 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1424 cnt_trans++;
Lightvalve 46:2694daea349b 1425 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1426 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1427 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1428 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1429 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1430 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1431 } else {
Lightvalve 58:2eade98630e2 1432 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1433 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1434 }
Lightvalve 45:35fa6884d0c6 1435
Lightvalve 50:3c630b5eba9f 1436
Lightvalve 57:f4819de54e7a 1437 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1438 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1439
Lightvalve 57:f4819de54e7a 1440 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1441 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1442 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1443 } else {
Lightvalve 57:f4819de54e7a 1444 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1445 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1446 }
Lightvalve 56:6f50d9d3bfee 1447
Lightvalve 56:6f50d9d3bfee 1448
Lightvalve 56:6f50d9d3bfee 1449
Lightvalve 57:f4819de54e7a 1450 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1451
Lightvalve 57:f4819de54e7a 1452 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1453 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1454 break;
Lightvalve 13:747daba9cf59 1455 }
Lightvalve 14:8e7590227d22 1456
Lightvalve 14:8e7590227d22 1457 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1458 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1459 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1460 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1461
Lightvalve 14:8e7590227d22 1462 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1463 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1464 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1465
Lightvalve 253:0246366e0dcb 1466 TORQUE_VREF -= 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1467
Lightvalve 30:8d561f16383b 1468 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1469 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1470
Lightvalve 16:903b5a4433b4 1471 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1472 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1473 }
Lightvalve 13:747daba9cf59 1474 } else {
Lightvalve 58:2eade98630e2 1475 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1476 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1477 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1478 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1479
Lightvalve 170:42c938a40313 1480 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1481 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1482
Lightvalve 30:8d561f16383b 1483 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1484
Lightvalve 13:747daba9cf59 1485 }
Lightvalve 14:8e7590227d22 1486 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1487 break;
Lightvalve 19:23b7c1ad8683 1488 }
Lightvalve 14:8e7590227d22 1489
Lightvalve 50:3c630b5eba9f 1490 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1491 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1492 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1493 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1494 // }
Lightvalve 50:3c630b5eba9f 1495 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1496 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1497 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1498 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1499 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1500 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1501 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1502 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1503 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1504 // }
Lightvalve 50:3c630b5eba9f 1505 //
Lightvalve 50:3c630b5eba9f 1506 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1507 // 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 1508 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1509 //
Lightvalve 50:3c630b5eba9f 1510 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1511 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1512 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1513 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1514 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1515 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1516 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1517 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1518 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1519 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1520 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1521 //
Lightvalve 50:3c630b5eba9f 1522 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1523 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1524 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1525 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1526 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1527 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1528 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1529 //
Lightvalve 50:3c630b5eba9f 1530 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1531 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1532 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1533 // } else {
Lightvalve 50:3c630b5eba9f 1534 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1535 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1536 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1537 // }
Lightvalve 50:3c630b5eba9f 1538 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1539 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1540 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1541 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1542 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1543 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1544 // }
Lightvalve 50:3c630b5eba9f 1545 // } else {
Lightvalve 50:3c630b5eba9f 1546 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1547 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1548 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1549 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1550 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1551 // }
Lightvalve 50:3c630b5eba9f 1552 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1553 //
Lightvalve 50:3c630b5eba9f 1554 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1555 //
Lightvalve 50:3c630b5eba9f 1556 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1557 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1558 //
Lightvalve 50:3c630b5eba9f 1559 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1560 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1561 // }
Lightvalve 50:3c630b5eba9f 1562 // }
Lightvalve 50:3c630b5eba9f 1563 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1564 // break;
Lightvalve 50:3c630b5eba9f 1565 // }
Lightvalve 14:8e7590227d22 1566
Lightvalve 14:8e7590227d22 1567 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1568 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1569 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1570 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1571 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1572 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1573 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1574 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1575 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1576 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1577 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1578 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1579 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1580 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1581 }
Lightvalve 29:69f3f5445d6d 1582 cnt_findhome++;
Lightvalve 14:8e7590227d22 1583
Lightvalve 29:69f3f5445d6d 1584 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1585 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1586 } else {
Lightvalve 29:69f3f5445d6d 1587 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1588 }
Lightvalve 19:23b7c1ad8683 1589
Lightvalve 57:f4819de54e7a 1590 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1591 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1592 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1593 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1594
Lightvalve 59:f308b1656d9c 1595 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1596 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1597 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1598 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1599 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1600
Lightvalve 59:f308b1656d9c 1601 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1602 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1603
Lightvalve 34:bb2ca2fc2a8e 1604
Lightvalve 29:69f3f5445d6d 1605 } else {
