Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@232:0287991a8615, 2020-12-30 (annotated)

Committer:
Lightvalve
Date:
Wed Dec 30 11:14:47 2020 +0000
Revision:
232:0287991a8615
Parent:
231:53de35471dc7
Child:
233:0a37cdd59651
201230-3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 232:0287991a8615 1 //201230_4
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 232:0287991a8615 202 {-0.7107096910476685f,0.5748042464256287f,0.1331346035003662f,-0.3472170829772949f,-1.0555211305618286f,1.4034713506698608f,-0.18027740716934204f,-0.4855819046497345f,-0.20866943895816803f,-1.9396588802337646f,0.19308307766914368f,-1.0236271619796753f,-0.2692645788192749f,-1.6421189308166504f,-0.26532530784606934f,-1.6460516452789307f},
Lightvalve 232:0287991a8615 203 {-0.3166443407535553f,0.37179794907569885f,-0.4052582383155823f,-0.04261920601129532f,-0.5801109671592712f,0.7438966631889343f,-0.4182741641998291f,-1.070746898651123f,-0.009645428508520126f,-1.2099772691726685f,-0.529838502407074f,-0.3876437842845917f,0.24623174965381622f,-2.647522449493408f,-0.21633580327033997f,-0.25429075956344604f},
Lightvalve 232:0287991a8615 204 {-0.8552024960517883f,0.8861677050590515f,0.3754674196243286f,-0.8698447346687317f,-0.655875563621521f,1.1211286783218384f,0.2963334321975708f,0.024058960378170013f,0.004207349382340908f,-0.9657742381095886f,-0.10435186326503754f,-0.7742842435836792f,0.00044973072363063693f,-1.305156946182251f,0.05767732858657837f,-0.5994040966033936f},
Lightvalve 232:0287991a8615 205 {-1.2889316082000732f,1.011116862297058f,0.4100407361984253f,-0.8771803975105286f,-0.9098381996154785f,0.68509840965271f,-0.11952415108680725f,1.734102487564087f,0.28687670826911926f,-0.2261476367712021f,1.2308095693588257f,-0.6753180027008057f,-0.16679362952709198f,0.7073665857315063f,-0.3055497407913208f,-0.5141171216964722f},
Lightvalve 232:0287991a8615 206 {-0.15122489631175995f,0.41318944096565247f,-0.005308479070663452f,-0.5509499907493591f,-0.09470018744468689f,-0.2180773764848709f,0.1335124969482422f,1.7583210468292236f,0.19842270016670227f,0.9754910469055176f,1.4297466278076172f,-0.1669011116027832f,-0.06724929064512253f,2.9021966457366943f,-0.39877864718437195f,-0.04117067530751228f},
Lightvalve 232:0287991a8615 207 {3.318035364151001f,-3.2440054416656494f,0.22464686632156372f,2.7212905883789062f,3.258376121520996f,-3.7212142944335938f,0.17038583755493164f,-1.9575566053390503f,-0.26509812474250793f,3.351072311401367f,-2.2606804370880127f,3.22605562210083f,-0.2700563967227936f,2.0248615741729736f,-0.42640674114227295f,3.0299110412597656f},
Lightvalve 232:0287991a8615 208 {-1.839550256729126f,0.743869423866272f,-0.25814348459243774f,-3.041593551635742f,-2.0454094409942627f,0.6462511420249939f,0.062051594257354736f,1.7397657632827759f,1.430230975151062f,3.1958296298980713f,3.4760305881500244f,-1.3133124113082886f,-0.182450070977211f,5.020411491394043f,-0.16114374995231628f,0.17034372687339783f},
Lightvalve 232:0287991a8615 209 {0.6584609150886536f,-1.0038152933120728f,-0.2746502459049225f,1.0311936140060425f,0.019197814166545868f,-0.9970395565032959f,-0.18495109677314758f,-2.9535651206970215f,0.10813623666763306f,4.2084150314331055f,-0.01593662239611149f,0.5004336833953857f,0.37967556715011597f,-0.9130421280860901f,0.04439696669578552f,-0.09382707625627518f},
Lightvalve 232:0287991a8615 210 {0.3895723521709442f,-0.0030134194530546665f,0.105735182762146f,0.6469439268112183f,-0.06099357828497887f,0.04842674732208252f,-0.07477107644081116f,-1.7170462608337402f,-0.5312995314598083f,1.1699137687683105f,-0.8609651923179626f,0.49720850586891174f,0.23342889547348022f,-1.3745323419570923f,-0.31525522470474243f,-1.208768606185913f},
Lightvalve 232:0287991a8615 211 {-0.05031483992934227f,-0.6435171961784363f,0.19048917293548584f,0.4463956952095032f,0.15471532940864563f,-0.002435207599774003f,-0.30855023860931396f,-0.7755460143089294f,-0.23457880318164825f,-0.20801405608654022f,-0.5772057771682739f,-0.44403669238090515f,0.381221204996109f,-0.1106160581111908f,0.35956430435180664f,-1.150540828704834f},
Lightvalve 232:0287991a8615 212 {0.21932409703731537f,-0.15730774402618408f,0.38363122940063477f,0.2351817786693573f,-0.1871233582496643f,-0.01937558315694332f,-0.20985150337219238f,-0.11008226126432419f,-0.6354061365127563f,-0.683839738368988f,-0.13569213449954987f,-0.4661896824836731f,-0.07176927477121353f,0.21223489940166473f,0.2753579616546631f,-1.1578141450881958f},
Lightvalve 232:0287991a8615 213 {-0.34123319387435913f,-0.5856785178184509f,-0.41600319743156433f,0.06370597332715988f,0.13166840374469757f,-0.2644786238670349f,0.15824931859970093f,0.08150170743465424f,-0.40871983766555786f,-0.3228833079338074f,-0.8897232413291931f,0.20386344194412231f,0.14613376557826996f,-0.008566160686314106f,0.10827195644378662f,-0.4468332827091217f},
Lightvalve 232:0287991a8615 214 {-0.052340418100357056f,-0.23061873018741608f,0.2047821283340454f,0.22683338820934296f,0.2552613615989685f,0.02660255692899227f,-0.24806645512580872f,-0.09685809910297394f,-0.45292937755584717f,-0.22743451595306396f,-0.34933555126190186f,-0.27536541223526f,0.09192687273025513f,-0.0028655955102294683f,-0.22975200414657593f,-0.709994912147522f},
Lightvalve 232:0287991a8615 215 {-0.17850808799266815f,-0.36447224020957947f,0.42588919401168823f,0.09280404448509216f,-0.3457636535167694f,-0.33955615758895874f,-0.3301747143268585f,-0.2679907977581024f,-0.41200390458106995f,-0.16191090643405914f,-0.387783408164978f,-0.2718203663825989f,-0.32551702857017517f,0.002818679204210639f,0.04949149489402771f,-0.5213664174079895f},
Lightvalve 232:0287991a8615 216 {-0.07672131061553955f,-1.0163432359695435f,0.20926350355148315f,0.20689204335212708f,0.0508851632475853f,-0.19116075336933136f,0.043363481760025024f,0.3114475607872009f,-0.0352475568652153f,-0.4374855160713196f,-0.6171332001686096f,-0.8803253173828125f,0.1041073426604271f,-0.050098564475774765f,0.06893044710159302f,-1.505090355873108f},
Lightvalve 65:a2d7c63419c2 217 };
Lightvalve 65:a2d7c63419c2 218
Lightvalve 169:645207e160ca 219 const float h2[16][16] = {
Lightvalve 232:0287991a8615 220 {-0.05609544739127159f,-0.38644102215766907f,-0.06966331601142883f,2.8726747035980225f,-0.21907491981983185f,1.0402798652648926f,0.0787314921617508f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.13463903963565826f,-0.6863351464271545f,0.004113723989576101f,-1.78252375125885f,-0.2182036191225052f,1.3725275993347168f},
Lightvalve 232:0287991a8615 221 {-0.05584848299622536f,-0.5299791097640991f,0.057057321071624756f,-0.7371286749839783f,-0.35503754019737244f,0.5259296298027039f,-0.5525034070014954f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.5631104111671448f,-0.7347442507743835f,0.21366164088249207f,0.5616945028305054f,-0.5259544253349304f,0.16951774060726166f},
Lightvalve 219:3cb6bd063f56 222 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve 232:0287991a8615 223 {0.07704363018274307f,-0.4680996537208557f,-0.2894435524940491f,0.4993690550327301f,0.08946844935417175f,0.15898147225379944f,-0.44716790318489075f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,-0.21996113657951355f,-0.19403861463069916f,-0.5333842039108276f,-2.6269991397857666f,0.09325726330280304f,0.5271802544593811f},
Lightvalve 232:0287991a8615 224 {-0.14338722825050354f,0.1457262635231018f,-0.25313520431518555f,1.5323469638824463f,0.036378175020217896f,1.1596163511276245f,-0.46772268414497375f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.5288034677505493f,-1.1926617622375488f,-0.02286139316856861f,0.13278329372406006f,-0.4184599816799164f,2.064659595489502f},
Lightvalve 232:0287991a8615 225 {0.29662686586380005f,0.1254667490720749f,-0.3519742488861084f,-2.6433229446411133f,-0.3015052080154419f,0.524383008480072f,-0.5562416911125183f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.0675867348909378f,-0.3388383090496063f,-0.3332999646663666f,-0.5591659545898438f,0.13293559849262238f,2.4991962909698486f},
Lightvalve 219:3cb6bd063f56 226 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 232:0287991a8615 227 {-0.047194842249155045f,0.2199276238679886f,0.33083590865135193f,0.6455643177032471f,-0.14358049631118774f,2.6129770278930664f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.05876479297876358f,-0.5351912379264832f,-0.4464542269706726f,4.537297248840332f,-0.09857027977705002f,2.447502613067627f},
Lightvalve 232:0287991a8615 228 {-0.557280421257019f,0.2913069427013397f,-0.11379697918891907f,-0.15351274609565735f,0.041274964809417725f,-0.24349066615104675f,-0.47820907831192017f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.30974870920181274f,-0.7005243897438049f,-0.49426066875457764f,-0.3118366301059723f,-0.5539959669113159f,-0.18872801959514618f},
Lightvalve 232:0287991a8615 229 {-0.2627328336238861f,-0.06322724372148514f,-0.13502129912376404f,0.1162288635969162f,0.12987366318702698f,-1.8505975008010864f,-0.039328936487436295f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,-0.2768089175224304f,-0.16349045932292938f,0.1311095952987671f,-1.1858068704605103f,-0.1411808729171753f,-1.9816197156906128f},
Lightvalve 232:0287991a8615 230 {-0.5685315728187561f,-0.1078869178891182f,0.0457797646522522f,-0.13430047035217285f,-0.03321319818496704f,-1.7140648365020752f,-0.20198717713356018f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.42474398016929626f,-0.09458734095096588f,-0.489304780960083f,0.572925329208374f,-0.41582924127578735f,-1.5786478519439697f},
Lightvalve 232:0287991a8615 231 {0.24515943229198456f,0.13837043941020966f,0.3954955041408539f,0.2866057753562927f,0.0033026933670043945f,0.037618476897478104f,-0.4772307574748993f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.08796805143356323f,-0.6295562982559204f,-0.04139839485287666f,-0.15657874941825867f,0.0724172443151474f,0.3648937940597534f},
Lightvalve 232:0287991a8615 232 {-0.2708664536476135f,-0.21372267603874207f,-0.15798500180244446f,0.36655303835868835f,-0.37393757700920105f,0.3641175329685211f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.11133185029029846f,-0.3095161020755768f,0.41839322447776794f,-0.015707945451140404f,-0.1277320384979248f,0.10527979582548141f},
Lightvalve 232:0287991a8615 233 {-0.4848700165748596f,0.03126031905412674f,-0.2018718123435974f,1.2748514413833618f,0.07545611262321472f,-1.0728566646575928f,-0.42942386865615845f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,-0.2219996452331543f,-0.8275692462921143f,-0.3878934979438782f,1.6959377527236938f,-0.4035681486129761f,-1.544219970703125f},
