Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@249:21430e06f706, 2021-01-08 (annotated)

Committer:
Lightvalve
Date:
Fri Jan 08 04:37:14 2021 +0000
Revision:
249:21430e06f706
Parent:
248:c925c863ea87
Child:
250:ae6e0c80029d
210108_3  500Hz   num_input 9    210105 data

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 249:21430e06f706 1 //210108_3 500Hz num_input 9 210105 data
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 11 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 12 #include <string>
Lightvalve 170:42c938a40313 13 #include <iostream>
Lightvalve 179:d5377766d7ea 14 #include <cmath>
Lightvalve 61:bc8c8270f0ab 15
Lightvalve 61:bc8c8270f0ab 16 using namespace std;
Lightvalve 61:bc8c8270f0ab 17 Timer t;
GiJeongKim 0:51c43836c1d7 18
Lightvalve 31:66738bfecec5 19 ///191008////
Lightvalve 31:66738bfecec5 20
jobuuu 7:e9086c72bb22 21 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 22 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 23 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 24 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 25 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 26 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 27 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 28 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 29
Lightvalve 24:ef6e1092e9e6 30
jobuuu 7:e9086c72bb22 31 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 32 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 33 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 34
jobuuu 7:e9086c72bb22 35 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 36 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 37 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 38 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 39
jobuuu 7:e9086c72bb22 40 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 41 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 42 DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 43 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 44 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 45 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 46 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 50
jobuuu 7:e9086c72bb22 51 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 52 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 53 CANMessage msg;
Lightvalve 11:82d8768d7351 54 void onMsgReceived()
Lightvalve 11:82d8768d7351 55 {
Lightvalve 11:82d8768d7351 56 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 57 }
jobuuu 2:a1c0a37df760 58
jobuuu 7:e9086c72bb22 59 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 60 State pos;
jobuuu 7:e9086c72bb22 61 State vel;
jobuuu 7:e9086c72bb22 62 State Vout;
jobuuu 7:e9086c72bb22 63 State torq;
Lightvalve 207:c70c5a9f17dd 64 State torq_dot;
jobuuu 7:e9086c72bb22 65 State pres_A;
jobuuu 7:e9086c72bb22 66 State pres_B;
jobuuu 7:e9086c72bb22 67 State cur;
Lightvalve 14:8e7590227d22 68 State valve_pos;
Lightvalve 14:8e7590227d22 69
Lightvalve 14:8e7590227d22 70 State INIT_Vout;
Lightvalve 14:8e7590227d22 71 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 72 State INIT_Pos;
Lightvalve 14:8e7590227d22 73 State INIT_torq;
jobuuu 5:a4319f79457b 74
Lightvalve 19:23b7c1ad8683 75 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 76 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 77 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 78 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 79
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 86
Lightvalve 61:bc8c8270f0ab 87
Lightvalve 61:bc8c8270f0ab 88
Lightvalve 61:bc8c8270f0ab 89
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91 // =============================================================================
jobuuu 7:e9086c72bb22 92 // =============================================================================
jobuuu 7:e9086c72bb22 93
Lightvalve 12:6f2531038ea4 94 /*******************************************************************************
Lightvalve 12:6f2531038ea4 95 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 96 ******************************************************************************/
Lightvalve 13:747daba9cf59 97 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 98 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 99 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 100 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 101 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 102 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 103 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 104 };
Lightvalve 12:6f2531038ea4 105
Lightvalve 12:6f2531038ea4 106 /*******************************************************************************
Lightvalve 12:6f2531038ea4 107 * CONTROL MODE
Lightvalve 12:6f2531038ea4 108 ******************************************************************************/
Lightvalve 13:747daba9cf59 109 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 110 //control mode
Lightvalve 12:6f2531038ea4 111 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 112 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 113 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 114
Lightvalve 47:fdcb8bd86fd6 115 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 116 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 117 MODE_RL, //5
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 120 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 121 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 122
Lightvalve 12:6f2531038ea4 123 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 124 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 125
Lightvalve 14:8e7590227d22 126 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 127 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 128 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 171:bfc1fd2629d8 129 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 130
Lightvalve 12:6f2531038ea4 131 //utility
Lightvalve 12:6f2531038ea4 132 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 133 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 134 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 135 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 136 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 137 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 138 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 139
Lightvalve 12:6f2531038ea4 140 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 141 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 142 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 143 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 144 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 145 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 146 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 147 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 148 };
Lightvalve 12:6f2531038ea4 149
Lightvalve 65:a2d7c63419c2 150 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 151 {
Lightvalve 169:645207e160ca 152 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 153 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 154
Lightvalve 169:645207e160ca 155 /** Configure the main internal regulator output voltage
Lightvalve 169:645207e160ca 156 */
Lightvalve 169:645207e160ca 157 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 158 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 169:645207e160ca 159 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 160 */
Lightvalve 169:645207e160ca 161 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 169:645207e160ca 162 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 169:645207e160ca 163 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 164 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 169:645207e160ca 165 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 169:645207e160ca 166 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 169:645207e160ca 167 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 169:645207e160ca 168 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 169 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 170 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 171 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 172 //Error_Handler();
Lightvalve 169:645207e160ca 173 }
Lightvalve 169:645207e160ca 174 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 175 */
Lightvalve 169:645207e160ca 176 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 177 //Error_Handler();
Lightvalve 169:645207e160ca 178 }
Lightvalve 169:645207e160ca 179 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 180 */
Lightvalve 169:645207e160ca 181 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 182 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 183 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 184 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 185 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 186 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 187
Lightvalve 169:645207e160ca 188 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 169:645207e160ca 189 //Error_Handler();
Lightvalve 169:645207e160ca 190 }
Lightvalve 65:a2d7c63419c2 191 }
Lightvalve 65:a2d7c63419c2 192
Lightvalve 99:7bbcb3c0fb06 193 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 194 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 195 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 196 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 197 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 198
Lightvalve 73:f80dc3970c99 199 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 200
Lightvalve 169:645207e160ca 201 const float h1[num_input][16] = {
Lightvalve 249:21430e06f706 202 {0.29663917422294617f,0.41587597131729126f,-0.40238484740257263f,-0.31135293841362f,0.09028628468513489f,-0.15008357167243958f,0.0060180313885211945f,-0.25428661704063416f,-0.38775452971458435f,-0.08711326122283936f,0.029678843915462494f,-0.5523331761360168f,0.17435714602470398f,0.049568623304367065f,-0.11123791337013245f,0.11293289065361023f},
Lightvalve 249:21430e06f706 203 {-0.13885954022407532f,0.008150720968842506f,0.47685256600379944f,0.2796906530857086f,0.32721421122550964f,-0.15552201867103577f,0.13772499561309814f,-0.03211083635687828f,-0.33916792273521423f,0.5187415480613708f,-0.2988690733909607f,-0.5000523328781128f,-0.3222626745700836f,-0.22863739728927612f,-0.3115236759185791f,0.08912834525108337f},
Lightvalve 249:21430e06f706 204 {-0.36185380816459656f,-0.01113466639071703f,-0.17586973309516907f,-0.40819093585014343f,-0.25984901189804077f,0.016262324526906013f,-0.5287548899650574f,-0.0727643221616745f,0.21207480132579803f,-0.2510138154029846f,-0.3024713099002838f,-0.2796802222728729f,-0.0891394317150116f,0.3824678361415863f,-0.12040254473686218f,0.056863874197006226f},
Lightvalve 249:21430e06f706 205 {0.15546533465385437f,0.4914516508579254f,-0.2568590044975281f,-0.43472781777381897f,0.2994142472743988f,0.15819527208805084f,0.14573554694652557f,-0.2842216193675995f,-0.3083231747150421f,-0.3176731467247009f,-0.17488853633403778f,0.20977792143821716f,-0.2630729377269745f,-0.27504676580429077f,-0.4301341474056244f,-0.08075663447380066f},
Lightvalve 249:21430e06f706 206 {0.48212262988090515f,0.40492209792137146f,-0.06806144118309021f,-0.3792468011379242f,-0.11923012137413025f,-0.23530688881874084f,-0.21158641576766968f,-0.42907828092575073f,-0.14715367555618286f,0.4203021228313446f,0.006408415734767914f,0.3745218813419342f,-0.419051855802536f,-0.40804523229599f,0.24169525504112244f,0.03659626841545105f},
Lightvalve 249:21430e06f706 207 {-0.12619352340698242f,0.19174300134181976f,-0.31877976655960083f,-0.04390779882669449f,-0.14006736874580383f,-0.21398991346359253f,-0.7291432619094849f,-0.2562205493450165f,0.44291412830352783f,0.6389468312263489f,-0.16900624334812164f,0.3231842815876007f,-0.35098129510879517f,-0.15950220823287964f,-0.2785465717315674f,-0.2435975819826126f},
Lightvalve 249:21430e06f706 208 {0.04468771815299988f,0.2694479525089264f,0.3779745399951935f,0.10625391453504562f,-0.286765992641449f,-0.6106315851211548f,0.06032551825046539f,0.1240493655204773f,0.04552985727787018f,0.20586301386356354f,0.5519559979438782f,-1.0102519989013672f,0.4520128071308136f,0.11482951045036316f,-0.1275120973587036f,-0.1722896695137024f},
Lightvalve 249:21430e06f706 209 {-0.4707544147968292f,-0.39714711904525757f,-0.1917957365512848f,-0.021674744784832f,-0.18413209915161133f,-0.8700361847877502f,0.5609602928161621f,0.2770845890045166f,0.09915876388549805f,-0.2328445464372635f,0.6780804991722107f,0.27046671509742737f,-0.347939670085907f,-0.42903608083724976f,0.1774953305721283f,0.2401047646999359f},
Lightvalve 249:21430e06f706 210 {-0.15439578890800476f,-0.5200294256210327f,-0.2624427080154419f,0.3273162245750427f,-0.2676073908805847f,0.20046526193618774f,0.03604237735271454f,-0.1507950872182846f,0.8252518177032471f,0.06839548051357269f,-0.2259593904018402f,1.0545680522918701f,0.23076865077018738f,-0.04404708743095398f,-0.44072574377059937f,0.15690186619758606f},
Lightvalve 65:a2d7c63419c2 211 };
Lightvalve 65:a2d7c63419c2 212
Lightvalve 169:645207e160ca 213 const float h2[16][16] = {
Lightvalve 249:21430e06f706 214 {-0.3888300061225891f,-0.33301249146461487f,-0.1355518400669098f,-0.37952423095703125f,0.21257463097572327f,-0.36136317253112793f,0.24208763241767883f,0.33804598450660706f,-0.2569337487220764f,-0.08110451698303223f,-0.27817511558532715f,0.35469159483909607f,-0.29972952604293823f,0.15880760550498962f,-0.35889360308647156f,-0.08369413018226624f},
Lightvalve 249:21430e06f706 215 {0.9094585180282593f,-0.20084045827388763f,-0.2232477068901062f,0.022348403930664062f,-0.31344151496887207f,0.9187012314796448f,0.08110490441322327f,-0.796314001083374f,-0.6019505262374878f,1.4344419240951538f,2.078198194503784f,0.12826785445213318f,0.08236726373434067f,0.513929009437561f,-0.7852200269699097f,0.7756533026695251f},
Lightvalve 249:21430e06f706 216 {-0.03531843423843384f,-0.4267989993095398f,-0.33276697993278503f,0.0032796859741210938f,-0.4177505671977997f,0.3844440281391144f,-0.3362900912761688f,0.37579968571662903f,0.3336181938648224f,0.019254565238952637f,-0.053793132305145264f,-0.04763022065162659f,0.2717372477054596f,0.3915339410305023f,-0.4008266031742096f,0.008691728115081787f},
Lightvalve 249:21430e06f706 217 {0.829369306564331f,-0.037088543176651f,0.3303629159927368f,-0.10298678278923035f,0.03958216309547424f,1.1753311157226562f,-0.39364370703697205f,-1.0809330940246582f,-1.399806022644043f,0.812737226486206f,-2.776177406311035f,-0.06223180890083313f,-1.3906004428863525f,0.9751940965652466f,-0.8362966179847717f,0.7644394040107727f},
Lightvalve 249:21430e06f706 218 {0.0065080225467681885f,0.4084913432598114f,0.34083792567253113f,0.08630749583244324f,-0.18584498763084412f,-0.10108181834220886f,0.1392066776752472f,0.14020100235939026f,0.12382212281227112f,0.31817105412483215f,-0.24523776769638062f,-0.4109385013580322f,-0.041146427392959595f,-0.1336672306060791f,0.19239845871925354f,-0.1465291678905487f},
Lightvalve 249:21430e06f706 219 {0.19369199872016907f,0.10641822218894958f,-0.21756651997566223f,-0.16729947924613953f,0.3574720323085785f,0.22665399312973022f,0.10581281781196594f,0.268216073513031f,0.06638725847005844f,-0.05752768740057945f,-0.3020212650299072f,0.37810656428337097f,0.036901701241731644f,0.1635662168264389f,0.05745241418480873f,0.0073737651109695435f},
Lightvalve 249:21430e06f706 220 {-0.4029591679573059f,-0.26807457208633423f,-0.1728709638118744f,-0.22050951421260834f,-0.299405962228775f,0.017986953258514404f,0.3826618492603302f,0.5415890216827393f,0.20813074707984924f,-0.21721883118152618f,-0.3750367760658264f,0.3528025448322296f,-0.015163726173341274f,0.01980692148208618f,0.4643106758594513f,-0.44261613488197327f},