Lightvalve 29:69f3f5445d6d 1606 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1607 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1608 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1609 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1610 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1611 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1612 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1613 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1614 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1615 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1616 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1617
Lightvalve 67:c2812cf26c38 1618
Lightvalve 67:c2812cf26c38 1619 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1620 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1621 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1622 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1623 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1624 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1625 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1626
Lightvalve 169:645207e160ca 1627
Lightvalve 29:69f3f5445d6d 1628 }
Lightvalve 29:69f3f5445d6d 1629 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1630 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1631 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 1632 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1633 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1634
Lightvalve 29:69f3f5445d6d 1635 // input for position control
Lightvalve 169:645207e160ca 1636
Lightvalve 67:c2812cf26c38 1637 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1638 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1639
Lightvalve 67:c2812cf26c38 1640 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1641 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1642 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1643 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1644
Lightvalve 67:c2812cf26c38 1645 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1646
Lightvalve 67:c2812cf26c38 1647 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1648 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1649 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1650
Lightvalve 67:c2812cf26c38 1651 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1652 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1653 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1654
Lightvalve 69:3995ffeaa786 1655 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1656 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 1657 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1658 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1659 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 1660 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1661 }
Lightvalve 67:c2812cf26c38 1662 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 1663 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1664
Lightvalve 67:c2812cf26c38 1665 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1666
Lightvalve 67:c2812cf26c38 1667
Lightvalve 67:c2812cf26c38 1668
Lightvalve 67:c2812cf26c38 1669 } else {
Lightvalve 67:c2812cf26c38 1670 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1671 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 1672
Lightvalve 67:c2812cf26c38 1673 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1674 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1675 } else {
Lightvalve 67:c2812cf26c38 1676 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1677 }
Lightvalve 67:c2812cf26c38 1678
Lightvalve 67:c2812cf26c38 1679 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1680
Lightvalve 67:c2812cf26c38 1681 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1682
Lightvalve 67:c2812cf26c38 1683 }
Lightvalve 67:c2812cf26c38 1684
Lightvalve 67:c2812cf26c38 1685
Lightvalve 169:645207e160ca 1686
Lightvalve 169:645207e160ca 1687
Lightvalve 59:f308b1656d9c 1688 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1689 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1690 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1691 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1692 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1693
Lightvalve 29:69f3f5445d6d 1694 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1695 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1696 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1697 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1698 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1699 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1700 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1701 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1702 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1703 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1704 }
Lightvalve 13:747daba9cf59 1705 }
Lightvalve 19:23b7c1ad8683 1706
Lightvalve 13:747daba9cf59 1707 break;
Lightvalve 13:747daba9cf59 1708 }
Lightvalve 14:8e7590227d22 1709
Lightvalve 50:3c630b5eba9f 1710 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1711 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1712 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1713 // else {
Lightvalve 50:3c630b5eba9f 1714 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1715 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1716 // }
Lightvalve 50:3c630b5eba9f 1717 // }
Lightvalve 50:3c630b5eba9f 1718 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1719 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1720 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1721 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1722 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1723 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1724 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1725 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1726 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1727 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1728 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1729 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1730 // }
Lightvalve 50:3c630b5eba9f 1731 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1732 // }
Lightvalve 50:3c630b5eba9f 1733 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1734 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1735 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1736 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1737 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1738 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1739 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1740 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1741 // 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 1742 // // 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 1743 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1744 // }
Lightvalve 50:3c630b5eba9f 1745 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1746 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1747 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1748 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1749 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1750 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1751 // 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 1752 // // 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 1753 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1754 // }
Lightvalve 50:3c630b5eba9f 1755 // }
Lightvalve 50:3c630b5eba9f 1756 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1757 //
Lightvalve 50:3c630b5eba9f 1758 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1759 //
Lightvalve 50:3c630b5eba9f 1760 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1761 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1762 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1763 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1764 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1765 // }
Lightvalve 50:3c630b5eba9f 1766 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1767 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1768 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1769 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1770 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1771 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1772 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1773 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1774 // }
Lightvalve 50:3c630b5eba9f 1775 //
Lightvalve 50:3c630b5eba9f 1776 // }
Lightvalve 50:3c630b5eba9f 1777 // break;
Lightvalve 50:3c630b5eba9f 1778 // }
Lightvalve 50:3c630b5eba9f 1779 //
Lightvalve 50:3c630b5eba9f 1780 // }
Lightvalve 14:8e7590227d22 1781 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1782 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1783 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1784 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1785 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1786
Lightvalve 14:8e7590227d22 1787 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1788 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1789 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1790 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1791 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1792
Lightvalve 38:118df027d851 1793 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1794 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1795 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1796