Lightvalve 219:3cb6bd063f56 234 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 232:0287991a8615 235 {-0.32686734199523926f,0.28102388978004456f,0.12081471085548401f,0.6564704179763794f,0.29976895451545715f,1.9885653257369995f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.2739725708961487f,-0.29374685883522034f,-0.13827009499073029f,1.8617192506790161f,0.2159491330385208f,-0.30338171124458313f},
Lightvalve 65:a2d7c63419c2 236 };
Lightvalve 65:a2d7c63419c2 237
Lightvalve 169:645207e160ca 238 const float h3[16][16] = {
Lightvalve 232:0287991a8615 239 {-0.36079341173171997f,-0.07306690514087677f,-0.12081453949213028f,-0.43212243914604187f,-0.22348196804523468f,0.07063160836696625f,0.3332441747188568f,0.3036012351512909f,-0.3493002951145172f,0.04891335964202881f,-0.11870327591896057f,0.40483585000038147f,0.002901032567024231f,0.33374470472335815f,-0.27061396837234497f,0.10026850551366806f},
Lightvalve 232:0287991a8615 240 {0.047732532024383545f,0.3057560324668884f,0.049646325409412384f,-0.11903899908065796f,-0.09661274403333664f,-0.05561372637748718f,-0.3198729455471039f,0.06247803568840027f,0.32669028639793396f,-0.1780138611793518f,0.4144817292690277f,-0.3128277659416199f,0.21720702946186066f,0.28560540080070496f,-0.43199121952056885f,-0.13802769780158997f},
Lightvalve 219:3cb6bd063f56 241 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 232:0287991a8615 242 {-0.30922991037368774f,-0.154257133603096f,-0.7080875039100647f,-3.001275062561035f,-0.8676357269287109f,1.3672759532928467f,0.20021501183509827f,-0.07864704728126526f,-4.265562534332275f,-0.7747781872749329f,0.13192829489707947f,0.5505858063697815f,2.498959541320801f,1.0194077491760254f,-0.21604087948799133f,-2.9991185665130615f},
Lightvalve 219:3cb6bd063f56 243 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve 232:0287991a8615 244 {-0.37449589371681213f,-0.20135140419006348f,-0.24411803483963013f,0.7906783223152161f,-0.551617443561554f,0.3800472915172577f,-0.18732719123363495f,0.061251986771821976f,1.6608974933624268f,-0.15281745791435242f,-0.08919548988342285f,1.3888895511627197f,-2.4531946182250977f,1.3281203508377075f,0.35986292362213135f,-1.1433416604995728f},
Lightvalve 232:0287991a8615 245 {0.4110594093799591f,0.2715781033039093f,-0.2908170819282532f,0.3614816665649414f,0.14944376051425934f,-0.08552135527133942f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.209029421210289f,0.09389619529247284f,0.3126353323459625f,-0.34530720114707947f},
Lightvalve 230:eff425844edf 246 {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve 230:eff425844edf 247 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 219:3cb6bd063f56 248 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve 232:0287991a8615 249 {0.15459725260734558f,0.4193899929523468f,0.040408845990896225f,-0.277997225522995f,-0.27155259251594543f,0.2016066461801529f,-0.08742031455039978f,0.05785742402076721f,-0.006283224560320377f,-0.2220277339220047f,0.1268840730190277f,-0.14845798909664154f,-0.09734585136175156f,-0.11904080957174301f,0.41744107007980347f,0.20126450061798096f},
Lightvalve 232:0287991a8615 250 {-0.408692330121994f,-0.18435567617416382f,0.03228508681058884f,-0.13460855185985565f,-0.11061125993728638f,-0.11353278160095215f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.14117814600467682f,-0.6666624546051025f,-0.1545296460390091f,-0.33491525053977966f,0.11735958606004715f},
Lightvalve 232:0287991a8615 251 {-0.2991822361946106f,0.3794580399990082f,0.058577943593263626f,0.06719253212213516f,0.22317948937416077f,0.11788477748632431f,-0.11253207921981812f,0.34576353430747986f,0.06370384246110916f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,-0.11170624941587448f,-0.26119908690452576f,0.2235926240682602f,-0.0459212027490139f},
Lightvalve 232:0287991a8615 252 {-0.2675279378890991f,-0.09571236371994019f,-0.025211667641997337f,-0.21431146562099457f,0.11284217238426208f,-0.6345430016517639f,-0.32875844836235046f,-0.5086509585380554f,-1.0642796754837036f,-0.867178201675415f,-0.3685331642627716f,-1.7945964336395264f,1.3065910339355469f,-1.022324800491333f,-0.07944300770759583f,0.925136148929596f},
Lightvalve 232:0287991a8615 253 {-0.015470266342163086f,-0.30741915106773376f,0.36548328399658203f,0.37661212682724f,0.07643549889326096f,-0.33224648237228394f,0.05196094512939453f,-0.008358269929885864f,-0.3483721613883972f,-0.38441595435142517f,0.13179203867912292f,-0.12231884151697159f,0.2353481501340866f,0.015602431260049343f,0.12866826355457306f,-0.4552646279335022f},
Lightvalve 232:0287991a8615 254 {0.1863725483417511f,0.16727414727210999f,-0.21832649409770966f,-6.15080451965332f,-0.19656047224998474f,-0.4116034507751465f,0.04860696196556091f,0.04096611589193344f,-1.0076631307601929f,0.24256081879138947f,-0.3929237127304077f,-0.0822499692440033f,1.4070152044296265f,-0.7986724376678467f,-0.5050287246704102f,0.893261730670929f},
Lightvalve 66:a8e6799dbce3 255 };
Lightvalve 65:a2d7c63419c2 256
Lightvalve 232:0287991a8615 257 const float hout[16] = { 0.45773375034332275f,0.11496491730213165f,0.02869349531829357f,-0.14814786612987518f,-0.045156948268413544f,0.15993131697177887f,0.0030125975608825684f,-0.00026414694730192423f,0.2589924931526184f,0.01784598082304001f,0.24303162097930908f,-0.10908975452184677f,-0.2511503994464874f,0.2726236879825592f,0.2428593635559082f,-0.23646877706050873f };
Lightvalve 232:0287991a8615 258
Lightvalve 232:0287991a8615 259 const float b1[16] = { 0.8312101364135742f,1.6546001434326172f,-1.7145336866378784f,0.08073712140321732f,1.3426809310913086f,0.6138241291046143f,-0.058932315558195114f,1.9385660886764526f,0.2135201096534729f,-2.622662305831909f,0.27099642157554626f,1.3350555896759033f,-0.3749246597290039f,-1.1940302848815918f,-1.087764859199524f,3.277304172515869f };
Lightvalve 232:0287991a8615 260
Lightvalve 232:0287991a8615 261 const float b2[16] = { -0.23770350217819214f,-1.0067986249923706f,-1.4564176797866821f,-1.0290534496307373f,-0.6939148902893066f,0.9743399620056152f,0.11889128386974335f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.042900536209344864f,0.09470154345035553f,-0.31811198592185974f,1.689566969871521f,-0.10080983489751816f,0.3293673098087311f };
Lightvalve 232:0287991a8615 262
Lightvalve 232:0287991a8615 263 const float b3[16] = { -1.963319182395935f,-0.43432754278182983f,-0.2351592630147934f,0.9060386419296265f,-0.2977774143218994f,1.0837714672088623f,-0.45353031158447266f,-0.730044960975647f,1.4574902057647705f,-0.14087486267089844f,-0.14371006190776825f,0.4661441445350647f,-1.9257787466049194f,1.134450912475586f,-1.6156606674194336f,0.4693182706832886f };
Lightvalve 232:0287991a8615 264
Lightvalve 232:0287991a8615 265 const float bout[1] = { -0.15797178447246552f };
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 231:53de35471dc7 1040 for(int i=2; 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 67:c2812cf26c38 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 57:f4819de54e7a 1399 int can_rest =0;
Lightvalve 48:889798ff9329 1400
Lightvalve 11:82d8768d7351 1401 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1402 {
Lightvalve 19:23b7c1ad8683 1403 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1404
Lightvalve 57:f4819de54e7a 1405 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1406 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1407 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1408 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1409 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1410 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1411 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1412 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1413 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1414 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1415 }
Lightvalve 50:3c630b5eba9f 1416
Lightvalve 50:3c630b5eba9f 1417 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1418 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1419 cnt_trans++;
Lightvalve 46:2694daea349b 1420 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1421 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1422 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1423 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1424 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1425 cnt_trans++;
Lightvalve 46:2694daea349b 1426 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1427 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1428 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1429 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1430 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1431 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1432 } else {
Lightvalve 58:2eade98630e2 1433 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1434 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1435 }
Lightvalve 45:35fa6884d0c6 1436
Lightvalve 50:3c630b5eba9f 1437
Lightvalve 57:f4819de54e7a 1438 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1439 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1440
Lightvalve 57:f4819de54e7a 1441 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1442 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1443 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1444 } else {
Lightvalve 57:f4819de54e7a 1445 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1446 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1447 }
Lightvalve 56:6f50d9d3bfee 1448
Lightvalve 56:6f50d9d3bfee 1449
Lightvalve 56:6f50d9d3bfee 1450
Lightvalve 57:f4819de54e7a 1451 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1452
Lightvalve 57:f4819de54e7a 1453 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1454 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1455 break;
Lightvalve 13:747daba9cf59 1456 }
Lightvalve 14:8e7590227d22 1457
Lightvalve 14:8e7590227d22 1458 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1459 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1460 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1461 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1462
Lightvalve 14:8e7590227d22 1463 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1464 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1465 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1466
Lightvalve 84:c355d3e52bf1 1467 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1468
Lightvalve 30:8d561f16383b 1469 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1470 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1471
Lightvalve 16:903b5a4433b4 1472 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1473 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1474 }