Lightvalve 249:21430e06f706 221 {-0.1553884893655777f,0.0929887592792511f,0.07923837006092072f,0.1415313184261322f,-0.24100345373153687f,0.035420484840869904f,-0.23515468835830688f,0.48955461382865906f,-0.22871027886867523f,-0.6616853475570679f,-0.35328409075737f,-0.0841493010520935f,-0.6434178352355957f,-0.2802467942237854f,0.02801680937409401f,-0.43440064787864685f},
Lightvalve 249:21430e06f706 222 {-0.07246144115924835f,-0.18326310813426971f,0.16720524430274963f,0.011525928974151611f,-0.12579655647277832f,0.5384641289710999f,0.26028844714164734f,0.030630944296717644f,0.1539444476366043f,0.4313714802265167f,-1.2241016626358032f,-0.08900067210197449f,-0.5645046234130859f,-0.23248566687107086f,0.24500861763954163f,0.4273317754268646f},
Lightvalve 249:21430e06f706 223 {0.10190009325742722f,-0.21384187042713165f,0.07577396184206009f,-0.05684670805931091f,0.34398868680000305f,0.054179057478904724f,0.10196617245674133f,0.15645906329154968f,-0.22546876966953278f,0.0037930342368781567f,0.4444926083087921f,-0.4265243709087372f,0.39087945222854614f,0.3117143511772156f,-0.46703991293907166f,0.2941291034221649f},
Lightvalve 249:21430e06f706 224 {-0.37670740485191345f,-0.3690805435180664f,0.3855787217617035f,0.21942487359046936f,-0.0013443827629089355f,-0.08459454774856567f,0.37341418862342834f,0.25538870692253113f,0.45563217997550964f,-0.36620602011680603f,-0.10484421253204346f,-0.15164825320243835f,-0.13352882862091064f,-0.8643376231193542f,0.13016673922538757f,-0.2567961513996124f},
Lightvalve 249:21430e06f706 225 {0.008839505724608898f,-0.0046111345291137695f,-0.16272638738155365f,-0.18568435311317444f,-0.2280530333518982f,0.138400599360466f,0.07191351056098938f,0.4081989824771881f,0.08220343291759491f,0.27161240577697754f,-0.28040406107902527f,0.0015468299388885498f,-0.008710266090929508f,0.11106086522340775f,0.31602251529693604f,0.270530641078949f},
Lightvalve 249:21430e06f706 226 {0.20316341519355774f,-0.01405063271522522f,0.09861764311790466f,-0.16879788041114807f,-0.404694527387619f,0.13892611861228943f,-0.17759200930595398f,0.3851688802242279f,0.24458882212638855f,-0.2915504574775696f,0.22550490498542786f,-0.24272814393043518f,0.14730152487754822f,-0.4137716591358185f,0.17881467938423157f,-0.2877027690410614f},
Lightvalve 249:21430e06f706 227 {-0.2195536345243454f,0.02955836057662964f,0.40262481570243835f,-0.40885308384895325f,-0.12887510657310486f,-0.4060956835746765f,0.17089977860450745f,-0.3749438524246216f,0.028164535760879517f,0.030858129262924194f,0.07867559790611267f,-0.39648905396461487f,-0.040825873613357544f,-0.08236381411552429f,-0.013542592525482178f,-0.10870978236198425f},
Lightvalve 249:21430e06f706 228 {-0.12072217464447021f,-0.375680148601532f,-0.2350127398967743f,0.20186755061149597f,-0.36594828963279724f,0.13954707980155945f,0.3276398479938507f,0.22214189171791077f,0.22335270047187805f,-0.051959723234176636f,-0.27821671962738037f,-0.41584086418151855f,0.3025414049625397f,-0.21118895709514618f,-0.36947399377822876f,0.1889876425266266f},
Lightvalve 249:21430e06f706 229 {0.12349763512611389f,0.10101905465126038f,-0.3979831337928772f,-0.23517636954784393f,0.4234168231487274f,-0.21465477347373962f,0.2610546052455902f,0.05005693435668945f,-0.016834020614624023f,-0.349880188703537f,0.2895679771900177f,0.38406917452812195f,0.1496359407901764f,0.029400497674942017f,0.21077695488929749f,-0.10674196481704712f},
Lightvalve 65:a2d7c63419c2 230 };
Lightvalve 65:a2d7c63419c2 231
Lightvalve 169:645207e160ca 232 const float h3[16][16] = {
Lightvalve 249:21430e06f706 233 {0.20138880610466003f,0.31971320509910583f,-0.573394775390625f,-0.31132131814956665f,-0.3762798309326172f,-0.4261515736579895f,-0.2775144875049591f,-0.10658112168312073f,0.5168919563293457f,0.07961633056402206f,0.40829774737358093f,0.06363576650619507f,-0.20960833132266998f,0.3711947202682495f,0.13634565472602844f,-0.38112565875053406f},
Lightvalve 249:21430e06f706 234 {0.19051507115364075f,0.16294768452644348f,0.4160015881061554f,0.05116799473762512f,-0.2918829917907715f,-0.14418381452560425f,-0.35893499851226807f,0.09588906168937683f,-0.2242071032524109f,0.1678912341594696f,0.05509382486343384f,-0.02252596616744995f,-0.40007027983665466f,0.4086398780345917f,-0.3398894965648651f,0.3448427617549896f},
Lightvalve 249:21430e06f706 235 {0.004781484603881836f,0.057733599096536636f,-0.40068915486335754f,-0.12630119919776917f,0.2725552022457123f,0.029532641172409058f,0.24218353629112244f,0.059943556785583496f,-0.4218027591705322f,0.1711505651473999f,0.232928067445755f,0.2649426758289337f,-0.1096067950129509f,-0.25758618116378784f,0.1579485833644867f,0.34988483786582947f},
Lightvalve 249:21430e06f706 236 {0.14744046330451965f,-0.14954188466072083f,-0.2823004126548767f,-0.20482586324214935f,-0.3508032262325287f,-0.3688071668148041f,0.01029101014137268f,0.03582140803337097f,0.1944337785243988f,0.39723339676856995f,0.0812627375125885f,-0.07741960883140564f,-0.25062668323516846f,-0.17132753133773804f,-0.32584911584854126f,-0.10801076889038086f},
Lightvalve 249:21430e06f706 237 {-0.23801851272583008f,-0.32108113169670105f,-0.347549170255661f,-0.16850975155830383f,0.4027153551578522f,-0.381073534488678f,-0.2942546606063843f,0.12287876009941101f,-0.20644505321979523f,0.1990034282207489f,-0.2864486277103424f,-0.25635671615600586f,0.38671061396598816f,-0.33340561389923096f,-0.14622977375984192f,0.11676457524299622f},
Lightvalve 249:21430e06f706 238 {-0.28616175055503845f,-0.12695540487766266f,-0.30583456158638f,-0.03626849874854088f,0.24763250350952148f,-0.03751462697982788f,-0.3386254608631134f,0.169498473405838f,0.47662490606307983f,0.3614100217819214f,0.06764152646064758f,-0.015877217054367065f,0.2642289698123932f,-0.35798028111457825f,0.20222005248069763f,0.30211254954338074f},
Lightvalve 249:21430e06f706 239 {0.2333069145679474f,0.0017639398574829102f,-0.30106985569000244f,-0.027164578437805176f,-0.24558454751968384f,0.3476872742176056f,-0.12298372387886047f,0.12251326441764832f,-0.4255034625530243f,-0.3266092538833618f,-0.3107597827911377f,0.28408458828926086f,0.06578537821769714f,-0.09853100776672363f,-0.25814658403396606f,-0.013455241918563843f},
Lightvalve 249:21430e06f706 240 {0.6252551674842834f,-1.7136082649230957f,1.6249260902404785f,1.672523856163025f,-0.28755253553390503f,0.13177838921546936f,0.13568851351737976f,-0.11005973815917969f,-1.5778653621673584f,-1.6947146654129028f,0.264227956533432f,-0.36500003933906555f,-1.7246160507202148f,0.5941118001937866f,0.2957947552204132f,0.07755979895591736f},
Lightvalve 249:21430e06f706 241 {0.18169909715652466f,-0.19895386695861816f,-0.05671519413590431f,0.36275410652160645f,0.06176760792732239f,0.07695844769477844f,0.12766453623771667f,0.0817842185497284f,-0.7237305045127869f,-0.6087480187416077f,-0.12001633644104004f,-0.08554613590240479f,-0.0011166516924276948f,0.027426540851593018f,-0.387156218290329f,-0.2686024308204651f},
Lightvalve 249:21430e06f706 242 {-1.7639572620391846f,0.9937340021133423f,-0.762538492679596f,-1.1919790506362915f,0.22843122482299805f,0.14367392659187317f,0.43251314759254456f,-0.11276862025260925f,0.9715967774391174f,0.7894815802574158f,-0.17702773213386536f,-0.42824557423591614f,1.2783340215682983f,0.0824713259935379f,0.10247305035591125f,0.11768892407417297f},
Lightvalve 249:21430e06f706 243 {-4.242254257202148f,3.9532933235168457f,-4.220984935760498f,-3.2578203678131104f,-0.28594839572906494f,-0.2543869614601135f,0.3854757249355316f,-0.35510146617889404f,3.874885082244873f,3.38134503364563f,0.025140076875686646f,-0.09252285957336426f,3.5076000690460205f,0.020325958728790283f,-0.2821711599826813f,-0.31494733691215515f},
Lightvalve 249:21430e06f706 244 {-0.19829243421554565f,-0.036789268255233765f,0.40402278304100037f,0.08938947319984436f,-0.3003213703632355f,-0.13985875248908997f,-0.05300605297088623f,0.2158009111881256f,-0.045280009508132935f,0.3853699862957001f,-0.28284311294555664f,-0.38101786375045776f,0.20273366570472717f,-0.2851206660270691f,-0.23302911221981049f,-0.04975670576095581f},
Lightvalve 249:21430e06f706 245 {-2.3402528762817383f,2.251093626022339f,-1.8143333196640015f,-1.686104416847229f,0.28627198934555054f,-0.05089947581291199f,-0.21972325444221497f,-0.12107464671134949f,1.4696484804153442f,1.7204586267471313f,0.42002591490745544f,0.2625511586666107f,2.0771658420562744f,0.20424117147922516f,-0.14932382106781006f,0.05037429928779602f},
Lightvalve 249:21430e06f706 246 {0.01017003320157528f,0.5383520722389221f,0.09068045765161514f,-0.3059485852718353f,-0.1828690618276596f,0.12154242396354675f,-0.3135022222995758f,-0.05303463339805603f,0.2918146252632141f,0.4535827040672302f,0.19363173842430115f,0.17974761128425598f,0.21057143807411194f,0.3842782974243164f,0.1783216893672943f,0.15743878483772278f},
Lightvalve 249:21430e06f706 247 {0.2572315037250519f,-0.7767909169197083f,0.5495519042015076f,0.8770574331283569f,0.29163259267807007f,0.3491267263889313f,0.2651456296443939f,0.27459242939949036f,-0.37017369270324707f,-0.9690517783164978f,0.0338018536567688f,-0.015062451362609863f,-0.9156760573387146f,-0.31157001852989197f,-0.1419163942337036f,-0.4173831343650818f},
Lightvalve 249:21430e06f706 248 {-0.7403416633605957f,0.7024995684623718f,-0.38165247440338135f,-0.6589585542678833f,0.18063348531723022f,0.4021502435207367f,-0.18067532777786255f,0.0808744728565216f,0.13344483077526093f,0.5048403143882751f,0.1375615894794464f,-0.3139927089214325f,0.32810354232788086f,-0.28314903378486633f,0.295305460691452f,0.26069560647010803f},
Lightvalve 66:a8e6799dbce3 249 };
Lightvalve 65:a2d7c63419c2 250
Lightvalve 249:21430e06f706 251 const float hout[16] = { -4.399260997772217f,0.904973030090332f,-1.0306147336959839f,-1.186169147491455f,-0.24832315742969513f,-0.1935586929321289f,-0.5914010405540466f,0.5897116661071777f,2.2783241271972656f,0.4730304181575775f,-0.31953302025794983f,-0.20998573303222656f,0.40309593081474304f,-0.33466991782188416f,0.07082188129425049f,0.5935964584350586f };
Lightvalve 249:21430e06f706 252
Lightvalve 249:21430e06f706 253 const float b1[16] = { -0.5132032632827759f,-1.1938527822494507f,-0.7500218152999878f,1.0411573648452759f,-1.3620671033859253f,1.3940210342407227f,0.8505174517631531f,1.1860228776931763f,0.3311760723590851f,-0.16578342020511627f,0.41973596811294556f,1.2696189880371094f,-0.40242457389831543f,-0.13635645806789398f,-0.85361248254776f,-0.41521793603897095f };
Lightvalve 249:21430e06f706 254
Lightvalve 249:21430e06f706 255 const float b2[16] = { 0.5477832555770874f,-0.05469924956560135f,-0.36899566650390625f,-0.7305267453193665f,-0.6980655789375305f,0.3870934545993805f,-1.2705386877059937f,-0.5881870985031128f,1.4541643857955933f,0.053963299840688705f,0.042596764862537384f,-0.9409856796264648f,-0.49485892057418823f,0.5978859066963196f,0.21442629396915436f,-0.16960793733596802f };
Lightvalve 249:21430e06f706 256
Lightvalve 249:21430e06f706 257 const float b3[16] = { 0.8192553520202637f,0.4740256071090698f,1.4711703062057495f,1.393757939338684f,-0.5335577726364136f,-0.5553005933761597f,-0.5806921124458313f,-1.019081473350525f,-0.13486835360527039f,1.6698031425476074f,-1.9048346281051636f,-2.072582483291626f,1.185135006904602f,-0.8330573439598083f,-0.9093554615974426f,-0.6499820947647095f };
Lightvalve 249:21430e06f706 258
Lightvalve 249:21430e06f706 259 const float bout[1] = { -0.06959325075149536f };
Lightvalve 225:278b48b86f27 260
Lightvalve 225:278b48b86f27 261 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 262
Lightvalve 170:42c938a40313 263 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 264 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 265
Lightvalve 170:42c938a40313 266 //Critic Networks
Lightvalve 173:68c7914679ec 267 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 268 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 269 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 270 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 271 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 272 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 273
Lightvalve 170:42c938a40313 274 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 275 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 276 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 277 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 278 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 279 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 280 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 281
Lightvalve 170:42c938a40313 282 //Actor Networks
Lightvalve 173:68c7914679ec 283 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 284 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 285 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 286 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 287 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 288 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 289
Lightvalve 170:42c938a40313 290 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 291 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 292 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 293 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 294 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 295 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 296 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 297
Lightvalve 87:471334725012 298 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 299 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 300
Lightvalve 179:d5377766d7ea 301 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 302 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 303 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 304 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 305 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 306
Lightvalve 170:42c938a40313 307 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 308 {
Lightvalve 173:68c7914679ec 309 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 310 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 311 float output = 0.0f;
Lightvalve 173:68c7914679ec 312 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 313 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 314 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 315 }
Lightvalve 173:68c7914679ec 316 //ReLU
Lightvalve 173:68c7914679ec 317 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 318 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 319 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 320 output1[index2] = 0;
Lightvalve 173:68c7914679ec 321 }
Lightvalve 173:68c7914679ec 322 //tanh
Lightvalve 173:68c7914679ec 323 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 324 }
Lightvalve 173:68c7914679ec 325 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 326 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 327 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 328 }
Lightvalve 173:68c7914679ec 329 //ReLU
Lightvalve 173:68c7914679ec 330 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 331 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 332 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 333 output2[index2] = 0;
Lightvalve 173:68c7914679ec 334 }
Lightvalve 173:68c7914679ec 335 //tanh
Lightvalve 173:68c7914679ec 336 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 337 }
Lightvalve 170:42c938a40313 338 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 339 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 340 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 341 }
Lightvalve 173:68c7914679ec 342 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 343 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 344 }