Lightvalve 30:8d561f16383b 1797 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1798 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1799 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1800 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1801
Lightvalve 30:8d561f16383b 1802 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1803 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1804 }
Lightvalve 13:747daba9cf59 1805 } else {
Lightvalve 57:f4819de54e7a 1806 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1807 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1808 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1809 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1810 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1811 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1812
Lightvalve 170:42c938a40313 1813 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1814 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1815 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1816
Lightvalve 30:8d561f16383b 1817 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1818 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1819 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1820 }
Lightvalve 14:8e7590227d22 1821 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1822 break;
Lightvalve 13:747daba9cf59 1823 }
Lightvalve 14:8e7590227d22 1824
Lightvalve 50:3c630b5eba9f 1825 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1826 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1827 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1828 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1829 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1830 // }
Lightvalve 50:3c630b5eba9f 1831 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1832 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1833 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1834 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1835 // }
Lightvalve 50:3c630b5eba9f 1836 // } else {
Lightvalve 50:3c630b5eba9f 1837 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1838 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1839 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1840 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1841 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1842 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1843 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1844 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1845 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1846 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1847 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1848 //
Lightvalve 50:3c630b5eba9f 1849 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1850 //
Lightvalve 50:3c630b5eba9f 1851 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1852 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1853 // }
Lightvalve 50:3c630b5eba9f 1854 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1855 // break;
Lightvalve 50:3c630b5eba9f 1856 // }
Lightvalve 19:23b7c1ad8683 1857
Lightvalve 50:3c630b5eba9f 1858 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1859 // 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 1860 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1861 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1862 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1863 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1864 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1865 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1866 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1867 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1868 // }
Lightvalve 50:3c630b5eba9f 1869 // break;
Lightvalve 50:3c630b5eba9f 1870 // }
Lightvalve 14:8e7590227d22 1871
Lightvalve 14:8e7590227d22 1872 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1873 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1874 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1875
Lightvalve 14:8e7590227d22 1876 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1877 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1878 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1879 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1880 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1881 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1882 data_num = 0;
Lightvalve 14:8e7590227d22 1883 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1884 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1885 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1886 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1887 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1888 } else {
Lightvalve 13:747daba9cf59 1889 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1890 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1891 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1892 }
Lightvalve 14:8e7590227d22 1893
Lightvalve 17:1865016ca2e7 1894 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1895 int i;
Lightvalve 13:747daba9cf59 1896 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1897 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1898 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1899 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1900 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1901 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1902 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1903 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1904 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1905 }
Lightvalve 13:747daba9cf59 1906 }
Lightvalve 170:42c938a40313 1907 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1908 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1909 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1910 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1911 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1912 }
Lightvalve 13:747daba9cf59 1913 ID_index = 0;
Lightvalve 57:f4819de54e7a 1914 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1915 }
Lightvalve 14:8e7590227d22 1916
Lightvalve 14:8e7590227d22 1917
Lightvalve 13:747daba9cf59 1918 break;
Lightvalve 13:747daba9cf59 1919 }
Lightvalve 14:8e7590227d22 1920
Lightvalve 14:8e7590227d22 1921 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1922 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1923 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1924 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1925 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1926 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1927 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1928 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1929 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1930 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1931 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1932 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1933 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1934 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1935 } else if(VALVE_DZ_timer < (int) (3.0f * (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 30:8d561f16383b 1937 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1938 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 1939 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1940 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1941 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1942 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 1943 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1944 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1945 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1946 data_num = 0;
Lightvalve 14:8e7590227d22 1947
Lightvalve 30:8d561f16383b 1948 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1949 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1950 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1951
Lightvalve 30:8d561f16383b 1952 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1953 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1954 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1955
Lightvalve 30:8d561f16383b 1956 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1957 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1958 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1959 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1960
Lightvalve 60:64181f1d3e60 1961 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1962 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1963 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1964 DZ_case = -1;
Lightvalve 14:8e7590227d22 1965 } else {
Lightvalve 13:747daba9cf59 1966 DZ_case = 0;
Lightvalve 13:747daba9cf59 1967 }
Lightvalve 61:bc8c8270f0ab 1968
Lightvalve 60:64181f1d3e60 1969 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1970
Lightvalve 13:747daba9cf59 1971 first_check = 1;
Lightvalve 13:747daba9cf59 1972 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1973 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1974 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1975 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1976 DZ_index = 1;
Lightvalve 14:8e7590227d22 1977
Lightvalve 13:747daba9cf59 1978 }
Lightvalve 19:23b7c1ad8683 1979 } else {