Lightvalve 13:747daba9cf59 1475 } else {
Lightvalve 58:2eade98630e2 1476 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1477 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1478 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1479 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1480
Lightvalve 170:42c938a40313 1481 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1482 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1483
Lightvalve 30:8d561f16383b 1484 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1485
Lightvalve 13:747daba9cf59 1486 }
Lightvalve 14:8e7590227d22 1487 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1488 break;
Lightvalve 19:23b7c1ad8683 1489 }
Lightvalve 14:8e7590227d22 1490
Lightvalve 50:3c630b5eba9f 1491 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1492 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1493 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1494 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1495 // }
Lightvalve 50:3c630b5eba9f 1496 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1497 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1498 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1499 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1500 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1501 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1502 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1503 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1504 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1505 // }
Lightvalve 50:3c630b5eba9f 1506 //
Lightvalve 50:3c630b5eba9f 1507 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1508 // 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 1509 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1510 //
Lightvalve 50:3c630b5eba9f 1511 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1512 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1513 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1514 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1515 // 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 if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1518 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1519 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1520 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1521 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1522 //
Lightvalve 50:3c630b5eba9f 1523 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1524 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1525 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1526 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1527 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1528 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1529 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1530 //
Lightvalve 50:3c630b5eba9f 1531 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1532 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1533 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1534 // } else {
Lightvalve 50:3c630b5eba9f 1535 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1536 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1537 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1538 // }
Lightvalve 50:3c630b5eba9f 1539 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1540 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1541 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1542 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1543 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1544 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1545 // }
Lightvalve 50:3c630b5eba9f 1546 // } else {
Lightvalve 50:3c630b5eba9f 1547 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1548 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1549 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1550 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1551 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1552 // }
Lightvalve 50:3c630b5eba9f 1553 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1554 //
Lightvalve 50:3c630b5eba9f 1555 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1556 //
Lightvalve 50:3c630b5eba9f 1557 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1558 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1559 //
Lightvalve 50:3c630b5eba9f 1560 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1561 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1562 // }
Lightvalve 50:3c630b5eba9f 1563 // }
Lightvalve 50:3c630b5eba9f 1564 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1565 // break;
Lightvalve 50:3c630b5eba9f 1566 // }
Lightvalve 14:8e7590227d22 1567
Lightvalve 14:8e7590227d22 1568 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1569 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1570 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1571 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1572 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1573 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1574 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1575 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1576 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1577 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1578 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1579 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1580 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1581 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1582 }
Lightvalve 29:69f3f5445d6d 1583 cnt_findhome++;
Lightvalve 14:8e7590227d22 1584
Lightvalve 29:69f3f5445d6d 1585 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1586 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1587 } else {
Lightvalve 29:69f3f5445d6d 1588 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1589 }
Lightvalve 19:23b7c1ad8683 1590
Lightvalve 57:f4819de54e7a 1591 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1592 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1593 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1594 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1595
Lightvalve 59:f308b1656d9c 1596 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1597 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1598 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1599 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1600 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1601
Lightvalve 59:f308b1656d9c 1602 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1603 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1604
Lightvalve 34:bb2ca2fc2a8e 1605
Lightvalve 29:69f3f5445d6d 1606 } else {
Lightvalve 29:69f3f5445d6d 1607 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1608 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1609 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1610 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1611 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1612 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1613 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1614 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1615 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1616 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1617 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1618
Lightvalve 67:c2812cf26c38 1619
Lightvalve 67:c2812cf26c38 1620 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1621 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1622 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1623 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1624 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1625 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1626 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1627
Lightvalve 169:645207e160ca 1628
Lightvalve 29:69f3f5445d6d 1629 }
Lightvalve 29:69f3f5445d6d 1630 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1631 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1632 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 1633 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1634 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1635
Lightvalve 29:69f3f5445d6d 1636 // input for position control
Lightvalve 169:645207e160ca 1637
Lightvalve 67:c2812cf26c38 1638 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1639 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1640
Lightvalve 67:c2812cf26c38 1641 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1642 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1643 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1644 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1645
Lightvalve 67:c2812cf26c38 1646 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1647
Lightvalve 67:c2812cf26c38 1648 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1649 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1650 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1651
Lightvalve 67:c2812cf26c38 1652 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1653 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1654 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1655
Lightvalve 69:3995ffeaa786 1656 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1657 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 1658 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1659 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1660 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 1661 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1662 }
Lightvalve 67:c2812cf26c38 1663 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 1664 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1665
Lightvalve 67:c2812cf26c38 1666 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1667
Lightvalve 67:c2812cf26c38 1668
Lightvalve 67:c2812cf26c38 1669
Lightvalve 67:c2812cf26c38 1670 } else {
Lightvalve 67:c2812cf26c38 1671 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1672 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 1673
Lightvalve 67:c2812cf26c38 1674 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1675 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1676 } else {
Lightvalve 67:c2812cf26c38 1677 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1678 }
Lightvalve 67:c2812cf26c38 1679
Lightvalve 67:c2812cf26c38 1680 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1681
Lightvalve 67:c2812cf26c38 1682 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1683