Lightvalve 170:42c938a40313 345 return output;
Lightvalve 170:42c938a40313 346 }
Lightvalve 170:42c938a40313 347
Lightvalve 170:42c938a40313 348
Lightvalve 170:42c938a40313 349 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 350 {
Lightvalve 173:68c7914679ec 351 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 352 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 353 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 354
Lightvalve 173:68c7914679ec 355 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 356 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 357 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 358 }
Lightvalve 178:1074553d2f6f 359 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 360 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 361 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 362 output1[index2] = 0;
Lightvalve 173:68c7914679ec 363 }
Lightvalve 173:68c7914679ec 364 }
Lightvalve 173:68c7914679ec 365 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 366 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 367 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 368 }
Lightvalve 178:1074553d2f6f 369 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 370 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 371 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 372 output2[index2] = 0;
Lightvalve 173:68c7914679ec 373 }
Lightvalve 173:68c7914679ec 374 }
Lightvalve 173:68c7914679ec 375 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 376 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 377 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 378 }
Lightvalve 178:1074553d2f6f 379 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 380 }
Lightvalve 178:1074553d2f6f 381
Lightvalve 178:1074553d2f6f 382 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 383 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 384 //Softplus
Lightvalve 173:68c7914679ec 385 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 386 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 387 logging2 = mean;
Lightvalve 179:d5377766d7ea 388 logging4 = deviation;
Lightvalve 173:68c7914679ec 389 }
Lightvalve 173:68c7914679ec 390
Lightvalve 173:68c7914679ec 391
Lightvalve 173:68c7914679ec 392 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 393 {
Lightvalve 173:68c7914679ec 394 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 395 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 396 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 397
Lightvalve 173:68c7914679ec 398 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 399 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 400 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 401 }
Lightvalve 170:42c938a40313 402 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 403 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 404 output1[index2] = 0;
Lightvalve 170:42c938a40313 405 }
Lightvalve 170:42c938a40313 406 }
Lightvalve 173:68c7914679ec 407 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 408 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 409 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 410 }
Lightvalve 173:68c7914679ec 411 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 412 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 413 output2[index2] = 0;
Lightvalve 170:42c938a40313 414 }
Lightvalve 170:42c938a40313 415 }
Lightvalve 170:42c938a40313 416 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 417 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 418 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 419 }
Lightvalve 170:42c938a40313 420 }
Lightvalve 173:68c7914679ec 421 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 422 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 423 //Softplus
Lightvalve 173:68c7914679ec 424 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 425 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 426 }
Lightvalve 170:42c938a40313 427
Lightvalve 170:42c938a40313 428 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 429 {
Lightvalve 170:42c938a40313 430 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 431 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 432 return grad_mean;
Lightvalve 170:42c938a40313 433 }
Lightvalve 170:42c938a40313 434
Lightvalve 170:42c938a40313 435 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 436 {
Lightvalve 170:42c938a40313 437 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 438 grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation));
Lightvalve 170:42c938a40313 439 return grad_dev;
Lightvalve 170:42c938a40313 440 }
Lightvalve 170:42c938a40313 441
Lightvalve 173:68c7914679ec 442 float ReLU(float x)
Lightvalve 173:68c7914679ec 443 {
Lightvalve 173:68c7914679ec 444 if (x >= 0) {
Lightvalve 173:68c7914679ec 445 return x;
Lightvalve 173:68c7914679ec 446 } else {
Lightvalve 173:68c7914679ec 447 return 0.0f;
Lightvalve 173:68c7914679ec 448 }
Lightvalve 173:68c7914679ec 449 }
Lightvalve 173:68c7914679ec 450
Lightvalve 170:42c938a40313 451 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 452 {
Lightvalve 173:68c7914679ec 453 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 454 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 455 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 456 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 457 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 458 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 459 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 460 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 461 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 462 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 463 }
Lightvalve 173:68c7914679ec 464 }
Lightvalve 170:42c938a40313 465 }
Lightvalve 177:8e9cf31d63f4 466 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 467 }
Lightvalve 170:42c938a40313 468 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 469 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 470 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 471 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 472 }
Lightvalve 173:68c7914679ec 473 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 474 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 475 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 476 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 477 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 478 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 479 }
Lightvalve 173:68c7914679ec 480 }
Lightvalve 173:68c7914679ec 481 }
Lightvalve 177:8e9cf31d63f4 482 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 483 }
Lightvalve 173:68c7914679ec 484 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 485 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 486 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 487 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 488 }
Lightvalve 173:68c7914679ec 489
Lightvalve 175:2f7289dbd488 490
Lightvalve 173:68c7914679ec 491 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 492 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 493 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 494 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 495 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 496 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 497 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 498 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 499 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 500 }
Lightvalve 173:68c7914679ec 501 }
Lightvalve 177:8e9cf31d63f4 502 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 503 }
Lightvalve 173:68c7914679ec 504 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 505 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 506 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 507 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 508 }
Lightvalve 173:68c7914679ec 509 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 510 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 511 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 512 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 513 }
Lightvalve 177:8e9cf31d63f4 514 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 515 }
Lightvalve 173:68c7914679ec 516 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 517 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 518 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 519 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 520 }
Lightvalve 173:68c7914679ec 521
Lightvalve 173:68c7914679ec 522 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 523 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 524 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 525 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 526 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 527 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 528 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 529 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 530 }
Lightvalve 177:8e9cf31d63f4 531 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 532 }
Lightvalve 173:68c7914679ec 533 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 534 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 535 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 536 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 537 }
Lightvalve 173:68c7914679ec 538 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 539 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 540 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 541 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 542 }
Lightvalve 173:68c7914679ec 543 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 544 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 545 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 546 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 547 }
Lightvalve 173:68c7914679ec 548
Lightvalve 173:68c7914679ec 549 // Simultaneous Update
Lightvalve 173:68c7914679ec 550 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 551 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 552 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 553 }
Lightvalve 179:d5377766d7ea 554 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 555 }
Lightvalve 173:68c7914679ec 556 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 557 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 558 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 559 }
Lightvalve 179:d5377766d7ea 560 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 561 }
Lightvalve 170:42c938a40313 562 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 563 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 564 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 565 }
Lightvalve 179:d5377766d7ea 566 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 567 }
Lightvalve 170:42c938a40313 568 }
Lightvalve 170:42c938a40313 569
Lightvalve 173:68c7914679ec 570 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 571 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 572 {
Lightvalve 218:066030f7951f 573
Lightvalve 173:68c7914679ec 574
Lightvalve 173:68c7914679ec 575 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 576 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 577
Lightvalve 173:68c7914679ec 578 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 579 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 580 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 581 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 582 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 583 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 584 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 585 } else {
Lightvalve 173:68c7914679ec 586 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 587 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 588 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 589 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 590 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 591 }
Lightvalve 171:bfc1fd2629d8 592 }
Lightvalve 170:42c938a40313 593 }
Lightvalve 170:42c938a40313 594 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 595 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 596 d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1;
Lightvalve 177:8e9cf31d63f4 597 d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1;
Lightvalve 173:68c7914679ec 598
Lightvalve 173:68c7914679ec 599 G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 600 }
Lightvalve 170:42c938a40313 601 }
Lightvalve 176:589ea3edcf3c 602 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 603 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 604 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 605 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 606 }
Lightvalve 173:68c7914679ec 607
Lightvalve 173:68c7914679ec 608 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 609 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 610 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 611 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 612 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 613 } else {
Lightvalve 173:68c7914679ec 614 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 615 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 616 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 617 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 618 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 619 }
Lightvalve 171:bfc1fd2629d8 620 }
Lightvalve 170:42c938a40313 621 }
Lightvalve 170:42c938a40313 622 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 623 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 624 d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1;
Lightvalve 177:8e9cf31d63f4 625 d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1;
Lightvalve 173:68c7914679ec 626
Lightvalve 173:68c7914679ec 627 G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 628 }
Lightvalve 170:42c938a40313 629 }
Lightvalve 176:589ea3edcf3c 630 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 631 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 632 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 633 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 634 }
Lightvalve 170:42c938a40313 635
Lightvalve 173:68c7914679ec 636 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 637 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 638
Lightvalve 173:68c7914679ec 639 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 640 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 641 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 642 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 643 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 644 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 645 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 646 } else {
Lightvalve 173:68c7914679ec 647 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 648 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 649 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 650 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 651 }
Lightvalve 170:42c938a40313 652 }
Lightvalve 173:68c7914679ec 653
Lightvalve 170:42c938a40313 654 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 655 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 656 d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2;
Lightvalve 177:8e9cf31d63f4 657 d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2;