Lightvalve 14:8e7590227d22 1980 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1981 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1982 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 1983 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1984 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1985 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1986 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1987 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1988 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1989 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1990 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1991 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1992 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1993 }
Lightvalve 14:8e7590227d22 1994 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1995
Lightvalve 30:8d561f16383b 1996 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1997 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1998 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1999
Lightvalve 14:8e7590227d22 2000 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2001 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2002 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2003 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2004 } else {
Lightvalve 13:747daba9cf59 2005 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2006 }
Lightvalve 14:8e7590227d22 2007
Lightvalve 13:747daba9cf59 2008 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2009 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2010 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2011 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2012 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2013 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2014 DZ_index = 1;
Lightvalve 13:747daba9cf59 2015 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2016 }
Lightvalve 13:747daba9cf59 2017 }
Lightvalve 14:8e7590227d22 2018 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2019 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2020 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 2021 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2022 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2023 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2024 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2025 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2026 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2027 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2028 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2029 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2030 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2031 }
Lightvalve 14:8e7590227d22 2032 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2033
Lightvalve 30:8d561f16383b 2034 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2035 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2036 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2037 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2038 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2039
Lightvalve 14:8e7590227d22 2040 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2041 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2042 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2043 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2044 } else {
Lightvalve 60:64181f1d3e60 2045 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2046 }
Lightvalve 14:8e7590227d22 2047
Lightvalve 13:747daba9cf59 2048 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2049 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2050 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2051 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2052 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2053 first_check = 0;
Lightvalve 33:91b17819ec30 2054 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2055 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2056
Lightvalve 170:42c938a40313 2057 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2058 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2059 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2060 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2061
Lightvalve 60:64181f1d3e60 2062 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2063 DZ_index = 1;
Lightvalve 13:747daba9cf59 2064 }
Lightvalve 13:747daba9cf59 2065 }
Lightvalve 14:8e7590227d22 2066 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2067 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2068 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 2069 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2070 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2071 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2072 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2073 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2074 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2075 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2076 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2077 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2078 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2079 }
Lightvalve 14:8e7590227d22 2080 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2081
Lightvalve 30:8d561f16383b 2082 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2083 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2084 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2085
Lightvalve 14:8e7590227d22 2086 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2087 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2088 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2089 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2090 } else {
Lightvalve 13:747daba9cf59 2091 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2092 }
Lightvalve 13:747daba9cf59 2093 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2094 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2095 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2096 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2097 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2098 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2099 DZ_index = 1;
Lightvalve 13:747daba9cf59 2100 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2101 }
Lightvalve 13:747daba9cf59 2102 }
Lightvalve 14:8e7590227d22 2103 } else {
Lightvalve 30:8d561f16383b 2104 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2105 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 2106 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2107 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2108 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2109 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2110 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2111 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2112 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2113 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2114 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2115 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2116 }
Lightvalve 14:8e7590227d22 2117 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2118
Lightvalve 30:8d561f16383b 2119 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2120 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2121 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2122 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2123 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2124
Lightvalve 60:64181f1d3e60 2125 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2126 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2127 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2128 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2129 } else {
Lightvalve 13:747daba9cf59 2130 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2131 }
Lightvalve 14:8e7590227d22 2132
Lightvalve 13:747daba9cf59 2133 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2134 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2135 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2136 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2137 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2138 first_check = 0;
Lightvalve 33:91b17819ec30 2139 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2140 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2141
Lightvalve 170:42c938a40313 2142 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2143 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2144 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2145 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2146
Lightvalve 57:f4819de54e7a 2147 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2148 DZ_index = 1;
Lightvalve 13:747daba9cf59 2149 }
Lightvalve 13:747daba9cf59 2150 }
Lightvalve 13:747daba9cf59 2151 }
Lightvalve 14:8e7590227d22 2152 }
Lightvalve 13:747daba9cf59 2153 break;
Lightvalve 13:747daba9cf59 2154 }
Lightvalve 14:8e7590227d22 2155
Lightvalve 14:8e7590227d22 2156 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2157 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2158 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2159 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2160 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2161 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2162 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2163 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2164 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2165 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2166 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2167 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2168 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2169 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2170 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2171 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2172 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2173 first_check = 1;
