Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@245:3592e0da43fb, 2021-01-06 (annotated)

Committer:
Lightvalve
Date:
Wed Jan 06 01:52:51 2021 +0000
Revision:
245:3592e0da43fb
Parent:
244:b8e9935406dd
Child:
246:d483d039ca55
//210106_3  500Hz   num_input 12    210105 data

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 245:3592e0da43fb 1 //210106_3 500Hz num_input 12 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 245:3592e0da43fb 202 {-0.08928373456001282f,0.18988078832626343f,0.14029145240783691f,-0.11808817088603973f,-0.003978874068707228f,-0.007696872111409903f,0.42820632457733154f,-0.20236220955848694f,0.939854085445404f,-0.07558992505073547f,-0.027743147686123848f,-0.3279592990875244f,-0.31727975606918335f,-0.20024743676185608f,0.3523602783679962f,-0.6278733611106873f},
Lightvalve 245:3592e0da43fb 203 {-0.11774742603302002f,0.09604662656784058f,0.29011616110801697f,0.2234950214624405f,0.23440349102020264f,0.5232492089271545f,0.2210281491279602f,-0.3678447902202606f,0.7886034250259399f,-0.27516597509384155f,-0.2500557601451874f,-0.12492232769727707f,-0.11310917139053345f,-0.4406680464744568f,0.1511378139257431f,-0.4245671331882477f},
Lightvalve 245:3592e0da43fb 204 {0.36453908681869507f,-0.02021932601928711f,-0.3012392818927765f,-0.3477104902267456f,0.5035558342933655f,-0.3530597984790802f,-0.3702338933944702f,-0.3288705348968506f,0.3931751549243927f,0.23595577478408813f,-0.6494159698486328f,0.13738729059696198f,-0.0888165533542633f,0.3261997401714325f,0.1456020325422287f,-0.08090786635875702f},
Lightvalve 245:3592e0da43fb 205 {-0.4103831648826599f,-0.12864279747009277f,0.1022421345114708f,-0.6185715198516846f,-0.2637539505958557f,-0.328195184469223f,0.4355844259262085f,0.12046816200017929f,-0.13170522451400757f,-0.21010851860046387f,-0.34591883420944214f,0.23238110542297363f,-0.09013718366622925f,0.3507763743400574f,-0.12376902252435684f,-0.4103527069091797f},
Lightvalve 245:3592e0da43fb 206 {-0.4158014953136444f,0.4469558000564575f,-0.4252530634403229f,-0.7594079375267029f,0.15881256759166718f,0.570539653301239f,0.20091718435287476f,0.11978109925985336f,-0.6337155103683472f,-0.3290080726146698f,-0.538169264793396f,0.10523770749568939f,0.08139365911483765f,0.19170653820037842f,0.16857746243476868f,-0.6932903528213501f},
Lightvalve 245:3592e0da43fb 207 {0.02771398425102234f,-0.4239081144332886f,-0.1293027102947235f,-0.9767598509788513f,-0.005095937754958868f,0.12170109897851944f,-0.265327125787735f,-0.20950207114219666f,-1.7486470937728882f,-0.4134688079357147f,-0.32466891407966614f,-0.4746890366077423f,0.3993561267852783f,0.027073565870523453f,-0.4189585745334625f,-0.658713698387146f},
Lightvalve 245:3592e0da43fb 208 {0.4493045210838318f,-0.17244070768356323f,0.21882575750350952f,3.133983612060547f,-1.4239774942398071f,-0.9012263417243958f,0.39546728134155273f,-0.7601503133773804f,3.533515691757202f,-0.09566733241081238f,-0.49558505415916443f,0.12108597159385681f,-0.4244987964630127f,-0.3255382776260376f,0.1717403382062912f,0.15440697968006134f},
Lightvalve 245:3592e0da43fb 209 {0.234513521194458f,-0.16211813688278198f,0.33604222536087036f,2.0154271125793457f,-0.8926435708999634f,-0.2883564531803131f,0.17530131340026855f,-0.08909942954778671f,1.4232977628707886f,-0.0270843505859375f,-0.23662754893302917f,-0.039105724543333054f,-0.17777305841445923f,-0.2930698096752167f,-0.295630544424057f,0.8173853754997253f},
Lightvalve 245:3592e0da43fb 210 {0.35531145334243774f,0.32643234729766846f,-0.20846526324748993f,0.5044971108436584f,-0.6685876846313477f,0.013467200100421906f,-0.3044210970401764f,-0.61872798204422f,-0.29994454979896545f,-0.24198894202709198f,0.044176068156957626f,-0.2424609363079071f,-0.4050760865211487f,0.014094186946749687f,0.11948834359645844f,0.08273530006408691f},
Lightvalve 245:3592e0da43fb 211 {-0.15392860770225525f,0.3473075032234192f,-0.25585490465164185f,-0.34898388385772705f,-0.30887138843536377f,-0.27727174758911133f,-0.4218664765357971f,0.2524242699146271f,-0.9651307463645935f,-0.2347547560930252f,-0.2579735219478607f,0.13620002567768097f,-0.45715731382369995f,-0.2101370245218277f,-0.3693336844444275f,0.5827489495277405f},
Lightvalve 245:3592e0da43fb 212 {-0.434734970331192f,-0.1676338016986847f,-0.16730430722236633f,-0.7783320546150208f,-0.4176149368286133f,-0.0822678655385971f,-0.4028127193450928f,-0.15296562016010284f,-1.7470310926437378f,0.23425424098968506f,0.2960582673549652f,0.4209096133708954f,-0.02016448974609375f,-0.3919544517993927f,-0.18460549414157867f,-0.5643852949142456f},
Lightvalve 245:3592e0da43fb 213 {-0.2947876453399658f,-0.3233926296234131f,-0.396773099899292f,-1.4096735715866089f,-0.6982089877128601f,0.09473533183336258f,0.16410261392593384f,-0.2024194449186325f,-2.3709700107574463f,0.3230099678039551f,-0.33460134267807007f,0.14395946264266968f,0.41723358631134033f,-0.5597719550132751f,0.2465231865644455f,-0.376107782125473f},
Lightvalve 65:a2d7c63419c2 214 };
Lightvalve 65:a2d7c63419c2 215
Lightvalve 169:645207e160ca 216 const float h2[16][16] = {
Lightvalve 245:3592e0da43fb 217 {0.22040846943855286f,-0.4028656780719757f,-0.30482804775238037f,0.2847701609134674f,0.37607017159461975f,-0.12173402309417725f,-0.27083414793014526f,0.19983914494514465f,0.12811920046806335f,0.026121854782104492f,0.33117517828941345f,0.31377163529396057f,-0.3039761185646057f,0.10410508513450623f,0.019344478845596313f,0.13114729523658752f},
Lightvalve 245:3592e0da43fb 218 {0.07885774970054626f,0.2685442268848419f,-0.20929814875125885f,-0.013690829277038574f,-0.28124189376831055f,0.3748907744884491f,-0.4218168258666992f,-0.13014042377471924f,0.34662631154060364f,0.2236320674419403f,-0.2787289619445801f,-0.16978111863136292f,-0.12639987468719482f,-0.11595618724822998f,0.20541444420814514f,-0.19707195460796356f},
Lightvalve 245:3592e0da43fb 219 {-0.289584755897522f,-0.3754548728466034f,0.4180505573749542f,-0.3319404125213623f,-0.12211531400680542f,0.40512141585350037f,-0.25835028290748596f,0.42814746499061584f,-0.3197705149650574f,0.35452306270599365f,0.20276597142219543f,-0.1963835507631302f,-0.26259419322013855f,0.10237613320350647f,-0.21197760105133057f,-0.054215338081121445f},
Lightvalve 245:3592e0da43fb 220 {-4.1213297843933105f,0.01764225959777832f,-0.27558714151382446f,-0.24608424305915833f,0.2943190336227417f,0.2841133773326874f,-0.35425087809562683f,0.02605552040040493f,0.25242629647254944f,-1.1704930067062378f,0.17697389423847198f,-0.26277410984039307f,-2.00290846824646f,0.10458657145500183f,0.19668230414390564f,0.3635267913341522f},
Lightvalve 245:3592e0da43fb 221 {-0.6215770244598389f,-0.22804522514343262f,-0.2246006429195404f,0.053406450897455215f,0.27491495013237f,-0.12348288297653198f,0.27004075050354004f,-0.147074893116951f,0.11645037680864334f,-0.15487730503082275f,-0.10510046780109406f,-0.2283875197172165f,0.13212068378925323f,-0.1956327110528946f,-0.09801927208900452f,0.11065234243869781f},
Lightvalve 245:3592e0da43fb 222 {0.10445184260606766f,-0.1510087102651596f,0.4312331974506378f,-0.5101251006126404f,0.2854827046394348f,0.34281787276268005f,-0.13838697969913483f,0.09894201159477234f,-0.23495729267597198f,0.08734504133462906f,-0.04059183597564697f,0.2733362019062042f,0.015527419745922089f,-0.10023930668830872f,-0.02278757095336914f,0.07353436946868896f},
Lightvalve 245:3592e0da43fb 223 {-0.22515183687210083f,-0.3755156993865967f,-0.24480870366096497f,-0.29299992322921753f,0.059763699769973755f,0.20225438475608826f,0.33751097321510315f,0.3263198435306549f,-0.13278412818908691f,-0.095187246799469f,-0.2782473564147949f,-0.3706819713115692f,-0.021951347589492798f,0.27562615275382996f,0.03849485516548157f,0.29575976729393005f},