Lightvalve 173:68c7914679ec 658
Lightvalve 173:68c7914679ec 659 G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 660 }
Lightvalve 170:42c938a40313 661 }
Lightvalve 176:589ea3edcf3c 662 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 663 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 664 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 665 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 666 }
Lightvalve 173:68c7914679ec 667
Lightvalve 173:68c7914679ec 668 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 669 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 670 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 671 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 672 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 673 } else {
Lightvalve 170:42c938a40313 674
Lightvalve 173:68c7914679ec 675 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 676 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 677 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 678 }
Lightvalve 173:68c7914679ec 679 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 680 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 681 d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2;
Lightvalve 177:8e9cf31d63f4 682 d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2;
Lightvalve 173:68c7914679ec 683
Lightvalve 173:68c7914679ec 684 G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 685 }
Lightvalve 170:42c938a40313 686 }
Lightvalve 176:589ea3edcf3c 687 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 688 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 689 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 690 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 691 }
Lightvalve 173:68c7914679ec 692
Lightvalve 173:68c7914679ec 693 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 694 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 695
Lightvalve 173:68c7914679ec 696 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 697 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 698 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 699 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 700 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 701 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 702 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 703 } else {
Lightvalve 173:68c7914679ec 704 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 705 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 706 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 707 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 708 }
Lightvalve 173:68c7914679ec 709 }
Lightvalve 173:68c7914679ec 710 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 711 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 712 d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3;
Lightvalve 177:8e9cf31d63f4 713 d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3;
Lightvalve 173:68c7914679ec 714
Lightvalve 173:68c7914679ec 715 G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 173:68c7914679ec 716 }
Lightvalve 173:68c7914679ec 717 }
Lightvalve 176:589ea3edcf3c 718 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 719 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 720 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 721 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 722 }
Lightvalve 173:68c7914679ec 723
Lightvalve 173:68c7914679ec 724 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 725 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 726 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 727 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 728 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 729 } else {
Lightvalve 173:68c7914679ec 730
Lightvalve 177:8e9cf31d63f4 731 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 732 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 733
Lightvalve 173:68c7914679ec 734 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 735 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 736 d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3;
Lightvalve 177:8e9cf31d63f4 737 d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3;
Lightvalve 173:68c7914679ec 738
Lightvalve 173:68c7914679ec 739 G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 173:68c7914679ec 740 }
Lightvalve 173:68c7914679ec 741 }
Lightvalve 176:589ea3edcf3c 742 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 743 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 744 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 745 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 746 }
Lightvalve 177:8e9cf31d63f4 747
Lightvalve 175:2f7289dbd488 748 // Simultaneous Update
Lightvalve 175:2f7289dbd488 749 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 750 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 751 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 752 }
Lightvalve 179:d5377766d7ea 753 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 754 }
Lightvalve 175:2f7289dbd488 755 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 756 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 757 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 758 }
Lightvalve 179:d5377766d7ea 759 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 760 }
Lightvalve 175:2f7289dbd488 761 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 762 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 763 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 764 }
Lightvalve 179:d5377766d7ea 765 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 766 }
Lightvalve 170:42c938a40313 767 }
Lightvalve 170:42c938a40313 768
Lightvalve 170:42c938a40313 769 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 770 {
Lightvalve 170:42c938a40313 771 //Box muller method
Lightvalve 170:42c938a40313 772 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 773 static int n2_cached = 0;
Lightvalve 170:42c938a40313 774 if (!n2_cached) {
Lightvalve 170:42c938a40313 775 double x, y, r;
Lightvalve 170:42c938a40313 776 do {
Lightvalve 170:42c938a40313 777 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 778 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 779
Lightvalve 170:42c938a40313 780 r = x*x + y*y;
Lightvalve 170:42c938a40313 781 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 782 {
Lightvalve 170:42c938a40313 783 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 784 double n1 = x*d;
Lightvalve 170:42c938a40313 785 n2 = y*d;
Lightvalve 170:42c938a40313 786 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 787 n2_cached = 1;
Lightvalve 170:42c938a40313 788 return result;
Lightvalve 170:42c938a40313 789 }
Lightvalve 170:42c938a40313 790 } else {
Lightvalve 170:42c938a40313 791 n2_cached = 0;
Lightvalve 170:42c938a40313 792 return n2*stddev + mean;
Lightvalve 170:42c938a40313 793 }
Lightvalve 170:42c938a40313 794 }
Lightvalve 170:42c938a40313 795
Lightvalve 179:d5377766d7ea 796 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 797 {
Lightvalve 179:d5377766d7ea 798 float add = 0.0f;
Lightvalve 179:d5377766d7ea 799 float result;
Lightvalve 218:066030f7951f 800
Lightvalve 218:066030f7951f 801 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 802 add += x[i];
Lightvalve 179:d5377766d7ea 803 }
Lightvalve 179:d5377766d7ea 804 result = (float) add/size;
Lightvalve 179:d5377766d7ea 805 return result;
Lightvalve 179:d5377766d7ea 806 }
Lightvalve 179:d5377766d7ea 807 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 808 {
Lightvalve 179:d5377766d7ea 809 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 810 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 811
Lightvalve 218:066030f7951f 812 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 813 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 814 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 815 }
Lightvalve 179:d5377766d7ea 816 return resultDeb;
Lightvalve 218:066030f7951f 817 }
Lightvalve 218:066030f7951f 818
Lightvalve 173:68c7914679ec 819
Lightvalve 170:42c938a40313 820 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 821 {
Lightvalve 173:68c7914679ec 822 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 823 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 824 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 825 }
Lightvalve 170:42c938a40313 826 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 827 }
Lightvalve 173:68c7914679ec 828 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 829 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 830 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 831 }
Lightvalve 173:68c7914679ec 832 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 833 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 834 }
Lightvalve 173:68c7914679ec 835 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 836 }
Lightvalve 170:42c938a40313 837 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 838 {
Lightvalve 173:68c7914679ec 839 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 840 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 841 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 842 }
Lightvalve 170:42c938a40313 843 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 844 }
Lightvalve 173:68c7914679ec 845 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 846 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 847 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 848 }
Lightvalve 170:42c938a40313 849 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 850 }
Lightvalve 173:68c7914679ec 851 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 852 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 853 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 854 }
Lightvalve 173:68c7914679ec 855 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 856 }
Lightvalve 170:42c938a40313 857 }
Lightvalve 170:42c938a40313 858
Lightvalve 170:42c938a40313 859
GiJeongKim 0:51c43836c1d7 860 int main()
GiJeongKim 0:51c43836c1d7 861 {
Lightvalve 66:a8e6799dbce3 862
Lightvalve 65:a2d7c63419c2 863 HAL_Init();
Lightvalve 65:a2d7c63419c2 864 SystemClock_Config();
Lightvalve 169:645207e160ca 865
jobuuu 6:df07d3491e3a 866 /*********************************
jobuuu 1:e04e563be5ce 867 *** Initialization
jobuuu 6:df07d3491e3a 868 *********************************/
Lightvalve 69:3995ffeaa786 869 LED = 0;
Lightvalve 61:bc8c8270f0ab 870 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 871
GiJeongKim 0:51c43836c1d7 872 // i2c init
Lightvalve 8:5d2eebdad025 873 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 874 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 875 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 876 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 877 make_delay();
jobuuu 2:a1c0a37df760 878
GiJeongKim 0:51c43836c1d7 879 // // spi init
Lightvalve 170:42c938a40313 880 eeprom.format(8,3);
Lightvalve 170:42c938a40313 881 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 882 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 883 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 884 make_delay();
Lightvalve 21:e5f1a43ea6f9 885
Lightvalve 16:903b5a4433b4 886 //rom
Lightvalve 19:23b7c1ad8683 887 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 888 make_delay();
Lightvalve 13:747daba9cf59 889
GiJeongKim 0:51c43836c1d7 890 // ADC init
jobuuu 5:a4319f79457b 891 Init_ADC();
Lightvalve 11:82d8768d7351 892 make_delay();
jobuuu 2:a1c0a37df760 893
GiJeongKim 0:51c43836c1d7 894 // Pwm init
GiJeongKim 0:51c43836c1d7 895 Init_PWM();
GiJeongKim 0:51c43836c1d7 896 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 897 make_delay();
Lightvalve 13:747daba9cf59 898
Lightvalve 11:82d8768d7351 899 // TMR3 init
Lightvalve 11:82d8768d7351 900 Init_TMR3();
Lightvalve 11:82d8768d7351 901 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 902 make_delay();
Lightvalve 21:e5f1a43ea6f9 903
Lightvalve 50:3c630b5eba9f 904 // TMR2 init
Lightvalve 56:6f50d9d3bfee 905 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 906 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 907 // make_delay();
Lightvalve 21:e5f1a43ea6f9 908
GiJeongKim 0:51c43836c1d7 909 // CAN
jobuuu 2:a1c0a37df760 910 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 911 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 912 make_delay();
Lightvalve 34:bb2ca2fc2a8e 913
Lightvalve 23:59218d4a256d 914 //Timer priority
Lightvalve 23:59218d4a256d 915 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 916 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 917 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 918
Lightvalve 23:59218d4a256d 919 //can.reset();
Lightvalve 19:23b7c1ad8683 920 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 921
GiJeongKim 0:51c43836c1d7 922 // spi _ enc
GiJeongKim 0:51c43836c1d7 923 spi_enc_set_init();
Lightvalve 11:82d8768d7351 924 make_delay();
Lightvalve 13:747daba9cf59 925
Lightvalve 11:82d8768d7351 926 //DAC init
Lightvalve 58:2eade98630e2 927 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 928 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 929 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 930 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 931 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 932 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 933 }
Lightvalve 11:82d8768d7351 934 make_delay();
Lightvalve 13:747daba9cf59 935
Lightvalve 19:23b7c1ad8683 936 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 937 if(i%2==0)
Lightvalve 38:118df027d851 938 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 939 else
Lightvalve 38:118df027d851 940 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 941 }
Lightvalve 169:645207e160ca 942
Lightvalve 173:68c7914679ec 943 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 944 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 945 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 946 }
Lightvalve 179:d5377766d7ea 947 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 948 }
Lightvalve 173:68c7914679ec 949 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 950 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 951 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 952 }
Lightvalve 179:d5377766d7ea 953 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 954 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 955 }
Lightvalve 179:d5377766d7ea 956 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 957
Lightvalve 173:68c7914679ec 958 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 959 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 960 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 961 }
Lightvalve 179:d5377766d7ea 962 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 963 }
Lightvalve 173:68c7914679ec 964 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 965 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 966 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 967 }
Lightvalve 179:d5377766d7ea 968 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 969 }
Lightvalve 170:42c938a40313 970 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 971 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 972 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 973 }
Lightvalve 179:d5377766d7ea 974 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 975 }
Lightvalve 171:bfc1fd2629d8 976
Lightvalve 170:42c938a40313 977 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 978 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 979
jobuuu 6:df07d3491e3a 980 /************************************
jobuuu 1:e04e563be5ce 981 *** Program is operating!