Lightvalve 13:747daba9cf59 2174 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2175 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2176 ID_index = 0;
Lightvalve 13:747daba9cf59 2177 max_check = 0;
Lightvalve 13:747daba9cf59 2178 min_check = 0;
Lightvalve 13:747daba9cf59 2179 }
Lightvalve 14:8e7590227d22 2180 } else {
Lightvalve 30:8d561f16383b 2181 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2182 //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 2183 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2184 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2185 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2186 data_num = 0;
Lightvalve 57:f4819de54e7a 2187 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2188
Lightvalve 14:8e7590227d22 2189 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2190 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2191 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2192 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2193 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2194 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2195 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2196 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2197 one_period_end = 1;
Lightvalve 13:747daba9cf59 2198 }
Lightvalve 30:8d561f16383b 2199 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2200 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2201 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2202 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2203 }
Lightvalve 14:8e7590227d22 2204
Lightvalve 14:8e7590227d22 2205 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2206 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2207 max_check = 1;
Lightvalve 14:8e7590227d22 2208 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2209 min_check = 1;
Lightvalve 13:747daba9cf59 2210 }
Lightvalve 13:747daba9cf59 2211 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2212
Lightvalve 13:747daba9cf59 2213 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2214 one_period_end = 0;
Lightvalve 13:747daba9cf59 2215 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2216 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2217 }
Lightvalve 14:8e7590227d22 2218
Lightvalve 14:8e7590227d22 2219 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2220
Lightvalve 13:747daba9cf59 2221 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2222 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2223 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2224 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2225 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2226 }
Lightvalve 13:747daba9cf59 2227 ID_index = 0;
Lightvalve 13:747daba9cf59 2228 first_check = 0;
Lightvalve 13:747daba9cf59 2229 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2230 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2231 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2232 }
Lightvalve 13:747daba9cf59 2233 }
Lightvalve 13:747daba9cf59 2234 break;
Lightvalve 13:747daba9cf59 2235 }
Lightvalve 58:2eade98630e2 2236
Lightvalve 57:f4819de54e7a 2237 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2238 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2239 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2240 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2241 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2242 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2243 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2244 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2245 }
Lightvalve 57:f4819de54e7a 2246 break;
Lightvalve 57:f4819de54e7a 2247 }
Lightvalve 58:2eade98630e2 2248
Lightvalve 169:645207e160ca 2249 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2250 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2251 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2252 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2253 } else {
Lightvalve 169:645207e160ca 2254 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2255 }
Lightvalve 169:645207e160ca 2256 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2257 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2258 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2259 } else {
Lightvalve 169:645207e160ca 2260 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2261 }
Lightvalve 58:2eade98630e2 2262
Lightvalve 169:645207e160ca 2263 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2264 cnt_freq_test++;
Lightvalve 169:645207e160ca 2265 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2266 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2267 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2268 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2269 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2270 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2271 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2272 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2273 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2274 }
Lightvalve 169:645207e160ca 2275 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2276 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2277
Lightvalve 169:645207e160ca 2278 }
Lightvalve 169:645207e160ca 2279 break;
Lightvalve 169:645207e160ca 2280 }
Lightvalve 169:645207e160ca 2281 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2282 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2283 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2284 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2285 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2286 // }
Lightvalve 169:645207e160ca 2287 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2288 // }
Lightvalve 169:645207e160ca 2289
Lightvalve 169:645207e160ca 2290 break;
Lightvalve 169:645207e160ca 2291 }
Lightvalve 169:645207e160ca 2292 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2293 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2294 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2295 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2296 break;
Lightvalve 169:645207e160ca 2297 }
Lightvalve 170:42c938a40313 2298
Lightvalve 169:645207e160ca 2299 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2300 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2301 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2302 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2303 } else {
Lightvalve 169:645207e160ca 2304 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2305 }
Lightvalve 169:645207e160ca 2306 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2307 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2308 } else {
Lightvalve 169:645207e160ca 2309 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2310 }
Lightvalve 169:645207e160ca 2311 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2312 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2313 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2314 } else {
Lightvalve 169:645207e160ca 2315 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2316 }
Lightvalve 169:645207e160ca 2317
Lightvalve 169:645207e160ca 2318 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2319 cnt_step_test++;
Lightvalve 170:42c938a40313 2320 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2321 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2322 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2323 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2324 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2325 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2326 }
Lightvalve 169:645207e160ca 2327 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2328 // {
Lightvalve 169:645207e160ca 2329 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2330 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2331 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2332 // }
Lightvalve 170:42c938a40313 2333
Lightvalve 169:645207e160ca 2334 break;
Lightvalve 169:645207e160ca 2335 }
Lightvalve 57:f4819de54e7a 2336
Lightvalve 57:f4819de54e7a 2337 default:
Lightvalve 57:f4819de54e7a 2338 break;
Lightvalve 57:f4819de54e7a 2339 }
Lightvalve 57:f4819de54e7a 2340
Lightvalve 57:f4819de54e7a 2341 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2342
Lightvalve 57:f4819de54e7a 2343 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2344 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2345 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2346 break;
Lightvalve 57:f4819de54e7a 2347 }
Lightvalve 57:f4819de54e7a 2348
Lightvalve 57:f4819de54e7a 2349 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2350 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2351 ////For Test LIMC//////////////////////////////////////////
Lightvalve 233:0a37cdd59651 2352 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 233:0a37cdd59651 2353 // for(int i=0; i<9; i++){
Lightvalve 233:0a37cdd59651 2354 // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 233:0a37cdd59651 2355 // }