Lightvalve 245:3592e0da43fb 224 {0.32057708501815796f,-0.524069607257843f,0.37138256430625916f,0.2010936439037323f,0.08615626394748688f,-0.03286612033843994f,0.15765780210494995f,-0.4324454665184021f,0.327019602060318f,-0.07884476333856583f,-0.1301749050617218f,-0.10347366333007812f,0.18177057802677155f,0.10729780793190002f,-0.10135778784751892f,-0.27579066157341003f},
Lightvalve 245:3592e0da43fb 225 {-1.386614441871643f,-0.49351364374160767f,-0.3842683434486389f,0.07866570353507996f,2.973254919052124f,-0.2822301983833313f,0.2986585795879364f,-0.17486296594142914f,-0.31111371517181396f,-0.29488277435302734f,-0.21365593373775482f,-0.36962851881980896f,-1.2022932767868042f,-0.29541951417922974f,-0.00033593177795410156f,2.188819646835327f},
Lightvalve 245:3592e0da43fb 226 {-0.15491563081741333f,-0.1982559859752655f,-0.27656543254852295f,-0.057386428117752075f,0.006925225257873535f,-0.0061952173709869385f,-0.30878782272338867f,-0.16744297742843628f,-0.15944159030914307f,-0.07186901569366455f,0.1433509886264801f,-0.11715862154960632f,0.009978801012039185f,-0.23373784124851227f,0.4134136140346527f,-0.22950156033039093f},
Lightvalve 245:3592e0da43fb 227 {0.06308726221323013f,-0.36588433384895325f,-0.08402159810066223f,0.028938988223671913f,-0.2953241169452667f,-0.28359758853912354f,0.345768541097641f,0.010517789050936699f,-0.3439469635486603f,-0.39201247692108154f,-0.22572417557239532f,0.17512741684913635f,0.13216380774974823f,0.23759087920188904f,-0.2779344618320465f,0.2651509642601013f},
Lightvalve 245:3592e0da43fb 228 {0.10504072904586792f,-0.03749573230743408f,0.33709099888801575f,0.37907975912094116f,0.22565968334674835f,0.3120448887348175f,0.39507538080215454f,0.006597965955734253f,-0.18118223547935486f,-0.42720532417297363f,-0.3804808259010315f,-0.25502610206604004f,0.0865727886557579f,0.4289310872554779f,0.1356206238269806f,-0.004186863079667091f},
Lightvalve 245:3592e0da43fb 229 {0.09193530678749084f,-0.18952275812625885f,0.0726877748966217f,0.3987469971179962f,0.02890300750732422f,-0.12990233302116394f,0.14810273051261902f,0.01665481925010681f,-0.15090349316596985f,-0.33036649227142334f,-0.003201425075531006f,-0.3811122179031372f,0.22158536314964294f,0.17805215716362f,0.1948237121105194f,-0.08180281519889832f},
Lightvalve 245:3592e0da43fb 230 {-0.06925216317176819f,-0.2162439227104187f,0.05184563994407654f,-0.01202910952270031f,0.03321986272931099f,-0.24826626479625702f,-0.5580893754959106f,0.30383768677711487f,-0.3802972733974457f,-0.40310049057006836f,0.13739612698554993f,-0.07380381226539612f,0.004031330347061157f,0.4251040518283844f,-0.12451288104057312f,-0.4890829622745514f},
Lightvalve 245:3592e0da43fb 231 {-0.13223494589328766f,-0.11442816257476807f,0.18836888670921326f,0.0025912465061992407f,-0.19410231709480286f,0.04468163847923279f,0.19008231163024902f,0.3492031395435333f,0.014439105987548828f,-0.16926728188991547f,0.05260401964187622f,-0.19738321006298065f,0.17389413714408875f,0.09360900521278381f,-0.18755027651786804f,-0.24380405247211456f},
Lightvalve 245:3592e0da43fb 232 {-0.6347722411155701f,-0.6213594675064087f,-0.28505873680114746f,-6.113732814788818f,-0.8829705119132996f,-0.39796411991119385f,-0.04346449673175812f,-0.11873544752597809f,-0.04968378692865372f,-1.9817637205123901f,-0.3773333430290222f,-0.2845912575721741f,-1.1904109716415405f,0.09081563353538513f,-0.27721232175827026f,0.04428445175290108f},
Lightvalve 65:a2d7c63419c2 233 };
Lightvalve 65:a2d7c63419c2 234
Lightvalve 169:645207e160ca 235 const float h3[16][16] = {
Lightvalve 245:3592e0da43fb 236 {-0.3740372061729431f,-0.12622219324111938f,0.7481427788734436f,0.3189202547073364f,-2.452293872833252f,0.05530071258544922f,0.10995236039161682f,0.25306645035743713f,0.5455286502838135f,0.3019128143787384f,-0.3977643549442291f,1.2452392578125f,-0.08900150656700134f,0.2659699618816376f,-0.4051627218723297f,0.3587193489074707f},
Lightvalve 245:3592e0da43fb 237 {0.2580176293849945f,-0.21952059864997864f,-0.536188006401062f,-0.13161329925060272f,-0.3679931163787842f,0.21937689185142517f,0.19945386052131653f,-0.2553171217441559f,-0.009911770932376385f,0.06814399361610413f,-0.09381365776062012f,0.25755026936531067f,-0.326202392578125f,-0.40252116322517395f,0.0038833022117614746f,0.014371702447533607f},
Lightvalve 245:3592e0da43fb 238 {-0.06709745526313782f,-0.3487962782382965f,0.15876320004463196f,-0.08722096681594849f,-0.10967022180557251f,-0.4167609214782715f,0.1344209611415863f,-0.41463586688041687f,-0.37066638469696045f,-0.0406363308429718f,-0.17699375748634338f,-0.05360245704650879f,0.38655009865760803f,-0.01810634136199951f,-0.18493060767650604f,0.35194751620292664f},
Lightvalve 245:3592e0da43fb 239 {-0.12081655859947205f,-0.16580137610435486f,-0.43180301785469055f,2.575126886367798f,-1.9781299829483032f,-0.09152081608772278f,-0.3956339359283447f,-0.48883336782455444f,-0.22402389347553253f,0.7732234597206116f,-0.36379221081733704f,0.251196026802063f,-0.43051815032958984f,-0.3846364915370941f,-0.1842559427022934f,-0.7160226702690125f},
Lightvalve 245:3592e0da43fb 240 {0.005010038614273071f,-0.09848810732364655f,-1.4794831275939941f,-0.14799992740154266f,0.36386820673942566f,-0.42805469036102295f,-0.31440508365631104f,-0.0329747200012207f,1.4564002752304077f,-0.5649462342262268f,-1.146892786026001f,-1.6677275896072388f,-0.06857957690954208f,0.13153156638145447f,-0.2856975793838501f,-0.5936042666435242f},
Lightvalve 245:3592e0da43fb 241 {-0.154278963804245f,0.15068575739860535f,-0.23259520530700684f,0.3329792320728302f,0.16978946328163147f,0.07678303122520447f,0.11548694968223572f,0.25491419434547424f,-0.29460608959198f,-0.2147803008556366f,-0.09733334183692932f,0.0077544450759887695f,0.17424574494361877f,0.24004992842674255f,0.10598781704902649f,0.3885243237018585f},
Lightvalve 245:3592e0da43fb 242 {-0.06189775466918945f,-0.2343900054693222f,0.41815266013145447f,-0.06278818845748901f,0.038058292120695114f,0.05758383870124817f,-0.04267755150794983f,-0.28957313299179077f,-0.0036431453190743923f,-0.3373270332813263f,-0.4336230456829071f,0.05202546715736389f,0.1869029700756073f,0.09306725859642029f,-0.05534625053405762f,-0.23965637385845184f},
Lightvalve 245:3592e0da43fb 243 {0.11816993355751038f,0.19791188836097717f,0.045647695660591125f,0.05645141005516052f,-0.18168418109416962f,0.1770211160182953f,-0.2681187689304352f,-0.0303591787815094f,-0.1650286614894867f,-0.10919004678726196f,0.2986362874507904f,-0.07121747732162476f,-0.09518930315971375f,-0.35569754242897034f,0.42722514271736145f,-0.15241912007331848f},
Lightvalve 245:3592e0da43fb 244 {-0.08454379439353943f,-0.1466067135334015f,0.2962970435619354f,0.21947136521339417f,0.21353144943714142f,0.2355630099773407f,0.0014078617095947266f,0.0649329423904419f,-0.29372382164001465f,-0.2304542511701584f,-0.11185473203659058f,0.0468500554561615f,0.34780290722846985f,0.19274309277534485f,-0.311842143535614f,0.3789503276348114f},
Lightvalve 245:3592e0da43fb 245 {-0.09536594152450562f,0.3562287390232086f,0.8924842476844788f,0.4579148590564728f,0.7366642951965332f,0.3642789423465729f,0.4044777452945709f,-0.42047369480133057f,-0.019772857427597046f,-0.23059403896331787f,0.047575924545526505f,0.400556743144989f,0.17998197674751282f,0.3105376064777374f,-0.42501863837242126f,0.10465378314256668f},
Lightvalve 245:3592e0da43fb 246 {0.043095797300338745f,0.3075747787952423f,0.2890697419643402f,0.33099862933158875f,0.1751062572002411f,-0.3616466522216797f,0.2722831070423126f,-0.11669030785560608f,-0.02601027488708496f,-0.2050226330757141f,0.05298447608947754f,0.14272931218147278f,0.05636057257652283f,0.18077662587165833f,0.024709969758987427f,-0.2825847268104553f},
Lightvalve 245:3592e0da43fb 247 {0.114739328622818f,-0.28732842206954956f,-0.007510572671890259f,0.05885201692581177f,-0.17437449097633362f,0.26788774132728577f,0.31876376271247864f,0.30347469449043274f,-0.39352715015411377f,0.09197589755058289f,-0.27865278720855713f,-0.04290211200714111f,0.02039027214050293f,0.09758958220481873f,-0.38352450728416443f,0.35282430052757263f},