Lightvalve 67:c2812cf26c38 1684 }
Lightvalve 67:c2812cf26c38 1685
Lightvalve 67:c2812cf26c38 1686
Lightvalve 169:645207e160ca 1687
Lightvalve 169:645207e160ca 1688
Lightvalve 59:f308b1656d9c 1689 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1690 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1691 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1692 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1693 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1694
Lightvalve 29:69f3f5445d6d 1695 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1696 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1697 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1698 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1699 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1700 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1701 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1702 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1703 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1704 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1705 }
Lightvalve 13:747daba9cf59 1706 }
Lightvalve 19:23b7c1ad8683 1707
Lightvalve 13:747daba9cf59 1708 break;
Lightvalve 13:747daba9cf59 1709 }
Lightvalve 14:8e7590227d22 1710
Lightvalve 50:3c630b5eba9f 1711 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1712 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1713 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1714 // else {
Lightvalve 50:3c630b5eba9f 1715 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1716 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1717 // }
Lightvalve 50:3c630b5eba9f 1718 // }
Lightvalve 50:3c630b5eba9f 1719 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1720 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1721 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1722 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1723 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1724 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1725 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1726 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1727 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1728 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1729 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1730 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1731 // }
Lightvalve 50:3c630b5eba9f 1732 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1733 // }
Lightvalve 50:3c630b5eba9f 1734 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1735 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1736 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1737 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1738 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1739 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1740 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1741 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1742 // 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 1743 // // 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 1744 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1745 // }
Lightvalve 50:3c630b5eba9f 1746 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1747 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1748 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1749 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1750 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1751 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1752 // 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 1753 // // 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 1754 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1755 // }
Lightvalve 50:3c630b5eba9f 1756 // }
Lightvalve 50:3c630b5eba9f 1757 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1758 //
Lightvalve 50:3c630b5eba9f 1759 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1760 //
Lightvalve 50:3c630b5eba9f 1761 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1762 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1763 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1764 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1765 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1766 // }
Lightvalve 50:3c630b5eba9f 1767 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1768 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1769 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1770 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1771 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1772 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1773 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1774 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1775 // }
Lightvalve 50:3c630b5eba9f 1776 //
Lightvalve 50:3c630b5eba9f 1777 // }
Lightvalve 50:3c630b5eba9f 1778 // break;
Lightvalve 50:3c630b5eba9f 1779 // }
Lightvalve 50:3c630b5eba9f 1780 //
Lightvalve 50:3c630b5eba9f 1781 // }
Lightvalve 14:8e7590227d22 1782 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1783 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1784 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1785 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1786 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1787
Lightvalve 14:8e7590227d22 1788 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1789 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1790 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1791 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1792 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1793
Lightvalve 38:118df027d851 1794 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1795 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1796 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1797
Lightvalve 30:8d561f16383b 1798 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1799 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1800 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1801 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1802
Lightvalve 30:8d561f16383b 1803 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1804 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1805 }
Lightvalve 13:747daba9cf59 1806 } else {
Lightvalve 57:f4819de54e7a 1807 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1808 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1809 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1810 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1811 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1812 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1813
Lightvalve 170:42c938a40313 1814 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1815 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1816 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1817
Lightvalve 30:8d561f16383b 1818 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1819 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1820 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1821 }
Lightvalve 14:8e7590227d22 1822 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1823 break;
Lightvalve 13:747daba9cf59 1824 }
Lightvalve 14:8e7590227d22 1825
Lightvalve 50:3c630b5eba9f 1826 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1827 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1828 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1829 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1830 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1831 // }
Lightvalve 50:3c630b5eba9f 1832 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1833 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1834 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1835 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1836 // }
Lightvalve 50:3c630b5eba9f 1837 // } else {
Lightvalve 50:3c630b5eba9f 1838 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1839 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1840 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1841 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1842 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1843 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1844 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1845 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1846 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1847 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1848 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1849 //
Lightvalve 50:3c630b5eba9f 1850 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1851 //
Lightvalve 50:3c630b5eba9f 1852 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1853 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1854 // }
Lightvalve 50:3c630b5eba9f 1855 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1856 // break;
Lightvalve 50:3c630b5eba9f 1857 // }
Lightvalve 19:23b7c1ad8683 1858
Lightvalve 50:3c630b5eba9f 1859 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1860 // 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 1861 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1862 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1863 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1864 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1865 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1866 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1867 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1868 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1869 // }
Lightvalve 50:3c630b5eba9f 1870 // break;
Lightvalve 50:3c630b5eba9f 1871 // }
Lightvalve 14:8e7590227d22 1872
Lightvalve 14:8e7590227d22 1873 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1874 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1875 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1876
Lightvalve 14:8e7590227d22 1877 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1878 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1879 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1880 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1881 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1882 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1883 data_num = 0;
Lightvalve 14:8e7590227d22 1884 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1885 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1886 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1887 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1888 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1889 } else {