Lightvalve 233:0a37cdd59651 2356 // valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 233:0a37cdd59651 2357 // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2358 ////////////////////////////////////////////////////////////
Lightvalve 252:179a8c8791dc 2359
Lightvalve 59:f308b1656d9c 2360 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2361 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2362 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2363 } else {
Lightvalve 67:c2812cf26c38 2364 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2365 }
Lightvalve 57:f4819de54e7a 2366 break;
Lightvalve 57:f4819de54e7a 2367 }
Lightvalve 57:f4819de54e7a 2368
Lightvalve 57:f4819de54e7a 2369 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2370
Lightvalve 57:f4819de54e7a 2371 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2372 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2373 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2374 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2375
Lightvalve 67:c2812cf26c38 2376 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2377 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2378 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2379 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2380
Lightvalve 139:15621998925b 2381 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2382 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2383
Lightvalve 57:f4819de54e7a 2384 // torque feedback
Lightvalve 67:c2812cf26c38 2385 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2386 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2387
Lightvalve 57:f4819de54e7a 2388 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2389
Lightvalve 57:f4819de54e7a 2390 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2391 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2392 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2393
Lightvalve 57:f4819de54e7a 2394 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2395 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2396 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2397
Lightvalve 69:3995ffeaa786 2398 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 252:179a8c8791dc 2399 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) D_GAIN_JOINT_POSITION * wn_Pos * vel.err + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2400 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2401 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 252:179a8c8791dc 2402 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) D_GAIN_JOINT_POSITION * wn_Pos * vel.err + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2403 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2404 }
Lightvalve 57:f4819de54e7a 2405 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 2406 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2407
Lightvalve 57:f4819de54e7a 2408 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2409 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2410 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2411 // 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 2412 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2413 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2414 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2415 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 2416 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2417 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2418 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2419 }
Lightvalve 57:f4819de54e7a 2420 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 2421 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2422 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2423 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2424 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2425
Lightvalve 57:f4819de54e7a 2426 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2427
Lightvalve 67:c2812cf26c38 2428 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2429 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2430 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2431 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2432 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2433 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2434 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2435 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2436 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2437 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2438 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2439 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2440 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2441 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2442 }
Lightvalve 67:c2812cf26c38 2443 }
Lightvalve 57:f4819de54e7a 2444
Lightvalve 57:f4819de54e7a 2445 } else {
Lightvalve 57:f4819de54e7a 2446 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2447 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2448 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2449
Lightvalve 209:ebc69d6ee6f1 2450 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 2451
Lightvalve 72:3436ce769b1e 2452 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 2453
Lightvalve 72:3436ce769b1e 2454 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2455
Lightvalve 169:645207e160ca 2456
Lightvalve 72:3436ce769b1e 2457 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2458 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2459 } else {
Lightvalve 72:3436ce769b1e 2460 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2461 }
Lightvalve 57:f4819de54e7a 2462
Lightvalve 57:f4819de54e7a 2463 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2464 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2465 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2466 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2467 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2468 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2469 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2470 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2471 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2472 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2473 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2474 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2475 }
Lightvalve 57:f4819de54e7a 2476 }
Lightvalve 61:bc8c8270f0ab 2477
Lightvalve 57:f4819de54e7a 2478 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2479
Lightvalve 67:c2812cf26c38 2480 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2481 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2482
Lightvalve 57:f4819de54e7a 2483 }
Lightvalve 169:645207e160ca 2484
Lightvalve 72:3436ce769b1e 2485 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2486
Lightvalve 133:22ab22818e01 2487
Lightvalve 57:f4819de54e7a 2488 break;
Lightvalve 57:f4819de54e7a 2489 }
Lightvalve 58:2eade98630e2 2490
Lightvalve 57:f4819de54e7a 2491 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2492 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2493 break;
Lightvalve 57:f4819de54e7a 2494 }
Lightvalve 169:645207e160ca 2495
Lightvalve 138:a843f32ced33 2496 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2497
Lightvalve 169:645207e160ca 2498
Lightvalve 139:15621998925b 2499 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 2500 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 2501
Lightvalve 170:42c938a40313 2502 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2503
Lightvalve 218:066030f7951f 2504 //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 2505 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2506
Lightvalve 138:a843f32ced33 2507 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2508 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2509 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2510 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2511 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2512 } else {
Lightvalve 138:a843f32ced33 2513 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2514 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2515 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2516 } else {
Lightvalve 138:a843f32ced33 2517 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2518 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2519 }
Lightvalve 138:a843f32ced33 2520 }
Lightvalve 138:a843f32ced33 2521 float tau = 0.01f;
Lightvalve 247:87a44e8b3392 2522 //float K_valve = 0.0004f;
Lightvalve 247:87a44e8b3392 2523 float K_valve = 0.0002f;
Lightvalve 169:645207e160ca 2524
Lightvalve 138:a843f32ced33 2525 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2526 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2527 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2528 } else {
Lightvalve 138:a843f32ced33 2529 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2530 }
Lightvalve 138:a843f32ced33 2531 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2532 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2533
Lightvalve 139:15621998925b 2534 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2535
Lightvalve 138:a843f32ced33 2536 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2537 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2538 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2539