jobuuu 6:df07d3491e3a 982 *************************************/
GiJeongKim 0:51c43836c1d7 983 while(1) {
Lightvalve 169:645207e160ca 984
Lightvalve 171:bfc1fd2629d8 985 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 986 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 987 // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5);
Lightvalve 171:bfc1fd2629d8 988 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 989 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 990 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 991 // }
Lightvalve 169:645207e160ca 992
Lightvalve 171:bfc1fd2629d8 993
Lightvalve 171:bfc1fd2629d8 994 //i2c
Lightvalve 180:02be1711ee0b 995 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 996 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 997
Lightvalve 177:8e9cf31d63f4 998 //timer_while ++;
Lightvalve 169:645207e160ca 999
Lightvalve 170:42c938a40313 1000 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1001
Lightvalve 73:f80dc3970c99 1002 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1003 LED = 0;
Lightvalve 73:f80dc3970c99 1004 }
Lightvalve 169:645207e160ca 1005
Lightvalve 73:f80dc3970c99 1006 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1007
Lightvalve 162:9dd4f35e9de8 1008 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1009 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1010 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1011 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1012 }
Lightvalve 162:9dd4f35e9de8 1013
Lightvalve 162:9dd4f35e9de8 1014 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1015 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1016 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1017 }
Lightvalve 162:9dd4f35e9de8 1018 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1019 ind = ind + 1;
Lightvalve 169:645207e160ca 1020
Lightvalve 162:9dd4f35e9de8 1021 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1022 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1023 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1024 // }
Lightvalve 162:9dd4f35e9de8 1025
Lightvalve 162:9dd4f35e9de8 1026 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1027 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1028 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1029 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1030 }
Lightvalve 208:408f9f15c486 1031 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1032 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1033 ind = ind + 1;
Lightvalve 238:e4bda4d06a7d 1034 for(int i=0; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1035 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1036 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1037 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1038 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1039 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1040 }
Lightvalve 169:645207e160ca 1041
Lightvalve 112:8dcb1600cb90 1042 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1043 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1044 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1045 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1046
Lightvalve 112:8dcb1600cb90 1047 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1048 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1049 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1050 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1051 }
Lightvalve 66:a8e6799dbce3 1052 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1053 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1054 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1055 }
Lightvalve 66:a8e6799dbce3 1056 }
Lightvalve 65:a2d7c63419c2 1057
Lightvalve 112:8dcb1600cb90 1058 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1059 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1060 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1061 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1062 }
Lightvalve 66:a8e6799dbce3 1063 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1064 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1065 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1066 }
Lightvalve 66:a8e6799dbce3 1067 }
Lightvalve 65:a2d7c63419c2 1068
Lightvalve 112:8dcb1600cb90 1069 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1070 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1071 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1072 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1073 }
Lightvalve 66:a8e6799dbce3 1074 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1075 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1076 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1077 }
Lightvalve 65:a2d7c63419c2 1078 }
Lightvalve 66:a8e6799dbce3 1079
Lightvalve 66:a8e6799dbce3 1080 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1081 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1082 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1083 }
Lightvalve 66:a8e6799dbce3 1084 output = output + bout[index2];
Lightvalve 169:645207e160ca 1085
Lightvalve 66:a8e6799dbce3 1086 }
Lightvalve 73:f80dc3970c99 1087 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1088 output_normalized = output;
Lightvalve 68:328e1be06f5d 1089 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1090
Lightvalve 66:a8e6799dbce3 1091 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1092 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1093 } else {
Lightvalve 66:a8e6799dbce3 1094 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1095 }
Lightvalve 87:471334725012 1096
Lightvalve 169:645207e160ca 1097
Lightvalve 69:3995ffeaa786 1098 if(LED==1) {
Lightvalve 69:3995ffeaa786 1099 LED=0;
Lightvalve 69:3995ffeaa786 1100 } else
Lightvalve 69:3995ffeaa786 1101 LED = 1;
Lightvalve 169:645207e160ca 1102
Lightvalve 65:a2d7c63419c2 1103 }
Lightvalve 171:bfc1fd2629d8 1104
Lightvalve 171:bfc1fd2629d8 1105
Lightvalve 170:42c938a40313 1106 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1107 switch (Update_Case) {
Lightvalve 170:42c938a40313 1108 case 0: {
Lightvalve 170:42c938a40313 1109 break;
Lightvalve 170:42c938a40313 1110 }
Lightvalve 170:42c938a40313 1111 case 1: {
Lightvalve 170:42c938a40313 1112 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1113 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1114 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1115 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1116 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1117 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1118 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1119 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1120 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1121 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1122 }
Lightvalve 173:68c7914679ec 1123 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1124 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1125 }
Lightvalve 175:2f7289dbd488 1126 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1127
Lightvalve 175:2f7289dbd488 1128 pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]);
Lightvalve 170:42c938a40313 1129 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1130 pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old);
Lightvalve 179:d5377766d7ea 1131 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1132 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1133 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1134 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1135 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1136 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1137 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1138 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1139 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1140 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1141 }
Lightvalve 179:d5377766d7ea 1142 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1143 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1144 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1145 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1146 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1147 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1148 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1149 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1150 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1151 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1152 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1153 } else {
Lightvalve 175:2f7289dbd488 1154 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1155 }
Lightvalve 175:2f7289dbd488 1156 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1157 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1158 }
Lightvalve 170:42c938a40313 1159 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1160 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1161 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1162 }
Lightvalve 170:42c938a40313 1163 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1164
Lightvalve 171:bfc1fd2629d8 1165
Lightvalve 170:42c938a40313 1166 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1167 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1168 //Update Networks
Lightvalve 170:42c938a40313 1169 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1170 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1171 }
Lightvalve 170:42c938a40313 1172 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1173 Update_Case = 0;
Lightvalve 170:42c938a40313 1174 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1175
Lightvalve 170:42c938a40313 1176 break;
Lightvalve 170:42c938a40313 1177 }
Lightvalve 170:42c938a40313 1178 case 2: {
Lightvalve 170:42c938a40313 1179 //Network apply to next Network
Lightvalve 170:42c938a40313 1180 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1181 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1182 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1183 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1184 Update_Case = 0;
Lightvalve 170:42c938a40313 1185 break;
Lightvalve 170:42c938a40313 1186 }
Lightvalve 169:645207e160ca 1187
Lightvalve 170:42c938a40313 1188 }
GiJeongKim 0:51c43836c1d7 1189 }
jobuuu 1:e04e563be5ce 1190 }
jobuuu 1:e04e563be5ce 1191
Lightvalve 33:91b17819ec30 1192 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1193 {
Lightvalve 14:8e7590227d22 1194
Lightvalve 13:747daba9cf59 1195 int i = 0;
Lightvalve 48:889798ff9329 1196 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1197 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1198 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 1199 if(i==0) {
Lightvalve 50:3c630b5eba9f 1200 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1201 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1202 } else {
Lightvalve 57:f4819de54e7a 1203 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 1204 }
Lightvalve 14:8e7590227d22 1205 } else {
Lightvalve 50:3c630b5eba9f 1206 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1207 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1208 } else {
Lightvalve 57:f4819de54e7a 1209 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 1210 }
Lightvalve 13:747daba9cf59 1211 }
Lightvalve 13:747daba9cf59 1212 break;
Lightvalve 13:747daba9cf59 1213 }
Lightvalve 13:747daba9cf59 1214 }
Lightvalve 14:8e7590227d22 1215 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1216 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1217 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1218 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1219 }
Lightvalve 36:a46e63505ed8 1220
Lightvalve 57:f4819de54e7a 1221 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1222 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1223
Lightvalve 13:747daba9cf59 1224 }
jobuuu 6:df07d3491e3a 1225
jobuuu 6:df07d3491e3a 1226
Lightvalve 30:8d561f16383b 1227 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1228 {
Lightvalve 13:747daba9cf59 1229 int i = 0;
Lightvalve 13:747daba9cf59 1230
Lightvalve 38:118df027d851 1231 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1232 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1233 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1234 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1235 }
Lightvalve 38:118df027d851 1236
Lightvalve 89:a7b45368ea0f 1237 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1238 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1239 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1240 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1241 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1242 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1243
Lightvalve 13:747daba9cf59 1244 VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve 14:8e7590227d22 1245
Lightvalve 18:b8adf1582ea3 1246 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1247 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 1248 if(i==0) {
Lightvalve 48:889798ff9329 1249 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 1250 } else {
Lightvalve 48:889798ff9329 1251 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 1252 }
Lightvalve 13:747daba9cf59 1253 break;
Lightvalve 13:747daba9cf59 1254 }
Lightvalve 13:747daba9cf59 1255 }
Lightvalve 59:f308b1656d9c 1256 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1257 }
Lightvalve 13:747daba9cf59 1258
Lightvalve 14:8e7590227d22 1259 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1260 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve 34:bb2ca2fc2a8e 1261 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1262 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1263 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1264 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1265 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1266 }; // duty
Lightvalve 67:c2812cf26c38 1267 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 1268 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1269 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1270 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1271 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1272 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1273 }; // mV
Lightvalve 13:747daba9cf59 1274
Lightvalve 30:8d561f16383b 1275 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1276 {
Lightvalve 30:8d561f16383b 1277 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1278 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1279 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1280 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1281 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1282 } else {
Lightvalve 13:747daba9cf59 1283 int idx = 0;
Lightvalve 13:747daba9cf59 1284 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1285 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1286 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1287 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1288 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1289 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1290 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1291 break;
Lightvalve 13:747daba9cf59 1292 }
Lightvalve 13:747daba9cf59 1293 }
Lightvalve 13:747daba9cf59 1294 }
Lightvalve 14:8e7590227d22 1295
Lightvalve 13:747daba9cf59 1296 return PWM_duty;
Lightvalve 13:747daba9cf59 1297 }
jobuuu 6:df07d3491e3a 1298
Lightvalve 57:f4819de54e7a 1299
Lightvalve 57:f4819de54e7a 1300
Lightvalve 57:f4819de54e7a 1301
Lightvalve 57:f4819de54e7a 1302
jobuuu 2:a1c0a37df760 1303 /*******************************************************************************
jobuuu 2:a1c0a37df760 1304 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1305 *******************************************************************************/
jobuuu 2:a1c0a37df760 1306
Lightvalve 51:b46bed7fec80 1307 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1308 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1309 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1310 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1311 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1312 {
Lightvalve 19:23b7c1ad8683 1313 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1314
Lightvalve 21:e5f1a43ea6f9 1315 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1316 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1317 ********************************************************/
Lightvalve 13:747daba9cf59 1318
Lightvalve 57:f4819de54e7a 1319 //Encoder
Lightvalve 57:f4819de54e7a 1320 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1321 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1322 }
Lightvalve 61:bc8c8270f0ab 1323
Lightvalve 61:bc8c8270f0ab 1324 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1325 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1326 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1327 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1328 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1329 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1330 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1331
Lightvalve 67:c2812cf26c38 1332
Lightvalve 67:c2812cf26c38 1333 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1334 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1335 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1336 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1337 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1338
Lightvalve 17:1865016ca2e7 1339
Lightvalve 58:2eade98630e2 1340 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1341 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1342 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1343 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1344 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1345 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1346 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1347 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1348 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1349
Lightvalve 58:2eade98630e2 1350 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1351 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 1352 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1353 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 1354 }
Lightvalve 58:2eade98630e2 1355 }
Lightvalve 61:bc8c8270f0ab 1356
Lightvalve 58:2eade98630e2 1357 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1358 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1359 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1360 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1361 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1362 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1363 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 1364 //
Lightvalve 58:2eade98630e2 1365 //
Lightvalve 58:2eade98630e2 1366 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1367 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1368 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1369 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1370 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1371
Lightvalve 17:1865016ca2e7 1372
Lightvalve 21:e5f1a43ea6f9 1373 //Current
Lightvalve 21:e5f1a43ea6f9 1374 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1375 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1376 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1377 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1378 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1379 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1380 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1381
Lightvalve 57:f4819de54e7a 1382 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1383 }
Lightvalve 11:82d8768d7351 1384 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1385 }
Lightvalve 19:23b7c1ad8683 1386
Lightvalve 19:23b7c1ad8683 1387
Lightvalve 18:b8adf1582ea3 1388 int j =0;
Lightvalve 54:647072f5307a 1389 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1390 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1391 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1392 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 1393
Lightvalve 11:82d8768d7351 1394 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1395 {
Lightvalve 19:23b7c1ad8683 1396 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1397
Lightvalve 57:f4819de54e7a 1398 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1399 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1400 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1401 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1402 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1403 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1404 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1405 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1406 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1407 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1408 }
Lightvalve 50:3c630b5eba9f 1409
Lightvalve 50:3c630b5eba9f 1410 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1411 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1412 cnt_trans++;
Lightvalve 46:2694daea349b 1413 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1414 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1415 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1416 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1417 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1418 cnt_trans++;
Lightvalve 46:2694daea349b 1419 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1420 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1421 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1422 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1423 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1424 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1425 } else {
Lightvalve 58:2eade98630e2 1426 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1427 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1428 }
Lightvalve 45:35fa6884d0c6 1429
Lightvalve 50:3c630b5eba9f 1430
Lightvalve 57:f4819de54e7a 1431 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1432 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1433
Lightvalve 57:f4819de54e7a 1434 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1435 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1436 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1437 } else {
Lightvalve 57:f4819de54e7a 1438 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1439 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1440 }
Lightvalve 56:6f50d9d3bfee 1441
Lightvalve 56:6f50d9d3bfee 1442
Lightvalve 56:6f50d9d3bfee 1443
Lightvalve 57:f4819de54e7a 1444 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1445
Lightvalve 57:f4819de54e7a 1446 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1447 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1448 break;
Lightvalve 13:747daba9cf59 1449 }
Lightvalve 14:8e7590227d22 1450
Lightvalve 14:8e7590227d22 1451 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1452 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1453 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1454 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1455
Lightvalve 14:8e7590227d22 1456 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1457 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1458 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1459
Lightvalve 84:c355d3e52bf1 1460 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1461
Lightvalve 30:8d561f16383b 1462 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1463 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1464