Lightvalve 245:3592e0da43fb 248 {-0.16227436065673828f,0.3044901192188263f,1.500205159187317f,-0.20669551193714142f,-0.8930017948150635f,0.3205467760562897f,-0.3996381461620331f,0.3226601779460907f,0.5433998107910156f,0.18693169951438904f,-0.6948516964912415f,0.9673228859901428f,-0.05647093057632446f,-0.12768149375915527f,0.15764620900154114f,0.7655152082443237f},
Lightvalve 245:3592e0da43fb 249 {-0.4156169295310974f,0.20866098999977112f,0.02854001522064209f,0.011706173419952393f,0.04473334550857544f,-0.338489294052124f,0.13951000571250916f,-0.1403215527534485f,-0.3943132162094116f,-0.16522809863090515f,-0.17043307423591614f,-0.42026638984680176f,-0.22834034264087677f,0.32368162274360657f,-0.22774425148963928f,0.33402350544929504f},
Lightvalve 245:3592e0da43fb 250 {0.2766123116016388f,-0.43157315254211426f,-0.2738536596298218f,0.16261598467826843f,-0.209463432431221f,0.11931833624839783f,0.151057630777359f,0.41193607449531555f,0.235458105802536f,0.16423484683036804f,-0.39183735847473145f,-0.06453084945678711f,-0.3313708007335663f,-0.27633973956108093f,0.270766943693161f,-0.05490243434906006f},
Lightvalve 245:3592e0da43fb 251 {-0.3373720347881317f,-0.3408786356449127f,-0.19662676751613617f,0.04992261901497841f,1.2588192224502563f,-0.19240692257881165f,0.05765652284026146f,0.07387390732765198f,-2.614326000213623f,0.7213937640190125f,-0.4090003967285156f,0.03824680298566818f,0.0996483862400055f,-0.061470746994018555f,-0.05823567509651184f,-0.10553636401891708f},
Lightvalve 66:a8e6799dbce3 252 };
Lightvalve 65:a2d7c63419c2 253
Lightvalve 245:3592e0da43fb 254 const float hout[16] = { 0.3696172833442688f,-0.033239372074604034f,1.0031309127807617f,1.0643973350524902f,-0.5450873374938965f,0.2716830372810364f,-0.2568954825401306f,0.13510213792324066f,2.1077351570129395f,0.6897874474525452f,0.06623781472444534f,1.021472692489624f,-0.16785483062267303f,-0.5563539266586304f,-0.3882039189338684f,0.5990738272666931f };
Lightvalve 245:3592e0da43fb 255
Lightvalve 245:3592e0da43fb 256 const float b1[16] = { -1.1430004835128784f,-1.1792505979537964f,0.137104794383049f,1.2572994232177734f,0.585432231426239f,-0.22034820914268494f,-0.9570482969284058f,0.7503839731216431f,1.030627965927124f,-2.6199684143066406f,0.6522615551948547f,-0.21148066222667694f,-1.5748937129974365f,-0.1155807301402092f,-0.2153463065624237f,2.533480644226074f };
Lightvalve 245:3592e0da43fb 257
Lightvalve 245:3592e0da43fb 258 const float b2[16] = { 0.24008359014987946f,-0.2304793894290924f,-0.9013299345970154f,0.8089731335639954f,-0.4296902120113373f,-0.8439559936523438f,-0.922905445098877f,-0.0648953840136528f,-1.008384346961975f,-0.048680439591407776f,-0.3683401644229889f,-1.3363648653030396f,-0.15714435279369354f,-0.8010820150375366f,-0.449018269777298f,-0.7082654237747192f };
Lightvalve 245:3592e0da43fb 259
Lightvalve 245:3592e0da43fb 260 const float b3[16] = { -0.3623056709766388f,-0.954131007194519f,-0.13478882610797882f,-0.7724200487136841f,0.2596184015274048f,-2.7422733306884766f,-0.741806149482727f,-1.2988611459732056f,-0.5918604731559753f,0.17699366807937622f,-0.037729937583208084f,-0.43741947412490845f,-0.9366039633750916f,-1.991359829902649f,-1.0550254583358765f,-0.35188284516334534f };
Lightvalve 245:3592e0da43fb 261
Lightvalve 245:3592e0da43fb 262 const float bout[1] = { 0.6205869317054749f };
Lightvalve 225:278b48b86f27 263
Lightvalve 225:278b48b86f27 264 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 265
Lightvalve 170:42c938a40313 266 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 267 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 268
Lightvalve 170:42c938a40313 269 //Critic Networks
Lightvalve 173:68c7914679ec 270 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 271 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 272 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 273 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 274 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 275 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 276
Lightvalve 170:42c938a40313 277 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 278 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 279 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 280 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 281 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 282 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 283 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 284
Lightvalve 170:42c938a40313 285 //Actor Networks
Lightvalve 173:68c7914679ec 286 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 287 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 288 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 289 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 290 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 291 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 292
Lightvalve 170:42c938a40313 293 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 294 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 295 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 296 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 297 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 298 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 299 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 300
Lightvalve 87:471334725012 301 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 302 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 303
Lightvalve 179:d5377766d7ea 304 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 305 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 306 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 307 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 308 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 309
Lightvalve 170:42c938a40313 310 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 311 {
Lightvalve 173:68c7914679ec 312 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 313 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 314 float output = 0.0f;
Lightvalve 173:68c7914679ec 315 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 316 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 317 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 318 }
Lightvalve 173:68c7914679ec 319 //ReLU
Lightvalve 173:68c7914679ec 320 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 321 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 322 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 323 output1[index2] = 0;
Lightvalve 173:68c7914679ec 324 }
Lightvalve 173:68c7914679ec 325 //tanh
Lightvalve 173:68c7914679ec 326 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 327 }
Lightvalve 173:68c7914679ec 328 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 329 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 330 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 331 }
Lightvalve 173:68c7914679ec 332 //ReLU
Lightvalve 173:68c7914679ec 333 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 334 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 335 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 336 output2[index2] = 0;
Lightvalve 173:68c7914679ec 337 }
Lightvalve 173:68c7914679ec 338 //tanh
Lightvalve 173:68c7914679ec 339 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 340 }
Lightvalve 170:42c938a40313 341 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 342 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 343 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 344 }
Lightvalve 173:68c7914679ec 345 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 346 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 347 }