Lightvalve 13:747daba9cf59 1890 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1891 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1892 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1893 }
Lightvalve 14:8e7590227d22 1894
Lightvalve 17:1865016ca2e7 1895 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1896 int i;
Lightvalve 13:747daba9cf59 1897 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1898 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1899 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1900 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1901 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1902 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1903 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1904 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1905 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1906 }
Lightvalve 13:747daba9cf59 1907 }
Lightvalve 170:42c938a40313 1908 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1909 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1910 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1911 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1912 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1913 }
Lightvalve 13:747daba9cf59 1914 ID_index = 0;
Lightvalve 57:f4819de54e7a 1915 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1916 }
Lightvalve 14:8e7590227d22 1917
Lightvalve 14:8e7590227d22 1918
Lightvalve 13:747daba9cf59 1919 break;
Lightvalve 13:747daba9cf59 1920 }
Lightvalve 14:8e7590227d22 1921
Lightvalve 14:8e7590227d22 1922 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1923 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1924 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1925 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1926 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1927 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1928 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1929 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1930 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1931 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1932 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1933 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1934 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1935 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1936 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1937 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 1938 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1939 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 1940 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1941 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1942 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1943 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 1944 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1945 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1946 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1947 data_num = 0;
Lightvalve 14:8e7590227d22 1948
Lightvalve 30:8d561f16383b 1949 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1950 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1951 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1952
Lightvalve 30:8d561f16383b 1953 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1954 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1955 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1956
Lightvalve 30:8d561f16383b 1957 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1958 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1959 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1960 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1961
Lightvalve 60:64181f1d3e60 1962 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1963 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1964 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1965 DZ_case = -1;
Lightvalve 14:8e7590227d22 1966 } else {
Lightvalve 13:747daba9cf59 1967 DZ_case = 0;
Lightvalve 13:747daba9cf59 1968 }
Lightvalve 61:bc8c8270f0ab 1969
Lightvalve 60:64181f1d3e60 1970 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1971
Lightvalve 13:747daba9cf59 1972 first_check = 1;
Lightvalve 13:747daba9cf59 1973 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1974 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1975 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1976 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1977 DZ_index = 1;
Lightvalve 14:8e7590227d22 1978
Lightvalve 13:747daba9cf59 1979 }
Lightvalve 19:23b7c1ad8683 1980 } else {
Lightvalve 14:8e7590227d22 1981 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1982 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1983 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 1984 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1985 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1986 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1987 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1988 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1989 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1990 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1991 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1992 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1993 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1994 }
Lightvalve 14:8e7590227d22 1995 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1996
Lightvalve 30:8d561f16383b 1997 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1998 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1999 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2000
Lightvalve 14:8e7590227d22 2001 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2002 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2003 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2004 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2005 } else {
Lightvalve 13:747daba9cf59 2006 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2007 }
Lightvalve 14:8e7590227d22 2008
Lightvalve 13:747daba9cf59 2009 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2010 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2011 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2012 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2013 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2014 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2015 DZ_index = 1;
Lightvalve 13:747daba9cf59 2016 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2017 }
Lightvalve 13:747daba9cf59 2018 }
Lightvalve 14:8e7590227d22 2019 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2020 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2021 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 2022 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2023 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2024 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2025 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2026 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2027 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2028 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2029 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2030 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2031 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2032 }
Lightvalve 14:8e7590227d22 2033 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2034
Lightvalve 30:8d561f16383b 2035 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2036 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2037 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2038 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2039 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2040
Lightvalve 14:8e7590227d22 2041 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2042 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2043 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2044 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2045 } else {
Lightvalve 60:64181f1d3e60 2046 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2047 }
Lightvalve 14:8e7590227d22 2048
Lightvalve 13:747daba9cf59 2049 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2050 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2051 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2052 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2053 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2054 first_check = 0;
Lightvalve 33:91b17819ec30 2055 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2056 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2057
Lightvalve 170:42c938a40313 2058 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2059 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2060 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2061 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2062
Lightvalve 60:64181f1d3e60 2063 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2064 DZ_index = 1;
Lightvalve 13:747daba9cf59 2065 }
Lightvalve 13:747daba9cf59 2066 }
Lightvalve 14:8e7590227d22 2067 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2068 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2069 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 2070 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2071 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2072 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2073 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2074 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2075 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2076 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2077 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2078 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2079 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2080 }
Lightvalve 14:8e7590227d22 2081 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2082
Lightvalve 30:8d561f16383b 2083 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2084 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2085 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2086
Lightvalve 14:8e7590227d22 2087 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2088 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2089 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2090 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2091 } else {