Lightvalve 16:903b5a4433b4 1465 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1466 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1467 }
Lightvalve 13:747daba9cf59 1468 } else {
Lightvalve 58:2eade98630e2 1469 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1470 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1471 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1472 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1473
Lightvalve 170:42c938a40313 1474 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1475 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1476
Lightvalve 30:8d561f16383b 1477 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1478
Lightvalve 13:747daba9cf59 1479 }
Lightvalve 14:8e7590227d22 1480 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1481 break;
Lightvalve 19:23b7c1ad8683 1482 }
Lightvalve 14:8e7590227d22 1483
Lightvalve 50:3c630b5eba9f 1484 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1485 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1486 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1487 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1488 // }
Lightvalve 50:3c630b5eba9f 1489 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1490 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1491 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1492 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1493 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1494 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1495 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1496 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1497 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1498 // }
Lightvalve 50:3c630b5eba9f 1499 //
Lightvalve 50:3c630b5eba9f 1500 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1501 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 1502 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1503 //
Lightvalve 50:3c630b5eba9f 1504 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1505 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1506 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1507 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1508 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1509 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1510 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1511 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1512 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1513 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1514 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1515 //
Lightvalve 50:3c630b5eba9f 1516 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1517 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1518 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1519 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1520 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1521 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1522 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1523 //
Lightvalve 50:3c630b5eba9f 1524 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1525 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1526 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1527 // } else {
Lightvalve 50:3c630b5eba9f 1528 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1529 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1530 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1531 // }
Lightvalve 50:3c630b5eba9f 1532 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1533 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1534 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1535 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1536 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1537 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1538 // }
Lightvalve 50:3c630b5eba9f 1539 // } else {
Lightvalve 50:3c630b5eba9f 1540 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1541 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1542 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1543 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1544 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1545 // }
Lightvalve 50:3c630b5eba9f 1546 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1547 //
Lightvalve 50:3c630b5eba9f 1548 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1549 //
Lightvalve 50:3c630b5eba9f 1550 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1551 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1552 //
Lightvalve 50:3c630b5eba9f 1553 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1554 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1555 // }
Lightvalve 50:3c630b5eba9f 1556 // }
Lightvalve 50:3c630b5eba9f 1557 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1558 // break;
Lightvalve 50:3c630b5eba9f 1559 // }
Lightvalve 14:8e7590227d22 1560
Lightvalve 14:8e7590227d22 1561 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1562 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1563 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1564 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1565 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1566 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1567 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1568 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1569 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1570 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1571 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1572 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1573 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1574 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1575 }
Lightvalve 29:69f3f5445d6d 1576 cnt_findhome++;
Lightvalve 14:8e7590227d22 1577
Lightvalve 29:69f3f5445d6d 1578 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1579 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1580 } else {
Lightvalve 29:69f3f5445d6d 1581 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1582 }
Lightvalve 19:23b7c1ad8683 1583
Lightvalve 57:f4819de54e7a 1584 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1585 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1586 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1587 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1588
Lightvalve 59:f308b1656d9c 1589 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1590 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1591 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1592 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1593 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1594
Lightvalve 59:f308b1656d9c 1595 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1596 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1597
Lightvalve 34:bb2ca2fc2a8e 1598
Lightvalve 29:69f3f5445d6d 1599 } else {
Lightvalve 29:69f3f5445d6d 1600 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1601 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1602 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1603 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1604 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1605 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1606 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1607 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1608 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1609 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1610 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1611
Lightvalve 67:c2812cf26c38 1612
Lightvalve 67:c2812cf26c38 1613 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1614 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1615 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1616 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1617 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1618 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1619 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1620
Lightvalve 169:645207e160ca 1621
Lightvalve 29:69f3f5445d6d 1622 }
Lightvalve 29:69f3f5445d6d 1623 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1624 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1625 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 67:c2812cf26c38 1626 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1627 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1628
Lightvalve 29:69f3f5445d6d 1629 // input for position control
Lightvalve 169:645207e160ca 1630
Lightvalve 67:c2812cf26c38 1631 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1632 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1633
Lightvalve 67:c2812cf26c38 1634 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1635 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1636 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1637 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1638
Lightvalve 67:c2812cf26c38 1639 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1640
Lightvalve 67:c2812cf26c38 1641 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1642 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1643 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1644
Lightvalve 67:c2812cf26c38 1645 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1646 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1647 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1648
Lightvalve 69:3995ffeaa786 1649 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1650 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 1651 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1652 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1653 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 1654 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1655 }
Lightvalve 67:c2812cf26c38 1656 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1657 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1658
Lightvalve 67:c2812cf26c38 1659 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1660
Lightvalve 67:c2812cf26c38 1661
Lightvalve 67:c2812cf26c38 1662
Lightvalve 67:c2812cf26c38 1663 } else {
Lightvalve 67:c2812cf26c38 1664 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1665 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 67:c2812cf26c38 1666
Lightvalve 67:c2812cf26c38 1667 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1668 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1669 } else {
Lightvalve 67:c2812cf26c38 1670 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1671 }
Lightvalve 67:c2812cf26c38 1672
Lightvalve 67:c2812cf26c38 1673 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1674
Lightvalve 67:c2812cf26c38 1675 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1676
Lightvalve 67:c2812cf26c38 1677 }
Lightvalve 67:c2812cf26c38 1678
Lightvalve 67:c2812cf26c38 1679
Lightvalve 169:645207e160ca 1680
Lightvalve 169:645207e160ca 1681
Lightvalve 59:f308b1656d9c 1682 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1683 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1684 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1685 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1686 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1687
Lightvalve 29:69f3f5445d6d 1688 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1689 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1690 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1691 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1692 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1693 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1694 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1695 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1696 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1697 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1698 }
Lightvalve 13:747daba9cf59 1699 }
Lightvalve 19:23b7c1ad8683 1700
Lightvalve 13:747daba9cf59 1701 break;
Lightvalve 13:747daba9cf59 1702 }
Lightvalve 14:8e7590227d22 1703
Lightvalve 50:3c630b5eba9f 1704 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1705 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1706 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1707 // else {
Lightvalve 50:3c630b5eba9f 1708 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1709 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1710 // }
Lightvalve 50:3c630b5eba9f 1711 // }
Lightvalve 50:3c630b5eba9f 1712 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1713 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1714 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1715 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1716 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1717 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1718 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1719 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1720 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1721 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1722 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1723 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1724 // }
Lightvalve 50:3c630b5eba9f 1725 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1726 // }
Lightvalve 50:3c630b5eba9f 1727 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1728 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1729 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1730 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1731 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1732 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1733 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1734 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1735 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1736 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1737 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1738 // }
Lightvalve 50:3c630b5eba9f 1739 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1740 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1741 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1742 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1743 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1744 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1745 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 1746 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1747 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1748 // }
Lightvalve 50:3c630b5eba9f 1749 // }
Lightvalve 50:3c630b5eba9f 1750 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1751 //
Lightvalve 50:3c630b5eba9f 1752 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1753 //
Lightvalve 50:3c630b5eba9f 1754 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1755 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1756 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1757 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1758 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1759 // }
Lightvalve 50:3c630b5eba9f 1760 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1761 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1762 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1763 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1764 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1765 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1766 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1767 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1768 // }
Lightvalve 50:3c630b5eba9f 1769 //
Lightvalve 50:3c630b5eba9f 1770 // }
Lightvalve 50:3c630b5eba9f 1771 // break;
Lightvalve 50:3c630b5eba9f 1772 // }
Lightvalve 50:3c630b5eba9f 1773 //
Lightvalve 50:3c630b5eba9f 1774 // }
Lightvalve 14:8e7590227d22 1775 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1776 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1777 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1778 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1779 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1780
Lightvalve 14:8e7590227d22 1781 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1782 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1783 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1784 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1785 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1786
Lightvalve 38:118df027d851 1787 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1788 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1789 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1790
Lightvalve 30:8d561f16383b 1791 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1792 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1793 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1794 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1795
Lightvalve 30:8d561f16383b 1796 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1797 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1798 }
Lightvalve 13:747daba9cf59 1799 } else {
Lightvalve 57:f4819de54e7a 1800 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1801 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1802 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1803 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1804 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1805 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1806
Lightvalve 170:42c938a40313 1807 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1808 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1809 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1810
Lightvalve 30:8d561f16383b 1811 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1812 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1813 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1814 }
Lightvalve 14:8e7590227d22 1815 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1816 break;
Lightvalve 13:747daba9cf59 1817 }
Lightvalve 14:8e7590227d22 1818
Lightvalve 50:3c630b5eba9f 1819 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1820 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1821 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1822 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1823 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1824 // }
Lightvalve 50:3c630b5eba9f 1825 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1826 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1827 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1828 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1829 // }
Lightvalve 50:3c630b5eba9f 1830 // } else {
Lightvalve 50:3c630b5eba9f 1831 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1832 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1833 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1834 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1835 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1836 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1837 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1838 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1839 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1840 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1841 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1842 //
Lightvalve 50:3c630b5eba9f 1843 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1844 //
Lightvalve 50:3c630b5eba9f 1845 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1846 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1847 // }
Lightvalve 50:3c630b5eba9f 1848 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1849 // break;
Lightvalve 50:3c630b5eba9f 1850 // }
Lightvalve 19:23b7c1ad8683 1851
Lightvalve 50:3c630b5eba9f 1852 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1853 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 1854 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1855 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1856 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1857 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1858 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1859 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1860 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1861 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1862 // }
Lightvalve 50:3c630b5eba9f 1863 // break;
Lightvalve 50:3c630b5eba9f 1864 // }
Lightvalve 14:8e7590227d22 1865
Lightvalve 14:8e7590227d22 1866 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1867 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1868 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1869
Lightvalve 14:8e7590227d22 1870 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1871 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1872 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1873 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1874 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1875 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1876 data_num = 0;
Lightvalve 14:8e7590227d22 1877 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1878 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1879 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1880 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1881 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1882 } else {
Lightvalve 13:747daba9cf59 1883 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1884 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1885 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1886 }
Lightvalve 14:8e7590227d22 1887
Lightvalve 17:1865016ca2e7 1888 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1889 int i;
Lightvalve 13:747daba9cf59 1890 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1891 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1892 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1893 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1894 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1895 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1896 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1897 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1898 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1899 }
Lightvalve 13:747daba9cf59 1900 }
Lightvalve 170:42c938a40313 1901 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1902 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1903 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1904 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1905 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1906 }
Lightvalve 13:747daba9cf59 1907 ID_index = 0;
Lightvalve 57:f4819de54e7a 1908 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1909 }
Lightvalve 14:8e7590227d22 1910
Lightvalve 14:8e7590227d22 1911
Lightvalve 13:747daba9cf59 1912 break;
Lightvalve 13:747daba9cf59 1913 }
Lightvalve 14:8e7590227d22 1914
Lightvalve 14:8e7590227d22 1915 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1916 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1917 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1918 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1919 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1920 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1921 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1922 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1923 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1924 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1925 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1926 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1927 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1928 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1929 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1930 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1931 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1932 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1933 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1934 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1935 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1936 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1937 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1938 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1939 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1940 data_num = 0;