Lightvalve 170:42c938a40313 348 return output;
Lightvalve 170:42c938a40313 349 }
Lightvalve 170:42c938a40313 350
Lightvalve 170:42c938a40313 351
Lightvalve 170:42c938a40313 352 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 353 {
Lightvalve 173:68c7914679ec 354 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 355 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 356 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 357
Lightvalve 173:68c7914679ec 358 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 359 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 360 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 361 }
Lightvalve 178:1074553d2f6f 362 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 363 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 364 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 365 output1[index2] = 0;
Lightvalve 173:68c7914679ec 366 }
Lightvalve 173:68c7914679ec 367 }
Lightvalve 173:68c7914679ec 368 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 369 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 370 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 371 }
Lightvalve 178:1074553d2f6f 372 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 373 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 374 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 375 output2[index2] = 0;
Lightvalve 173:68c7914679ec 376 }
Lightvalve 173:68c7914679ec 377 }
Lightvalve 173:68c7914679ec 378 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 379 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 380 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 381 }
Lightvalve 178:1074553d2f6f 382 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 383 }
Lightvalve 178:1074553d2f6f 384
Lightvalve 178:1074553d2f6f 385 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 386 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 387 //Softplus
Lightvalve 173:68c7914679ec 388 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 389 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 390 logging2 = mean;
Lightvalve 179:d5377766d7ea 391 logging4 = deviation;
Lightvalve 173:68c7914679ec 392 }
Lightvalve 173:68c7914679ec 393
Lightvalve 173:68c7914679ec 394
Lightvalve 173:68c7914679ec 395 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 396 {
Lightvalve 173:68c7914679ec 397 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 398 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 399 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 400
Lightvalve 173:68c7914679ec 401 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 402 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 403 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 404 }
Lightvalve 170:42c938a40313 405 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 406 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 407 output1[index2] = 0;
Lightvalve 170:42c938a40313 408 }
Lightvalve 170:42c938a40313 409 }
Lightvalve 173:68c7914679ec 410 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 411 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 412 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 413 }
Lightvalve 173:68c7914679ec 414 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 415 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 416 output2[index2] = 0;
Lightvalve 170:42c938a40313 417 }
Lightvalve 170:42c938a40313 418 }
Lightvalve 170:42c938a40313 419 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 420 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 421 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 422 }
Lightvalve 170:42c938a40313 423 }
Lightvalve 173:68c7914679ec 424 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 425 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 426 //Softplus
Lightvalve 173:68c7914679ec 427 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 428 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 429 }
Lightvalve 170:42c938a40313 430
Lightvalve 170:42c938a40313 431 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 432 {
Lightvalve 170:42c938a40313 433 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 434 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 435 return grad_mean;
Lightvalve 170:42c938a40313 436 }
Lightvalve 170:42c938a40313 437
Lightvalve 170:42c938a40313 438 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 439 {
Lightvalve 170:42c938a40313 440 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 441 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 442 return grad_dev;
Lightvalve 170:42c938a40313 443 }
Lightvalve 170:42c938a40313 444
Lightvalve 173:68c7914679ec 445 float ReLU(float x)
Lightvalve 173:68c7914679ec 446 {
Lightvalve 173:68c7914679ec 447 if (x >= 0) {
Lightvalve 173:68c7914679ec 448 return x;
Lightvalve 173:68c7914679ec 449 } else {
Lightvalve 173:68c7914679ec 450 return 0.0f;
Lightvalve 173:68c7914679ec 451 }
Lightvalve 173:68c7914679ec 452 }
Lightvalve 173:68c7914679ec 453
Lightvalve 170:42c938a40313 454 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 455 {
Lightvalve 173:68c7914679ec 456 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 457 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 458 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 459 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 460 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 461 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 462 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 463 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 464 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 465 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 466 }
Lightvalve 173:68c7914679ec 467 }
Lightvalve 170:42c938a40313 468 }
Lightvalve 177:8e9cf31d63f4 469 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 470 }
Lightvalve 170:42c938a40313 471 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 472 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 473 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 474 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 475 }
Lightvalve 173:68c7914679ec 476 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 477 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 478 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 479 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 480 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 481 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 482 }
Lightvalve 173:68c7914679ec 483 }
Lightvalve 173:68c7914679ec 484 }
Lightvalve 177:8e9cf31d63f4 485 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 486 }
Lightvalve 173:68c7914679ec 487 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 488 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 489 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 490 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 491 }
Lightvalve 173:68c7914679ec 492
Lightvalve 175:2f7289dbd488 493
Lightvalve 173:68c7914679ec 494 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 495 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 496 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 497 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 498 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 499 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 500 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 501 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 502 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 503 }
Lightvalve 173:68c7914679ec 504 }
Lightvalve 177:8e9cf31d63f4 505 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 506 }