Lightvalve 138:a843f32ced33 2540 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2541 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2542
Lightvalve 212:ec41f1449ef9 2543 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2544 float k4 = 10.0f;
Lightvalve 142:43026242815a 2545 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2546 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2547 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2548 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2549 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2550
Lightvalve 139:15621998925b 2551 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2552 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2553 } else {
Lightvalve 139:15621998925b 2554 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2555 }
Lightvalve 169:645207e160ca 2556
Lightvalve 138:a843f32ced33 2557 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2558 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2559 float V_input = 0.0f;
Lightvalve 139:15621998925b 2560 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 2561 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2562 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2563 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2564
Lightvalve 218:066030f7951f 2565 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2566 // 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 2567 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2568 //
Lightvalve 218:066030f7951f 2569 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2570 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2571
Lightvalve 218:066030f7951f 2572 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2573 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2574 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2575
Lightvalve 218:066030f7951f 2576 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2577 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2578
Lightvalve 169:645207e160ca 2579 break;
Lightvalve 138:a843f32ced33 2580 }
Lightvalve 171:bfc1fd2629d8 2581
Lightvalve 170:42c938a40313 2582 case MODE_RL: {
Lightvalve 170:42c938a40313 2583 //t.reset();
Lightvalve 170:42c938a40313 2584 //t.start();
Lightvalve 170:42c938a40313 2585
Lightvalve 170:42c938a40313 2586 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2587 // else LED = 0;
Lightvalve 170:42c938a40313 2588
Lightvalve 170:42c938a40313 2589 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2590 //Gather Data on each loop
Lightvalve 170:42c938a40313 2591 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2592 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2593 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2594 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2595 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2596 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2597 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2598 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2599 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2600 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2601 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2602 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2603 }
Lightvalve 173:68c7914679ec 2604 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2605 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2606 }
Lightvalve 173:68c7914679ec 2607 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2608 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2609 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2610 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2611 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2612
Lightvalve 179:d5377766d7ea 2613 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2614 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2615 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2616 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2617 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2618 }
Lightvalve 171:bfc1fd2629d8 2619
Lightvalve 170:42c938a40313 2620 RL_timer++;
Lightvalve 170:42c938a40313 2621
Lightvalve 170:42c938a40313 2622
Lightvalve 170:42c938a40313 2623 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2624 RL_timer = 0;
Lightvalve 170:42c938a40313 2625 batch++;
Lightvalve 170:42c938a40313 2626 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2627 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2628 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2629 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2630 }
Lightvalve 170:42c938a40313 2631 Update_Case = 1;
Lightvalve 170:42c938a40313 2632 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2633 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2634
Lightvalve 170:42c938a40313 2635 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2636 batch = 0;
Lightvalve 170:42c938a40313 2637 RL_timer = 0;
Lightvalve 170:42c938a40313 2638 Update_Case = 2;
Lightvalve 170:42c938a40313 2639 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2640 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2641 }
Lightvalve 170:42c938a40313 2642 }
Lightvalve 170:42c938a40313 2643 }
Lightvalve 170:42c938a40313 2644
Lightvalve 170:42c938a40313 2645 else {
Lightvalve 170:42c938a40313 2646 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2647 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2648 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2649 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2650 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2651 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2652 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2653 //logging1 = action;
Lightvalve 179:d5377766d7ea 2654 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2655 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2656 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2657 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2658 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2659 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2660 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2661 }
Lightvalve 170:42c938a40313 2662
Lightvalve 170:42c938a40313 2663 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2664 }
Lightvalve 170:42c938a40313 2665
Lightvalve 170:42c938a40313 2666 //t.stop();
Lightvalve 170:42c938a40313 2667 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2668
Lightvalve 170:42c938a40313 2669 break;
Lightvalve 170:42c938a40313 2670 }
Lightvalve 14:8e7590227d22 2671
Lightvalve 12:6f2531038ea4 2672 default:
Lightvalve 12:6f2531038ea4 2673 break;
Lightvalve 12:6f2531038ea4 2674 }
Lightvalve 14:8e7590227d22 2675
Lightvalve 57:f4819de54e7a 2676
Lightvalve 57:f4819de54e7a 2677 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2678
Lightvalve 57:f4819de54e7a 2679 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2680 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2681 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2682 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2683 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2684 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2685
Lightvalve 252:179a8c8791dc 2686 if (I_REF_fil > 0) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS/1000.0f; // unit: mA
Lightvalve 252:179a8c8791dc 2687 else if (I_REF_fil < 0) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS/1000.0f; // unit: mA
Lightvalve 252:179a8c8791dc 2688 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0/1000.0f; // unit: mA
Lightvalve 252:179a8c8791dc 2689
Lightvalve 252:179a8c8791dc 2690 I_ERR = I_REF_fil_DZ - cur.sen;
Lightvalve 67:c2812cf26c38 2691 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2692
Lightvalve 57:f4819de54e7a 2693
Lightvalve 57:f4819de54e7a 2694 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2695 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2696 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2697 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2698 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2699 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2700
Lightvalve 57:f4819de54e7a 2701 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2702 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2703 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2704 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2705 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2706 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2707 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2708 }
Lightvalve 57:f4819de54e7a 2709
Lightvalve 57:f4819de54e7a 2710 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2711
Lightvalve 67:c2812cf26c38 2712 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2713 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2714 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2715 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2716 // 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 2717 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2718 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2719