Lightvalve 14:8e7590227d22 1941
Lightvalve 30:8d561f16383b 1942 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1943 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1944 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1945
Lightvalve 30:8d561f16383b 1946 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1947 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1948 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1949
Lightvalve 30:8d561f16383b 1950 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1951 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1952 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1953 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1954
Lightvalve 60:64181f1d3e60 1955 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1956 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1957 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1958 DZ_case = -1;
Lightvalve 14:8e7590227d22 1959 } else {
Lightvalve 13:747daba9cf59 1960 DZ_case = 0;
Lightvalve 13:747daba9cf59 1961 }
Lightvalve 61:bc8c8270f0ab 1962
Lightvalve 60:64181f1d3e60 1963 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1964
Lightvalve 13:747daba9cf59 1965 first_check = 1;
Lightvalve 13:747daba9cf59 1966 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1967 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1968 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1969 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1970 DZ_index = 1;
Lightvalve 14:8e7590227d22 1971
Lightvalve 13:747daba9cf59 1972 }
Lightvalve 19:23b7c1ad8683 1973 } else {
Lightvalve 14:8e7590227d22 1974 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1975 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1976 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1977 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1978 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1979 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1980 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1981 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1982 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1983 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1984 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1985 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1986 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1987 }
Lightvalve 14:8e7590227d22 1988 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1989
Lightvalve 30:8d561f16383b 1990 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1991 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1992 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1993
Lightvalve 14:8e7590227d22 1994 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1995 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1996 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1997 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1998 } else {
Lightvalve 13:747daba9cf59 1999 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2000 }
Lightvalve 14:8e7590227d22 2001
Lightvalve 13:747daba9cf59 2002 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2003 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2004 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2005 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2006 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2007 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2008 DZ_index = 1;
Lightvalve 13:747daba9cf59 2009 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2010 }
Lightvalve 13:747daba9cf59 2011 }
Lightvalve 14:8e7590227d22 2012 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2013 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2014 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 2015 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2016 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2017 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2018 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2019 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2020 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2021 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2022 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2023 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2024 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2025 }
Lightvalve 14:8e7590227d22 2026 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2027
Lightvalve 30:8d561f16383b 2028 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2029 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2030 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2031 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2032 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2033
Lightvalve 14:8e7590227d22 2034 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2035 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2036 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2037 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2038 } else {
Lightvalve 60:64181f1d3e60 2039 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2040 }
Lightvalve 14:8e7590227d22 2041
Lightvalve 13:747daba9cf59 2042 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2043 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2044 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2045 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2046 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2047 first_check = 0;
Lightvalve 33:91b17819ec30 2048 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2049 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2050
Lightvalve 170:42c938a40313 2051 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2052 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2053 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2054 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2055
Lightvalve 60:64181f1d3e60 2056 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2057 DZ_index = 1;
Lightvalve 13:747daba9cf59 2058 }
Lightvalve 13:747daba9cf59 2059 }
Lightvalve 14:8e7590227d22 2060 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2061 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2062 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 2063 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2064 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2065 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2066 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2067 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2068 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2069 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2070 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2071 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2072 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2073 }
Lightvalve 14:8e7590227d22 2074 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2075
Lightvalve 30:8d561f16383b 2076 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2077 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2078 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2079
Lightvalve 14:8e7590227d22 2080 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2081 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2082 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2083 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2084 } else {
Lightvalve 13:747daba9cf59 2085 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2086 }
Lightvalve 13:747daba9cf59 2087 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2088 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2089 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2090 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2091 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2092 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2093 DZ_index = 1;
Lightvalve 13:747daba9cf59 2094 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2095 }
Lightvalve 13:747daba9cf59 2096 }
Lightvalve 14:8e7590227d22 2097 } else {
Lightvalve 30:8d561f16383b 2098 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2099 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 2100 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2101 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2102 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2103 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2104 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2105 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2106 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2107 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2108 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2109 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2110 }
Lightvalve 14:8e7590227d22 2111 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2112
Lightvalve 30:8d561f16383b 2113 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2114 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2115 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2116 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2117 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2118
Lightvalve 60:64181f1d3e60 2119 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2120 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2121 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2122 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2123 } else {
Lightvalve 13:747daba9cf59 2124 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2125 }
Lightvalve 14:8e7590227d22 2126
Lightvalve 13:747daba9cf59 2127 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2128 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2129 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2130 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2131 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2132 first_check = 0;
Lightvalve 33:91b17819ec30 2133 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2134 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2135
Lightvalve 170:42c938a40313 2136 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2137 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2138 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2139 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2140
Lightvalve 57:f4819de54e7a 2141 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2142 DZ_index = 1;
Lightvalve 13:747daba9cf59 2143 }
Lightvalve 13:747daba9cf59 2144 }
Lightvalve 13:747daba9cf59 2145 }
Lightvalve 14:8e7590227d22 2146 }
Lightvalve 13:747daba9cf59 2147 break;
Lightvalve 13:747daba9cf59 2148 }
Lightvalve 14:8e7590227d22 2149
Lightvalve 14:8e7590227d22 2150 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2151 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2152 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2153 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2154 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2155 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2156 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2157 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2158 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2159 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2160 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2161 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2162 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2163 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2164 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2165 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2166 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2167 first_check = 1;
Lightvalve 13:747daba9cf59 2168 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2169 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2170 ID_index = 0;
Lightvalve 13:747daba9cf59 2171 max_check = 0;
Lightvalve 13:747daba9cf59 2172 min_check = 0;
Lightvalve 13:747daba9cf59 2173 }
Lightvalve 14:8e7590227d22 2174 } else {
Lightvalve 30:8d561f16383b 2175 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2176 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 2177 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2178 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2179 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2180 data_num = 0;
Lightvalve 57:f4819de54e7a 2181 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2182
Lightvalve 14:8e7590227d22 2183 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2184 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2185 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2186 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2187 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2188 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2189 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2190 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2191 one_period_end = 1;
Lightvalve 13:747daba9cf59 2192 }
Lightvalve 30:8d561f16383b 2193 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2194 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2195 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2196 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2197 }
Lightvalve 14:8e7590227d22 2198
Lightvalve 14:8e7590227d22 2199 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2200 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2201 max_check = 1;
Lightvalve 14:8e7590227d22 2202 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2203 min_check = 1;
Lightvalve 13:747daba9cf59 2204 }
Lightvalve 13:747daba9cf59 2205 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2206
Lightvalve 13:747daba9cf59 2207 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2208 one_period_end = 0;
Lightvalve 13:747daba9cf59 2209 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2210 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2211 }
Lightvalve 14:8e7590227d22 2212
Lightvalve 14:8e7590227d22 2213 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2214
Lightvalve 13:747daba9cf59 2215 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2216 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2217 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2218 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2219 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2220 }
Lightvalve 13:747daba9cf59 2221 ID_index = 0;
Lightvalve 13:747daba9cf59 2222 first_check = 0;
Lightvalve 13:747daba9cf59 2223 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2224 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2225 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2226 }
Lightvalve 13:747daba9cf59 2227 }
Lightvalve 13:747daba9cf59 2228 break;
Lightvalve 13:747daba9cf59 2229 }
Lightvalve 58:2eade98630e2 2230
Lightvalve 57:f4819de54e7a 2231 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2232 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2233 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2234 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2235 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2236 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2237 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2238 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2239 }
Lightvalve 57:f4819de54e7a 2240 break;
Lightvalve 57:f4819de54e7a 2241 }
Lightvalve 58:2eade98630e2 2242
Lightvalve 169:645207e160ca 2243 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2244 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2245 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2246 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2247 } else {
Lightvalve 169:645207e160ca 2248 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2249 }
Lightvalve 169:645207e160ca 2250 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2251 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2252 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2253 } else {
Lightvalve 169:645207e160ca 2254 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2255 }
Lightvalve 58:2eade98630e2 2256
Lightvalve 169:645207e160ca 2257 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2258 cnt_freq_test++;
Lightvalve 169:645207e160ca 2259 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2260 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2261 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2262 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2263 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2264 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2265 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2266 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2267 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2268 }
Lightvalve 169:645207e160ca 2269 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2270 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2271
Lightvalve 169:645207e160ca 2272 }
Lightvalve 169:645207e160ca 2273 break;
Lightvalve 169:645207e160ca 2274 }
Lightvalve 169:645207e160ca 2275 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2276 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2277 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2278 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2279 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2280 // }
Lightvalve 169:645207e160ca 2281 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2282 // }
Lightvalve 169:645207e160ca 2283
Lightvalve 169:645207e160ca 2284 break;
Lightvalve 169:645207e160ca 2285 }
Lightvalve 169:645207e160ca 2286 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2287 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2288 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2289 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2290 break;
Lightvalve 169:645207e160ca 2291 }
Lightvalve 170:42c938a40313 2292
Lightvalve 169:645207e160ca 2293 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2294 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2295 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2296 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2297 } else {
Lightvalve 169:645207e160ca 2298 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2299 }
Lightvalve 169:645207e160ca 2300 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2301 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2302 } else {
Lightvalve 169:645207e160ca 2303 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2304 }
Lightvalve 169:645207e160ca 2305 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2306 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2307 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2308 } else {
Lightvalve 169:645207e160ca 2309 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2310 }
Lightvalve 169:645207e160ca 2311
Lightvalve 169:645207e160ca 2312 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2313 cnt_step_test++;
Lightvalve 170:42c938a40313 2314 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2315 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2316 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2317 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2318 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2319 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2320 }
Lightvalve 169:645207e160ca 2321 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2322 // {
Lightvalve 169:645207e160ca 2323 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2324 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2325 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2326 // }
Lightvalve 170:42c938a40313 2327
Lightvalve 169:645207e160ca 2328 break;
Lightvalve 169:645207e160ca 2329 }
Lightvalve 57:f4819de54e7a 2330
Lightvalve 57:f4819de54e7a 2331 default:
Lightvalve 57:f4819de54e7a 2332 break;
Lightvalve 57:f4819de54e7a 2333 }
Lightvalve 57:f4819de54e7a 2334
Lightvalve 57:f4819de54e7a 2335 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2336
Lightvalve 57:f4819de54e7a 2337 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2338 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2339 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2340 break;
Lightvalve 57:f4819de54e7a 2341 }
Lightvalve 57:f4819de54e7a 2342
Lightvalve 57:f4819de54e7a 2343 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2344 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2345 ////For Test LIMC//////////////////////////////////////////
Lightvalve 233:0a37cdd59651 2346 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 233:0a37cdd59651 2347 // for(int i=0; i<9; i++){
Lightvalve 233:0a37cdd59651 2348 // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 233:0a37cdd59651 2349 // }
Lightvalve 233:0a37cdd59651 2350 // valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 233:0a37cdd59651 2351 // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2352 ////////////////////////////////////////////////////////////
Lightvalve 225:278b48b86f27 2353
Lightvalve 59:f308b1656d9c 2354 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2355 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2356 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2357 } else {
Lightvalve 67:c2812cf26c38 2358 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2359 }
Lightvalve 57:f4819de54e7a 2360 break;
Lightvalve 57:f4819de54e7a 2361 }
Lightvalve 57:f4819de54e7a 2362
Lightvalve 57:f4819de54e7a 2363 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2364
Lightvalve 57:f4819de54e7a 2365 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2366 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2367 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2368 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2369
Lightvalve 67:c2812cf26c38 2370 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2371 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2372 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2373 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2374
Lightvalve 139:15621998925b 2375 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2376 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2377
Lightvalve 57:f4819de54e7a 2378 // torque feedback
Lightvalve 67:c2812cf26c38 2379 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2380 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2381
Lightvalve 57:f4819de54e7a 2382 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2383
Lightvalve 57:f4819de54e7a 2384 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2385 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2386 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2387
Lightvalve 57:f4819de54e7a 2388 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2389 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2390 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2391
Lightvalve 69:3995ffeaa786 2392 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2393 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2394 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2395 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2396 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2397 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2398 }
Lightvalve 57:f4819de54e7a 2399 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2400 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2401