Lightvalve 173:68c7914679ec 507 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 508 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 509 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 510 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 511 }
Lightvalve 173:68c7914679ec 512 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 513 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 514 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 515 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 516 }
Lightvalve 177:8e9cf31d63f4 517 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 518 }
Lightvalve 173:68c7914679ec 519 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 520 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 521 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 522 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 523 }
Lightvalve 173:68c7914679ec 524
Lightvalve 173:68c7914679ec 525 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 526 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 527 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 528 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 529 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 530 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 531 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 532 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 533 }
Lightvalve 177:8e9cf31d63f4 534 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 535 }
Lightvalve 173:68c7914679ec 536 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 537 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 538 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 539 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 540 }
Lightvalve 173:68c7914679ec 541 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 542 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 543 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 544 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 545 }
Lightvalve 173:68c7914679ec 546 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 547 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 548 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 549 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 550 }
Lightvalve 173:68c7914679ec 551
Lightvalve 173:68c7914679ec 552 // Simultaneous Update
Lightvalve 173:68c7914679ec 553 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 554 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 555 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 556 }
Lightvalve 179:d5377766d7ea 557 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 558 }
Lightvalve 173:68c7914679ec 559 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 560 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 561 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 562 }
Lightvalve 179:d5377766d7ea 563 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 564 }
Lightvalve 170:42c938a40313 565 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 566 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 567 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 568 }
Lightvalve 179:d5377766d7ea 569 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 570 }
Lightvalve 170:42c938a40313 571 }
Lightvalve 170:42c938a40313 572
Lightvalve 173:68c7914679ec 573 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 574 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 575 {
Lightvalve 218:066030f7951f 576
Lightvalve 173:68c7914679ec 577
Lightvalve 173:68c7914679ec 578 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 579 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 580
Lightvalve 173:68c7914679ec 581 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 582 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 583 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 584 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 585 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 586 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 587 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 588 } else {
Lightvalve 173:68c7914679ec 589 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 590 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 591 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 592 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 593 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 594 }
Lightvalve 171:bfc1fd2629d8 595 }
Lightvalve 170:42c938a40313 596 }
Lightvalve 170:42c938a40313 597 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 598 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 599 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 600 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 601
Lightvalve 173:68c7914679ec 602 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 603 }
Lightvalve 170:42c938a40313 604 }
Lightvalve 176:589ea3edcf3c 605 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 606 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 607 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 608 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 609 }
Lightvalve 173:68c7914679ec 610
Lightvalve 173:68c7914679ec 611 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 612 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 613 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 614 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 615 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 616 } else {
Lightvalve 173:68c7914679ec 617 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 618 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 619 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 620 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 621 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 622 }
Lightvalve 171:bfc1fd2629d8 623 }
Lightvalve 170:42c938a40313 624 }
Lightvalve 170:42c938a40313 625 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 626 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 627 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 628 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 629
Lightvalve 173:68c7914679ec 630 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 631 }
Lightvalve 170:42c938a40313 632 }
Lightvalve 176:589ea3edcf3c 633 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 634 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 635 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 636 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 637 }
Lightvalve 170:42c938a40313 638
Lightvalve 173:68c7914679ec 639 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 640 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 641
Lightvalve 173:68c7914679ec 642 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 643 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 644 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 645 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 646 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 647 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 648 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 649 } else {
Lightvalve 173:68c7914679ec 650 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 651 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 652 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 653 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 654 }
Lightvalve 170:42c938a40313 655 }
Lightvalve 173:68c7914679ec 656
Lightvalve 170:42c938a40313 657 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 658 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 659 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 660 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 661