Lightvalve 13:747daba9cf59 2092 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2093 }
Lightvalve 13:747daba9cf59 2094 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2095 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2096 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2097 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2098 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2099 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2100 DZ_index = 1;
Lightvalve 13:747daba9cf59 2101 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2102 }
Lightvalve 13:747daba9cf59 2103 }
Lightvalve 14:8e7590227d22 2104 } else {
Lightvalve 30:8d561f16383b 2105 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2106 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 2107 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2108 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2109 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2110 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2111 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2112 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2113 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2114 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2115 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2116 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2117 }
Lightvalve 14:8e7590227d22 2118 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2119
Lightvalve 30:8d561f16383b 2120 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2121 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2122 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2123 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2124 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2125
Lightvalve 60:64181f1d3e60 2126 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2127 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2128 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2129 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2130 } else {
Lightvalve 13:747daba9cf59 2131 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2132 }
Lightvalve 14:8e7590227d22 2133
Lightvalve 13:747daba9cf59 2134 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2135 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2136 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2137 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2138 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2139 first_check = 0;
Lightvalve 33:91b17819ec30 2140 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2141 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2142
Lightvalve 170:42c938a40313 2143 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2144 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2145 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2146 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2147
Lightvalve 57:f4819de54e7a 2148 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2149 DZ_index = 1;
Lightvalve 13:747daba9cf59 2150 }
Lightvalve 13:747daba9cf59 2151 }
Lightvalve 13:747daba9cf59 2152 }
Lightvalve 14:8e7590227d22 2153 }
Lightvalve 13:747daba9cf59 2154 break;
Lightvalve 13:747daba9cf59 2155 }
Lightvalve 14:8e7590227d22 2156
Lightvalve 14:8e7590227d22 2157 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2158 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2159 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2160 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2161 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2162 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2163 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2164 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2165 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2166 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2167 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2168 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2169 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2170 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2171 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2172 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2173 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2174 first_check = 1;
Lightvalve 13:747daba9cf59 2175 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2176 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2177 ID_index = 0;
Lightvalve 13:747daba9cf59 2178 max_check = 0;
Lightvalve 13:747daba9cf59 2179 min_check = 0;
Lightvalve 13:747daba9cf59 2180 }
Lightvalve 14:8e7590227d22 2181 } else {
Lightvalve 30:8d561f16383b 2182 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2183 //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 2184 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2185 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2186 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2187 data_num = 0;
Lightvalve 57:f4819de54e7a 2188 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2189
Lightvalve 14:8e7590227d22 2190 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2191 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2192 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2193 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2194 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2195 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2196 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2197 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2198 one_period_end = 1;
Lightvalve 13:747daba9cf59 2199 }
Lightvalve 30:8d561f16383b 2200 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2201 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2202 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2203 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2204 }
Lightvalve 14:8e7590227d22 2205
Lightvalve 14:8e7590227d22 2206 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2207 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2208 max_check = 1;
Lightvalve 14:8e7590227d22 2209 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2210 min_check = 1;
Lightvalve 13:747daba9cf59 2211 }
Lightvalve 13:747daba9cf59 2212 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2213
Lightvalve 13:747daba9cf59 2214 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2215 one_period_end = 0;
Lightvalve 13:747daba9cf59 2216 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2217 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2218 }
Lightvalve 14:8e7590227d22 2219
Lightvalve 14:8e7590227d22 2220 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2221
Lightvalve 13:747daba9cf59 2222 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2223 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2224 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2225 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2226 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2227 }
Lightvalve 13:747daba9cf59 2228 ID_index = 0;
Lightvalve 13:747daba9cf59 2229 first_check = 0;
Lightvalve 13:747daba9cf59 2230 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2231 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2232 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2233 }
Lightvalve 13:747daba9cf59 2234 }
Lightvalve 13:747daba9cf59 2235 break;
Lightvalve 13:747daba9cf59 2236 }
Lightvalve 58:2eade98630e2 2237
Lightvalve 57:f4819de54e7a 2238 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2239 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2240 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2241 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2242 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2243 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2244 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2245 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2246 }
Lightvalve 57:f4819de54e7a 2247 break;
Lightvalve 57:f4819de54e7a 2248 }
Lightvalve 58:2eade98630e2 2249
Lightvalve 169:645207e160ca 2250 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2251 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2252 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2253 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2254 } else {
Lightvalve 169:645207e160ca 2255 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2256 }
Lightvalve 169:645207e160ca 2257 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2258 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2259 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2260 } else {
Lightvalve 169:645207e160ca 2261 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2262 }
Lightvalve 58:2eade98630e2 2263
Lightvalve 169:645207e160ca 2264 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2265 cnt_freq_test++;
Lightvalve 169:645207e160ca 2266 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2267 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2268 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2269 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2270 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2271 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2272 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2273 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2274 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2275 }
Lightvalve 169:645207e160ca 2276 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2277 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2278
Lightvalve 169:645207e160ca 2279 }
Lightvalve 169:645207e160ca 2280 break;
Lightvalve 169:645207e160ca 2281 }
Lightvalve 169:645207e160ca 2282 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2283 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2284 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2285 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2286 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2287 // }
Lightvalve 169:645207e160ca 2288 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2289 // }
Lightvalve 169:645207e160ca 2290
Lightvalve 169:645207e160ca 2291 break;
Lightvalve 169:645207e160ca 2292 }
Lightvalve 169:645207e160ca 2293 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2294 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2295 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2296 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2297 break;