Lightvalve 57:f4819de54e7a 2402 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2403 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2404 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2405 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 2406 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2407 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2408 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2409 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 2410 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2411 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2412 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2413 }
Lightvalve 57:f4819de54e7a 2414 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2415 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2416 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2417 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2418 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2419
Lightvalve 57:f4819de54e7a 2420 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2421
Lightvalve 67:c2812cf26c38 2422 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2423 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2424 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2425 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2426 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2427 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2428 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2429 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2430 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2431 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2432 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2433 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2434 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2435 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2436 }
Lightvalve 67:c2812cf26c38 2437 }
Lightvalve 57:f4819de54e7a 2438
Lightvalve 57:f4819de54e7a 2439 } else {
Lightvalve 57:f4819de54e7a 2440 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2441 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2442 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2443
Lightvalve 209:ebc69d6ee6f1 2444 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 2445
Lightvalve 72:3436ce769b1e 2446 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 169:645207e160ca 2447
Lightvalve 72:3436ce769b1e 2448 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2449
Lightvalve 169:645207e160ca 2450
Lightvalve 72:3436ce769b1e 2451 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2452 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2453 } else {
Lightvalve 72:3436ce769b1e 2454 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2455 }
Lightvalve 57:f4819de54e7a 2456
Lightvalve 57:f4819de54e7a 2457 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2458 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2459 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2460 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2461 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2462 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2463 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2464 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2465 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2466 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2467 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2468 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2469 }
Lightvalve 57:f4819de54e7a 2470 }
Lightvalve 61:bc8c8270f0ab 2471
Lightvalve 57:f4819de54e7a 2472 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2473
Lightvalve 67:c2812cf26c38 2474 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2475 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2476
Lightvalve 57:f4819de54e7a 2477 }
Lightvalve 169:645207e160ca 2478
Lightvalve 72:3436ce769b1e 2479 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2480
Lightvalve 133:22ab22818e01 2481
Lightvalve 57:f4819de54e7a 2482 break;
Lightvalve 57:f4819de54e7a 2483 }
Lightvalve 58:2eade98630e2 2484
Lightvalve 57:f4819de54e7a 2485 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2486 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2487 break;
Lightvalve 57:f4819de54e7a 2488 }
Lightvalve 169:645207e160ca 2489
Lightvalve 138:a843f32ced33 2490 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2491
Lightvalve 169:645207e160ca 2492
Lightvalve 139:15621998925b 2493 float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 2494 float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 218:066030f7951f 2495
Lightvalve 170:42c938a40313 2496 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2497
Lightvalve 218:066030f7951f 2498 //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 218:066030f7951f 2499 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2500
Lightvalve 138:a843f32ced33 2501 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2502 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2503 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2504 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2505 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2506 } else {
Lightvalve 138:a843f32ced33 2507 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2508 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2509 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2510 } else {
Lightvalve 138:a843f32ced33 2511 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2512 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2513 }
Lightvalve 138:a843f32ced33 2514 }
Lightvalve 138:a843f32ced33 2515 float tau = 0.01f;
Lightvalve 247:87a44e8b3392 2516 //float K_valve = 0.0004f;
Lightvalve 247:87a44e8b3392 2517 float K_valve = 0.0002f;
Lightvalve 169:645207e160ca 2518
Lightvalve 138:a843f32ced33 2519 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2520 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2521 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2522 } else {
Lightvalve 138:a843f32ced33 2523 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2524 }
Lightvalve 138:a843f32ced33 2525 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2526 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2527
Lightvalve 139:15621998925b 2528 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2529
Lightvalve 138:a843f32ced33 2530 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2531 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2532 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2533
Lightvalve 138:a843f32ced33 2534 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2535 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2536
Lightvalve 212:ec41f1449ef9 2537 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2538 float k4 = 10.0f;
Lightvalve 142:43026242815a 2539 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2540 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2541 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2542 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2543 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2544
Lightvalve 139:15621998925b 2545 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2546 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2547 } else {
Lightvalve 139:15621998925b 2548 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2549 }
Lightvalve 169:645207e160ca 2550
Lightvalve 138:a843f32ced33 2551 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2552 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2553 float V_input = 0.0f;
Lightvalve 139:15621998925b 2554 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 2555 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2556 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2557 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2558
Lightvalve 218:066030f7951f 2559 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2560 // 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 2561 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2562 //
Lightvalve 218:066030f7951f 2563 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2564 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2565
Lightvalve 218:066030f7951f 2566 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2567 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2568 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2569
Lightvalve 218:066030f7951f 2570 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2571 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2572
Lightvalve 169:645207e160ca 2573 break;
Lightvalve 138:a843f32ced33 2574 }
Lightvalve 171:bfc1fd2629d8 2575
Lightvalve 170:42c938a40313 2576 case MODE_RL: {
Lightvalve 170:42c938a40313 2577 //t.reset();
Lightvalve 170:42c938a40313 2578 //t.start();
Lightvalve 170:42c938a40313 2579
Lightvalve 170:42c938a40313 2580 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2581 // else LED = 0;
Lightvalve 170:42c938a40313 2582
Lightvalve 170:42c938a40313 2583 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2584 //Gather Data on each loop
Lightvalve 170:42c938a40313 2585 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2586 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2587 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2588 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2589 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2590 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2591 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2592 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2593 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2594 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2595 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2596 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2597 }
Lightvalve 173:68c7914679ec 2598 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2599 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2600 }
Lightvalve 173:68c7914679ec 2601 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2602 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2603 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2604 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2605 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2606
Lightvalve 179:d5377766d7ea 2607 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2608 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2609 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2610 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2611 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2612 }
Lightvalve 171:bfc1fd2629d8 2613
Lightvalve 170:42c938a40313 2614 RL_timer++;
Lightvalve 170:42c938a40313 2615
Lightvalve 170:42c938a40313 2616
Lightvalve 170:42c938a40313 2617 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2618 RL_timer = 0;
Lightvalve 170:42c938a40313 2619 batch++;
Lightvalve 170:42c938a40313 2620 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2621 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2622 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2623 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2624 }
Lightvalve 170:42c938a40313 2625 Update_Case = 1;
Lightvalve 170:42c938a40313 2626 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2627 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2628
Lightvalve 170:42c938a40313 2629 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2630 batch = 0;
Lightvalve 170:42c938a40313 2631 RL_timer = 0;
Lightvalve 170:42c938a40313 2632 Update_Case = 2;
Lightvalve 170:42c938a40313 2633 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2634 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2635 }
Lightvalve 170:42c938a40313 2636 }
Lightvalve 170:42c938a40313 2637 }
Lightvalve 170:42c938a40313 2638
Lightvalve 170:42c938a40313 2639 else {
Lightvalve 170:42c938a40313 2640 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2641 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2642 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2643 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2644 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2645 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2646 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2647 //logging1 = action;
Lightvalve 179:d5377766d7ea 2648 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2649 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2650 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2651 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2652 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2653 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2654 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2655 }
Lightvalve 170:42c938a40313 2656
Lightvalve 170:42c938a40313 2657 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2658 }
Lightvalve 170:42c938a40313 2659
Lightvalve 170:42c938a40313 2660 //t.stop();
Lightvalve 170:42c938a40313 2661 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2662
Lightvalve 170:42c938a40313 2663 break;
Lightvalve 170:42c938a40313 2664 }
Lightvalve 14:8e7590227d22 2665
Lightvalve 12:6f2531038ea4 2666 default:
Lightvalve 12:6f2531038ea4 2667 break;
Lightvalve 12:6f2531038ea4 2668 }
Lightvalve 14:8e7590227d22 2669
Lightvalve 57:f4819de54e7a 2670
Lightvalve 57:f4819de54e7a 2671 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2672
Lightvalve 57:f4819de54e7a 2673 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2674 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2675 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2676 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2677 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2678 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2679
Lightvalve 57:f4819de54e7a 2680 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2681 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2682
Lightvalve 57:f4819de54e7a 2683
Lightvalve 57:f4819de54e7a 2684 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2685 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2686 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2687 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2688 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2689 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2690
Lightvalve 57:f4819de54e7a 2691 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2692 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2693 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2694 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2695 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2696 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2697 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2698 }
Lightvalve 57:f4819de54e7a 2699
Lightvalve 57:f4819de54e7a 2700 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2701
Lightvalve 67:c2812cf26c38 2702 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2703 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2704 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2705 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2706 // 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 2707 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2708 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2709
Lightvalve 57:f4819de54e7a 2710 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2711 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2712 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2713 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2714 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2715 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2716 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2717 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2718 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2719 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2720 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2721 }
Lightvalve 57:f4819de54e7a 2722 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2723 } else {
Lightvalve 57:f4819de54e7a 2724 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2725 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2726 }
Lightvalve 57:f4819de54e7a 2727
Lightvalve 57:f4819de54e7a 2728 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2729 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2730 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2731 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2732 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2733 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2734 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2735
Lightvalve 57:f4819de54e7a 2736 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2737
Lightvalve 57:f4819de54e7a 2738 } else {
Lightvalve 57:f4819de54e7a 2739 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2740 }
Lightvalve 57:f4819de54e7a 2741
Lightvalve 57:f4819de54e7a 2742 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2743 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2744 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2745
Lightvalve 57:f4819de54e7a 2746 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2747 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2748 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2749 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2750 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2751 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2752 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2753 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2754
Lightvalve 89:a7b45368ea0f 2755 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2756 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2757 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2758 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2759
Lightvalve 135:79885a39c161 2760 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2761 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2762 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2763 }
Lightvalve 169:645207e160ca 2764
Lightvalve 67:c2812cf26c38 2765 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2766 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2767 // else V_out = V_out;
Lightvalve 169:645207e160ca 2768
jobuuu 7:e9086c72bb22 2769 /*******************************************************
jobuuu 7:e9086c72bb22 2770 *** PWM
jobuuu 7:e9086c72bb22 2771 ********************************************************/
Lightvalve 169:645207e160ca 2772 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2773 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2774 }
Lightvalve 169:645207e160ca 2775
Lightvalve 49:e7bcfc244d40 2776 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2777 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2778 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2779 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2780 }
Lightvalve 49:e7bcfc244d40 2781 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2782
Lightvalve 19:23b7c1ad8683 2783 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2784 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2785 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2786
Lightvalve 30:8d561f16383b 2787 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2788 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2789 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2790 } else {
jobuuu 2:a1c0a37df760 2791 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2792 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2793 }
Lightvalve 13:747daba9cf59 2794
jobuuu 1:e04e563be5ce 2795 //pwm
Lightvalve 30:8d561f16383b 2796 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2797 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2798
Lightvalve 61:bc8c8270f0ab 2799
Lightvalve 233:0a37cdd59651 2800
Lightvalve 233:0a37cdd59651 2801 /*
Lightvalve 237:aa3863117889 2802 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 233:0a37cdd59651 2803
Lightvalve 54:647072f5307a 2804 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2805 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2806 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2807 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2808 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2809 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2810 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 2811 }
Lightvalve 57:f4819de54e7a 2812 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2813 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2814 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 2815 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2816 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 2817 }
Lightvalve 52:8ea76864368a 2818 }
Lightvalve 52:8ea76864368a 2819 }
Lightvalve 233:0a37cdd59651 2820
Lightvalve 56:6f50d9d3bfee 2821 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2822 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2823 }
Lightvalve 58:2eade98630e2 2824
Lightvalve 58:2eade98630e2 2825
Lightvalve 171:bfc1fd2629d8 2826 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2827 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2828 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2829 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2830 } else {
Lightvalve 131:d08121ac87ba 2831 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2832 }
Lightvalve 169:645207e160ca 2833 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2834 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2835 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2836 } else {
Lightvalve 169:645207e160ca 2837 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2838 }
Lightvalve 169:645207e160ca 2839
Lightvalve 169:645207e160ca 2840
Lightvalve 169:645207e160ca 2841 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2842 }
Lightvalve 58:2eade98630e2 2843
Lightvalve 57:f4819de54e7a 2844 //If it doesn't rest, below can can not work.
Lightvalve 233:0a37cdd59651 2845 for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2846 ;
Lightvalve 57:f4819de54e7a 2847 }
Lightvalve 58:2eade98630e2 2848
Lightvalve 169:645207e160ca 2849 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2850 //PWM
Lightvalve 209:ebc69d6ee6f1 2851 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 209:ebc69d6ee6f1 2852 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2853 }
Lightvalve 179:d5377766d7ea 2854
Lightvalve 56:6f50d9d3bfee 2855 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2856 //valve position
Lightvalve 212:ec41f1449ef9 2857 //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 2858 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 54:647072f5307a 2859 }
Lightvalve 237:aa3863117889 2860
Lightvalve 233:0a37cdd59651 2861
Lightvalve 20:806196fda269 2862
Lightvalve 54:647072f5307a 2863 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 237:aa3863117889 2864 if (flag_data_request[1] == HIGH) {
Lightvalve 237:aa3863117889 2865 CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 237:aa3863117889 2866 }
Lightvalve 237:aa3863117889 2867 if (flag_delay_test == 1){
Lightvalve 237:aa3863117889 2868 CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 237:aa3863117889 2869 }
Lightvalve 52:8ea76864368a 2870
Lightvalve 54:647072f5307a 2871 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2872 }
Lightvalve 54:647072f5307a 2873 TMR2_COUNT_CAN_TX++;
Lightvalve 237:aa3863117889 2874
Lightvalve 237:aa3863117889 2875 */
Lightvalve 237:aa3863117889 2876
Lightvalve 20:806196fda269 2877 }
Lightvalve 52:8ea76864368a 2878 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2879
Lightvalve 58:2eade98630e2 2880 }