Lightvalve 173:68c7914679ec 662 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 663 }
Lightvalve 170:42c938a40313 664 }
Lightvalve 176:589ea3edcf3c 665 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 666 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 667 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 668 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 669 }
Lightvalve 173:68c7914679ec 670
Lightvalve 173:68c7914679ec 671 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 672 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 673 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 674 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 675 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 676 } else {
Lightvalve 170:42c938a40313 677
Lightvalve 173:68c7914679ec 678 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 679 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 680 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 681 }
Lightvalve 173:68c7914679ec 682 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 683 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 684 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 685 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 686
Lightvalve 173:68c7914679ec 687 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 688 }
Lightvalve 170:42c938a40313 689 }
Lightvalve 176:589ea3edcf3c 690 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 691 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 692 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 693 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 694 }
Lightvalve 173:68c7914679ec 695
Lightvalve 173:68c7914679ec 696 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 697 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 698
Lightvalve 173:68c7914679ec 699 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 700 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 701 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 702 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 703 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 704 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 705 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 706 } else {
Lightvalve 173:68c7914679ec 707 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 708 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 709 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 710 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 711 }
Lightvalve 173:68c7914679ec 712 }
Lightvalve 173:68c7914679ec 713 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 714 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 715 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 716 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 717
Lightvalve 173:68c7914679ec 718 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 719 }
Lightvalve 173:68c7914679ec 720 }
Lightvalve 176:589ea3edcf3c 721 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 722 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 723 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 724 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 725 }
Lightvalve 173:68c7914679ec 726
Lightvalve 173:68c7914679ec 727 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 728 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 729 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 730 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 731 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 732 } else {
Lightvalve 173:68c7914679ec 733
Lightvalve 177:8e9cf31d63f4 734 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 735 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 736
Lightvalve 173:68c7914679ec 737 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 738 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 739 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 740 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 741
Lightvalve 173:68c7914679ec 742 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 743 }
Lightvalve 173:68c7914679ec 744 }
Lightvalve 176:589ea3edcf3c 745 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 746 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 747 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 748 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 749 }
Lightvalve 177:8e9cf31d63f4 750
Lightvalve 175:2f7289dbd488 751 // Simultaneous Update
Lightvalve 175:2f7289dbd488 752 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 753 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 754 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 755 }
Lightvalve 179:d5377766d7ea 756 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 757 }
Lightvalve 175:2f7289dbd488 758 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 759 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 760 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 761 }
Lightvalve 179:d5377766d7ea 762 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 763 }
Lightvalve 175:2f7289dbd488 764 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 765 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 766 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 767 }
Lightvalve 179:d5377766d7ea 768 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 769 }
Lightvalve 170:42c938a40313 770 }
Lightvalve 170:42c938a40313 771
Lightvalve 170:42c938a40313 772 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 773 {
Lightvalve 170:42c938a40313 774 //Box muller method
Lightvalve 170:42c938a40313 775 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 776 static int n2_cached = 0;
Lightvalve 170:42c938a40313 777 if (!n2_cached) {
Lightvalve 170:42c938a40313 778 double x, y, r;
Lightvalve 170:42c938a40313 779 do {
Lightvalve 170:42c938a40313 780 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 781 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 782
Lightvalve 170:42c938a40313 783 r = x*x + y*y;
Lightvalve 170:42c938a40313 784 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 785 {
Lightvalve 170:42c938a40313 786 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 787 double n1 = x*d;
Lightvalve 170:42c938a40313 788 n2 = y*d;
Lightvalve 170:42c938a40313 789 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 790 n2_cached = 1;
Lightvalve 170:42c938a40313 791 return result;
Lightvalve 170:42c938a40313 792 }
Lightvalve 170:42c938a40313 793 } else {
Lightvalve 170:42c938a40313 794 n2_cached = 0;
Lightvalve 170:42c938a40313 795 return n2*stddev + mean;
Lightvalve 170:42c938a40313 796 }
Lightvalve 170:42c938a40313 797 }
Lightvalve 170:42c938a40313 798
Lightvalve 179:d5377766d7ea 799 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 800 {
Lightvalve 179:d5377766d7ea 801 float add = 0.0f;
Lightvalve 179:d5377766d7ea 802 float result;
Lightvalve 218:066030f7951f 803
Lightvalve 218:066030f7951f 804 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 805 add += x[i];
Lightvalve 179:d5377766d7ea 806 }
Lightvalve 179:d5377766d7ea 807 result = (float) add/size;
Lightvalve 179:d5377766d7ea 808 return result;
Lightvalve 179:d5377766d7ea 809 }
Lightvalve 179:d5377766d7ea 810 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 811 {
Lightvalve 179:d5377766d7ea 812 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 813 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 814
Lightvalve 218:066030f7951f 815 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 816 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 817 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 818 }
Lightvalve 179:d5377766d7ea 819 return resultDeb;