Lightvalve 169:645207e160ca 2298 }
Lightvalve 170:42c938a40313 2299
Lightvalve 169:645207e160ca 2300 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2301 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2302 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2303 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2304 } else {
Lightvalve 169:645207e160ca 2305 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2306 }
Lightvalve 169:645207e160ca 2307 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2308 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2309 } else {
Lightvalve 169:645207e160ca 2310 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2311 }
Lightvalve 169:645207e160ca 2312 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2313 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2314 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2315 } else {
Lightvalve 169:645207e160ca 2316 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2317 }
Lightvalve 169:645207e160ca 2318
Lightvalve 169:645207e160ca 2319 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2320 cnt_step_test++;
Lightvalve 170:42c938a40313 2321 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2322 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2323 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2324 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2325 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2326 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2327 }
Lightvalve 169:645207e160ca 2328 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2329 // {
Lightvalve 169:645207e160ca 2330 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2331 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2332 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2333 // }
Lightvalve 170:42c938a40313 2334
Lightvalve 169:645207e160ca 2335 break;
Lightvalve 169:645207e160ca 2336 }
Lightvalve 57:f4819de54e7a 2337
Lightvalve 57:f4819de54e7a 2338 default:
Lightvalve 57:f4819de54e7a 2339 break;
Lightvalve 57:f4819de54e7a 2340 }
Lightvalve 57:f4819de54e7a 2341
Lightvalve 57:f4819de54e7a 2342 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2343
Lightvalve 57:f4819de54e7a 2344 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2345 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2346 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2347 break;
Lightvalve 57:f4819de54e7a 2348 }
Lightvalve 57:f4819de54e7a 2349
Lightvalve 57:f4819de54e7a 2350 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2351 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2352 ////For Test LIMC//////////////////////////////////////////
Lightvalve 230:eff425844edf 2353 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 230:eff425844edf 2354 for(int i=0; i<9; i++){
Lightvalve 230:eff425844edf 2355 valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 230:eff425844edf 2356 }
Lightvalve 230:eff425844edf 2357 valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 230:eff425844edf 2358 VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2359 ////////////////////////////////////////////////////////////
Lightvalve 225:278b48b86f27 2360
Lightvalve 59:f308b1656d9c 2361 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2362 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2363 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2364 } else {
Lightvalve 67:c2812cf26c38 2365 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2366 }
Lightvalve 57:f4819de54e7a 2367 break;
Lightvalve 57:f4819de54e7a 2368 }
Lightvalve 57:f4819de54e7a 2369
Lightvalve 57:f4819de54e7a 2370 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2371
Lightvalve 57:f4819de54e7a 2372 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2373 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2374 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2375 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2376
Lightvalve 67:c2812cf26c38 2377 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2378 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2379 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2380 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2381
Lightvalve 139:15621998925b 2382 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2383 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2384
Lightvalve 57:f4819de54e7a 2385 // torque feedback
Lightvalve 67:c2812cf26c38 2386 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2387 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2388
Lightvalve 57:f4819de54e7a 2389 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2390
Lightvalve 57:f4819de54e7a 2391 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2392 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2393 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2394
Lightvalve 57:f4819de54e7a 2395 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2396 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2397 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2398
Lightvalve 69:3995ffeaa786 2399 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2400 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2401 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2402 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2403 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2404 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2405 }
Lightvalve 57:f4819de54e7a 2406 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 2407 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2408
Lightvalve 57:f4819de54e7a 2409 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2410 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2411 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2412 // 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 2413 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2414 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2415 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2416 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 2417 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2418 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2419 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2420 }
Lightvalve 57:f4819de54e7a 2421 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 2422 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2423 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2424 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2425 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2426
Lightvalve 57:f4819de54e7a 2427 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2428
Lightvalve 67:c2812cf26c38 2429 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2430 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2431 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2432 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2433 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2434 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2435 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2436 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2437 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2438 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2439 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2440 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2441 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2442 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2443 }
Lightvalve 67:c2812cf26c38 2444 }
Lightvalve 57:f4819de54e7a 2445
Lightvalve 57:f4819de54e7a 2446 } else {
Lightvalve 57:f4819de54e7a 2447 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2448 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2449 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2450
Lightvalve 209:ebc69d6ee6f1 2451 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 2452
Lightvalve 72:3436ce769b1e 2453 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 2454
Lightvalve 72:3436ce769b1e 2455 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2456
Lightvalve 169:645207e160ca 2457
Lightvalve 72:3436ce769b1e 2458 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2459 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2460 } else {
Lightvalve 72:3436ce769b1e 2461 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2462 }
Lightvalve 57:f4819de54e7a 2463
Lightvalve 57:f4819de54e7a 2464 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2465 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2466 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2467 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2468 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2469 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2470 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2471 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2472 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2473 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2474 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2475 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2476 }
Lightvalve 57:f4819de54e7a 2477 }
Lightvalve 61:bc8c8270f0ab 2478
Lightvalve 57:f4819de54e7a 2479 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2480
Lightvalve 67:c2812cf26c38 2481 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2482 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2483
Lightvalve 57:f4819de54e7a 2484 }
Lightvalve 169:645207e160ca 2485
Lightvalve 72:3436ce769b1e 2486 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2487
Lightvalve 133:22ab22818e01 2488
Lightvalve 57:f4819de54e7a 2489 break;
Lightvalve 57:f4819de54e7a 2490 }
Lightvalve 58:2eade98630e2 2491
Lightvalve 57:f4819de54e7a 2492 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2493 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2494 break;
Lightvalve 57:f4819de54e7a 2495 }
Lightvalve 169:645207e160ca 2496
Lightvalve 138:a843f32ced33 2497 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2498
Lightvalve 169:645207e160ca 2499
Lightvalve 139:15621998925b 2500 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 2501 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 2502
Lightvalve 170:42c938a40313 2503 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2504
Lightvalve 218:066030f7951f 2505 //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 2506 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2507