Lightvalve 57:f4819de54e7a 2720 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2721 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2722 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2723 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2724 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2725 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2726 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2727 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2728 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2729 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2730 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2731 }
Lightvalve 57:f4819de54e7a 2732 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2733 } else {
Lightvalve 57:f4819de54e7a 2734 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2735 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2736 }
Lightvalve 57:f4819de54e7a 2737
Lightvalve 57:f4819de54e7a 2738 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2739 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2740 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2741 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 252:179a8c8791dc 2742 // FLAG_VALVE_DEADZONE = 1;
Lightvalve 57:f4819de54e7a 2743 if (FLAG_VALVE_DEADZONE) {
Lightvalve 252:179a8c8791dc 2744 // if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 252:179a8c8791dc 2745 // else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 252:179a8c8791dc 2746 // else VALVE_PWM_RAW = VALVE_PWM_RAW + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f * mV_PER_pulse; // unit: mV
Lightvalve 252:179a8c8791dc 2747
Lightvalve 252:179a8c8791dc 2748 //VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 252:179a8c8791dc 2749 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; // unit: mV
Lightvalve 57:f4819de54e7a 2750
Lightvalve 57:f4819de54e7a 2751 } else {
Lightvalve 57:f4819de54e7a 2752 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2753 }
Lightvalve 57:f4819de54e7a 2754
Lightvalve 57:f4819de54e7a 2755 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2756 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2757 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2758
Lightvalve 57:f4819de54e7a 2759 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2760 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2761 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2762 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2763 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2764 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2765 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2766 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2767
Lightvalve 89:a7b45368ea0f 2768 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2769 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2770 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2771 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2772
Lightvalve 135:79885a39c161 2773 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2774 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2775 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2776 }
Lightvalve 169:645207e160ca 2777
Lightvalve 67:c2812cf26c38 2778 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2779 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2780 // else V_out = V_out;
Lightvalve 169:645207e160ca 2781
jobuuu 7:e9086c72bb22 2782 /*******************************************************
jobuuu 7:e9086c72bb22 2783 *** PWM
jobuuu 7:e9086c72bb22 2784 ********************************************************/
Lightvalve 169:645207e160ca 2785 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2786 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2787 }
Lightvalve 169:645207e160ca 2788
Lightvalve 49:e7bcfc244d40 2789 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2790 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2791 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2792 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2793 }
Lightvalve 49:e7bcfc244d40 2794 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2795
Lightvalve 19:23b7c1ad8683 2796 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2797 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2798 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2799
Lightvalve 30:8d561f16383b 2800 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2801 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2802 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2803 } else {
jobuuu 2:a1c0a37df760 2804 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2805 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2806 }
Lightvalve 13:747daba9cf59 2807
jobuuu 1:e04e563be5ce 2808 //pwm
Lightvalve 30:8d561f16383b 2809 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2810 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2811
Lightvalve 61:bc8c8270f0ab 2812
Lightvalve 252:179a8c8791dc 2813 // if (TMR2_COUNT_CAN_TX % 5 == 0) {
Lightvalve 252:179a8c8791dc 2814 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/1000.0f) == 0) {
Lightvalve 252:179a8c8791dc 2815 // CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 252:179a8c8791dc 2816 // }
Lightvalve 252:179a8c8791dc 2817 // TMR2_COUNT_CAN_TX++;
Lightvalve 252:179a8c8791dc 2818
Lightvalve 233:0a37cdd59651 2819
Lightvalve 252:179a8c8791dc 2820 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 252:179a8c8791dc 2821 //
Lightvalve 252:179a8c8791dc 2822 // // Position, Velocity, and Torque (ID:1200)
Lightvalve 252:179a8c8791dc 2823 // if (flag_data_request[0] == 0) {
Lightvalve 252:179a8c8791dc 2824 // if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 252:179a8c8791dc 2825 // if (SENSING_MODE == 0) {
Lightvalve 252:179a8c8791dc 2826 // CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 252:179a8c8791dc 2827 // } else if (SENSING_MODE == 1) {
Lightvalve 252:179a8c8791dc 2828 // 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 252:179a8c8791dc 2829 // }
Lightvalve 252:179a8c8791dc 2830 // } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 252:179a8c8791dc 2831 // if (SENSING_MODE == 0) {
Lightvalve 252:179a8c8791dc 2832 // 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 252:179a8c8791dc 2833 // } else if (SENSING_MODE == 1) {
Lightvalve 252:179a8c8791dc 2834 // 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 252:179a8c8791dc 2835 // }
Lightvalve 252:179a8c8791dc 2836 // }
Lightvalve 252:179a8c8791dc 2837 // }
Lightvalve 252:179a8c8791dc 2838 //
Lightvalve 252:179a8c8791dc 2839 // if (flag_data_request[1] == HIGH) {
Lightvalve 252:179a8c8791dc 2840 // CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 252:179a8c8791dc 2841 // }
Lightvalve 252:179a8c8791dc 2842 //
Lightvalve 252:179a8c8791dc 2843 //
Lightvalve 252:179a8c8791dc 2844 // if (flag_data_request[2] == HIGH) {
Lightvalve 252:179a8c8791dc 2845 // double t_value = 0.0f;
Lightvalve 252:179a8c8791dc 2846 // if(value>=(float) VALVE_CENTER) {
Lightvalve 252:179a8c8791dc 2847 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 2848 // } else {
Lightvalve 252:179a8c8791dc 2849 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 2850 // }
Lightvalve 252:179a8c8791dc 2851 // double t_value_ref = 0.0f;
Lightvalve 252:179a8c8791dc 2852 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 252:179a8c8791dc 2853 // t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 2854 // } else {
Lightvalve 252:179a8c8791dc 2855 // t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 2856 // }
Lightvalve 252:179a8c8791dc 2857 //
Lightvalve 252:179a8c8791dc 2858 //
Lightvalve 252:179a8c8791dc 2859 // CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 252:179a8c8791dc 2860 // }
Lightvalve 252:179a8c8791dc 2861 //
Lightvalve 252:179a8c8791dc 2862 // //If it doesn't rest, below can can not work.
Lightvalve 252:179a8c8791dc 2863 // for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 252:179a8c8791dc 2864 // ;
Lightvalve 252:179a8c8791dc 2865 // }
Lightvalve 252:179a8c8791dc 2866 //
Lightvalve 252:179a8c8791dc 2867 // if (flag_data_request[3] == HIGH) {
Lightvalve 252:179a8c8791dc 2868 // //PWM
Lightvalve 252:179a8c8791dc 2869 // CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 252:179a8c8791dc 2870 // // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 252:179a8c8791dc 2871 // }
Lightvalve 252:179a8c8791dc 2872 //
Lightvalve 252:179a8c8791dc 2873 // if (flag_data_request[4] == HIGH) {
Lightvalve 252:179a8c8791dc 2874 // //valve position
Lightvalve 252:179a8c8791dc 2875 // //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 252:179a8c8791dc 2876 // CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 252:179a8c8791dc 2877 // }
Lightvalve 252:179a8c8791dc 2878 //
Lightvalve 252:179a8c8791dc 2879 //
Lightvalve 252:179a8c8791dc 2880 //
Lightvalve 252:179a8c8791dc 2881 // // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 252:179a8c8791dc 2882 //// if (flag_data_request[1] == HIGH) {
Lightvalve 252:179a8c8791dc 2883 //// CAN_TX_SOMETHING((int) (0), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 252:179a8c8791dc 2884 //// }
Lightvalve 252:179a8c8791dc 2885 //// if (flag_delay_test == 1){
Lightvalve 252:179a8c8791dc 2886 //// CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 252:179a8c8791dc 2887 //// }
Lightvalve 252:179a8c8791dc 2888 ////
Lightvalve 252:179a8c8791dc 2889 //// TMR2_COUNT_CAN_TX = 0;
Lightvalve 252:179a8c8791dc 2890 // }
Lightvalve 252:179a8c8791dc 2891 // TMR2_COUNT_CAN_TX++;
Lightvalve 252:179a8c8791dc 2892
Lightvalve 252:179a8c8791dc 2893
Lightvalve 237:aa3863117889 2894
Lightvalve 20:806196fda269 2895 }
Lightvalve 52:8ea76864368a 2896 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2897
Lightvalve 58:2eade98630e2 2898 }