Lightvalve 218:066030f7951f 820 }
Lightvalve 218:066030f7951f 821
Lightvalve 173:68c7914679ec 822
Lightvalve 170:42c938a40313 823 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 824 {
Lightvalve 173:68c7914679ec 825 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 826 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 827 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 828 }
Lightvalve 170:42c938a40313 829 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 830 }
Lightvalve 173:68c7914679ec 831 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 832 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 833 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 834 }
Lightvalve 173:68c7914679ec 835 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 836 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 837 }
Lightvalve 173:68c7914679ec 838 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 839 }
Lightvalve 170:42c938a40313 840 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 841 {
Lightvalve 173:68c7914679ec 842 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 843 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 844 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 845 }
Lightvalve 170:42c938a40313 846 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 847 }
Lightvalve 173:68c7914679ec 848 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 849 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 850 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 851 }
Lightvalve 170:42c938a40313 852 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 853 }
Lightvalve 173:68c7914679ec 854 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 855 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 856 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 857 }
Lightvalve 173:68c7914679ec 858 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 859 }
Lightvalve 170:42c938a40313 860 }
Lightvalve 170:42c938a40313 861
Lightvalve 170:42c938a40313 862
GiJeongKim 0:51c43836c1d7 863 int main()
GiJeongKim 0:51c43836c1d7 864 {
Lightvalve 66:a8e6799dbce3 865
Lightvalve 65:a2d7c63419c2 866 HAL_Init();
Lightvalve 65:a2d7c63419c2 867 SystemClock_Config();
Lightvalve 169:645207e160ca 868
jobuuu 6:df07d3491e3a 869 /*********************************
jobuuu 1:e04e563be5ce 870 *** Initialization
jobuuu 6:df07d3491e3a 871 *********************************/
Lightvalve 69:3995ffeaa786 872 LED = 0;
Lightvalve 61:bc8c8270f0ab 873 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 874
GiJeongKim 0:51c43836c1d7 875 // i2c init
Lightvalve 8:5d2eebdad025 876 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 877 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 878 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 879 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 880 make_delay();
jobuuu 2:a1c0a37df760 881
GiJeongKim 0:51c43836c1d7 882 // // spi init
Lightvalve 170:42c938a40313 883 eeprom.format(8,3);
Lightvalve 170:42c938a40313 884 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 885 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 886 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 887 make_delay();
Lightvalve 21:e5f1a43ea6f9 888
Lightvalve 16:903b5a4433b4 889 //rom
Lightvalve 19:23b7c1ad8683 890 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 891 make_delay();
Lightvalve 13:747daba9cf59 892
GiJeongKim 0:51c43836c1d7 893 // ADC init
jobuuu 5:a4319f79457b 894 Init_ADC();
Lightvalve 11:82d8768d7351 895 make_delay();
jobuuu 2:a1c0a37df760 896
GiJeongKim 0:51c43836c1d7 897 // Pwm init
GiJeongKim 0:51c43836c1d7 898 Init_PWM();
GiJeongKim 0:51c43836c1d7 899 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 900 make_delay();
Lightvalve 13:747daba9cf59 901
Lightvalve 11:82d8768d7351 902 // TMR3 init
Lightvalve 11:82d8768d7351 903 Init_TMR3();
Lightvalve 11:82d8768d7351 904 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 905 make_delay();
Lightvalve 21:e5f1a43ea6f9 906
Lightvalve 50:3c630b5eba9f 907 // TMR2 init
Lightvalve 56:6f50d9d3bfee 908 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 909 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 910 // make_delay();
Lightvalve 21:e5f1a43ea6f9 911
GiJeongKim 0:51c43836c1d7 912 // CAN
jobuuu 2:a1c0a37df760 913 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 914 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 915 make_delay();
Lightvalve 34:bb2ca2fc2a8e 916
Lightvalve 23:59218d4a256d 917 //Timer priority
Lightvalve 23:59218d4a256d 918 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 919 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 920 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 921
Lightvalve 23:59218d4a256d 922 //can.reset();
Lightvalve 19:23b7c1ad8683 923 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 924
GiJeongKim 0:51c43836c1d7 925 // spi _ enc
GiJeongKim 0:51c43836c1d7 926 spi_enc_set_init();
Lightvalve 11:82d8768d7351 927 make_delay();
Lightvalve 13:747daba9cf59 928
Lightvalve 11:82d8768d7351 929 //DAC init
Lightvalve 58:2eade98630e2 930 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 931 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 932 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 933 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 934 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 935 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 936 }
Lightvalve 11:82d8768d7351 937 make_delay();
Lightvalve 13:747daba9cf59 938
Lightvalve 19:23b7c1ad8683 939 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 940 if(i%2==0)
Lightvalve 38:118df027d851 941 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 942 else
Lightvalve 38:118df027d851 943 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 944 }
Lightvalve 169:645207e160ca 945
Lightvalve 173:68c7914679ec 946 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 947 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 948 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 949 }
Lightvalve 179:d5377766d7ea 950 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 951 }
Lightvalve 173:68c7914679ec 952 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 953 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 954 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 955 }
Lightvalve 179:d5377766d7ea 956 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 957 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 958 }
Lightvalve 179:d5377766d7ea 959 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 960
Lightvalve 173:68c7914679ec 961 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 962 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 963 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 964 }
Lightvalve 179:d5377766d7ea 965 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 966 }
Lightvalve 173:68c7914679ec 967 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 968 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 969 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 970 }
Lightvalve 179:d5377766d7ea 971 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 972 }
Lightvalve 170:42c938a40313 973 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 974 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 975 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 976 }
Lightvalve 179:d5377766d7ea 977 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 978 }
Lightvalve 171:bfc1fd2629d8 979
Lightvalve 170:42c938a40313 980 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 981 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 982
jobuuu 6:df07d3491e3a 983 /************************************
jobuuu 1:e04e563be5ce 984 *** Program is operating!