Lightvalve 138:a843f32ced33 2508 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2509 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2510 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2511 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2512 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2513 } else {
Lightvalve 138:a843f32ced33 2514 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2515 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2516 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2517 } else {
Lightvalve 138:a843f32ced33 2518 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2519 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2520 }
Lightvalve 138:a843f32ced33 2521 }
Lightvalve 138:a843f32ced33 2522 float tau = 0.01f;
Lightvalve 142:43026242815a 2523 float K_valve = 0.0004f;
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 57:f4819de54e7a 2686 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2687 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2688
Lightvalve 57:f4819de54e7a 2689
Lightvalve 57:f4819de54e7a 2690 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2691 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2692 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2693 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2694 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2695 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2696
Lightvalve 57:f4819de54e7a 2697 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2698 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2699 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2700 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2701 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2702 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2703 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2704 }
Lightvalve 57:f4819de54e7a 2705
Lightvalve 57:f4819de54e7a 2706 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2707
Lightvalve 67:c2812cf26c38 2708 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2709 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2710 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2711 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2712 // 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 2713 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2714 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2715
Lightvalve 57:f4819de54e7a 2716 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2717 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2718 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2719 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2720 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2721 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2722 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2723 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2724 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2725 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2726 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2727 }
Lightvalve 57:f4819de54e7a 2728 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2729 } else {
Lightvalve 57:f4819de54e7a 2730 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2731 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2732 }
Lightvalve 57:f4819de54e7a 2733
Lightvalve 57:f4819de54e7a 2734 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2735 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2736 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2737 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2738 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2739 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2740 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2741
Lightvalve 57:f4819de54e7a 2742 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2743
Lightvalve 57:f4819de54e7a 2744 } else {
Lightvalve 57:f4819de54e7a 2745 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2746 }
Lightvalve 57:f4819de54e7a 2747
Lightvalve 57:f4819de54e7a 2748 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2749 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2750 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2751
Lightvalve 57:f4819de54e7a 2752 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2753 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2754 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2755 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2756 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2757 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2758 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2759 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2760
Lightvalve 89:a7b45368ea0f 2761 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2762 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2763 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2764 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2765
Lightvalve 135:79885a39c161 2766 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2767 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2768 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2769 }
Lightvalve 169:645207e160ca 2770
Lightvalve 67:c2812cf26c38 2771 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2772 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2773 // else V_out = V_out;
Lightvalve 169:645207e160ca 2774
jobuuu 7:e9086c72bb22 2775 /*******************************************************
jobuuu 7:e9086c72bb22 2776 *** PWM
jobuuu 7:e9086c72bb22 2777 ********************************************************/
Lightvalve 169:645207e160ca 2778 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2779 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2780 }
Lightvalve 169:645207e160ca 2781
Lightvalve 49:e7bcfc244d40 2782 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2783 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2784 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2785 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2786 }
Lightvalve 49:e7bcfc244d40 2787 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2788
Lightvalve 19:23b7c1ad8683 2789 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2790 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2791 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2792
Lightvalve 30:8d561f16383b 2793 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2794 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2795 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2796 } else {
jobuuu 2:a1c0a37df760 2797 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2798 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2799 }
Lightvalve 13:747daba9cf59 2800
jobuuu 1:e04e563be5ce 2801 //pwm
Lightvalve 30:8d561f16383b 2802 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2803 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2804
Lightvalve 61:bc8c8270f0ab 2805
Lightvalve 57:f4819de54e7a 2806 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 2807
Lightvalve 54:647072f5307a 2808 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2809 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2810 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2811 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2812 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2813 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2814 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 2815 }
Lightvalve 57:f4819de54e7a 2816 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2817 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2818 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 2819 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2820 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 2821 }
Lightvalve 52:8ea76864368a 2822 }
Lightvalve 52:8ea76864368a 2823 }
Lightvalve 56:6f50d9d3bfee 2824 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2825 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2826 }
Lightvalve 58:2eade98630e2 2827
Lightvalve 58:2eade98630e2 2828
Lightvalve 171:bfc1fd2629d8 2829 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2830 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2831 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2832 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2833 } else {
Lightvalve 131:d08121ac87ba 2834 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2835 }
Lightvalve 169:645207e160ca 2836 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2837 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2838 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2839 } else {
Lightvalve 169:645207e160ca 2840 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2841 }
Lightvalve 169:645207e160ca 2842
Lightvalve 169:645207e160ca 2843
Lightvalve 169:645207e160ca 2844 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2845 }
Lightvalve 58:2eade98630e2 2846
Lightvalve 57:f4819de54e7a 2847 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 2848 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2849 ;
Lightvalve 57:f4819de54e7a 2850 }
Lightvalve 58:2eade98630e2 2851
Lightvalve 169:645207e160ca 2852 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2853 //PWM
Lightvalve 209:ebc69d6ee6f1 2854 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 209:ebc69d6ee6f1 2855 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2856 }
Lightvalve 179:d5377766d7ea 2857
Lightvalve 56:6f50d9d3bfee 2858 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2859 //valve position
Lightvalve 212:ec41f1449ef9 2860 //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
Lightvalve 218:066030f7951f 2861 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 54:647072f5307a 2862 }
Lightvalve 20:806196fda269 2863
Lightvalve 54:647072f5307a 2864 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 2865 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 2866 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 2867 // }
Lightvalve 54:647072f5307a 2868 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 2869 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 2870 //}
Lightvalve 52:8ea76864368a 2871
Lightvalve 54:647072f5307a 2872 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2873 }
Lightvalve 54:647072f5307a 2874 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 2875
Lightvalve 20:806196fda269 2876 }
Lightvalve 52:8ea76864368a 2877 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2878
Lightvalve 58:2eade98630e2 2879 }