jobuuu 6:df07d3491e3a 985 *************************************/
GiJeongKim 0:51c43836c1d7 986 while(1) {
Lightvalve 169:645207e160ca 987
Lightvalve 171:bfc1fd2629d8 988 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 989 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 990 // 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 991 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 992 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 993 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 994 // }
Lightvalve 169:645207e160ca 995
Lightvalve 171:bfc1fd2629d8 996
Lightvalve 171:bfc1fd2629d8 997 //i2c
Lightvalve 180:02be1711ee0b 998 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 999 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 1000
Lightvalve 177:8e9cf31d63f4 1001 //timer_while ++;
Lightvalve 169:645207e160ca 1002
Lightvalve 170:42c938a40313 1003 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1004
Lightvalve 73:f80dc3970c99 1005 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1006 LED = 0;
Lightvalve 73:f80dc3970c99 1007 }
Lightvalve 169:645207e160ca 1008
Lightvalve 73:f80dc3970c99 1009 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1010
Lightvalve 162:9dd4f35e9de8 1011 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1012 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1013 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1014 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1015 }
Lightvalve 162:9dd4f35e9de8 1016
Lightvalve 162:9dd4f35e9de8 1017 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1018 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1019 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1020 }
Lightvalve 162:9dd4f35e9de8 1021 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1022 ind = ind + 1;
Lightvalve 169:645207e160ca 1023
Lightvalve 162:9dd4f35e9de8 1024 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1025 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1026 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1027 // }
Lightvalve 162:9dd4f35e9de8 1028
Lightvalve 162:9dd4f35e9de8 1029 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1030 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1031 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1032 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1033 }
Lightvalve 208:408f9f15c486 1034 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1035 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1036 ind = ind + 1;
Lightvalve 238:e4bda4d06a7d 1037 for(int i=0; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1038 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1039 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1040 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1041 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1042 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1043 }
Lightvalve 169:645207e160ca 1044
Lightvalve 112:8dcb1600cb90 1045 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1046 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1047 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1048 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1049
Lightvalve 112:8dcb1600cb90 1050 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1051 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1052 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1053 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1054 }
Lightvalve 66:a8e6799dbce3 1055 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1056 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1057 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1058 }
Lightvalve 66:a8e6799dbce3 1059 }
Lightvalve 65:a2d7c63419c2 1060
Lightvalve 112:8dcb1600cb90 1061 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1062 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1063 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1064 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1065 }
Lightvalve 66:a8e6799dbce3 1066 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1067 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1068 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1069 }
Lightvalve 66:a8e6799dbce3 1070 }
Lightvalve 65:a2d7c63419c2 1071
Lightvalve 112:8dcb1600cb90 1072 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1073 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1074 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1075 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1076 }
Lightvalve 66:a8e6799dbce3 1077 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1078 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1079 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1080 }
Lightvalve 65:a2d7c63419c2 1081 }
Lightvalve 66:a8e6799dbce3 1082
Lightvalve 66:a8e6799dbce3 1083 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1084 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1085 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1086 }
Lightvalve 66:a8e6799dbce3 1087 output = output + bout[index2];
Lightvalve 169:645207e160ca 1088
Lightvalve 66:a8e6799dbce3 1089 }
Lightvalve 73:f80dc3970c99 1090 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1091 output_normalized = output;
Lightvalve 68:328e1be06f5d 1092 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1093
Lightvalve 66:a8e6799dbce3 1094 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1095 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1096 } else {
Lightvalve 66:a8e6799dbce3 1097 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1098 }
Lightvalve 87:471334725012 1099
Lightvalve 169:645207e160ca 1100
Lightvalve 69:3995ffeaa786 1101 if(LED==1) {
Lightvalve 69:3995ffeaa786 1102 LED=0;
Lightvalve 69:3995ffeaa786 1103 } else
Lightvalve 69:3995ffeaa786 1104 LED = 1;
Lightvalve 169:645207e160ca 1105
Lightvalve 65:a2d7c63419c2 1106 }
Lightvalve 171:bfc1fd2629d8 1107
Lightvalve 171:bfc1fd2629d8 1108
Lightvalve 170:42c938a40313 1109 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1110 switch (Update_Case) {
Lightvalve 170:42c938a40313 1111 case 0: {
Lightvalve 170:42c938a40313 1112 break;
Lightvalve 170:42c938a40313 1113 }
Lightvalve 170:42c938a40313 1114 case 1: {
Lightvalve 170:42c938a40313 1115 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1116 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1117 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1118 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1119 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1120 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1121 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1122 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1123 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1124 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1125 }
Lightvalve 173:68c7914679ec 1126 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1127 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1128 }
Lightvalve 175:2f7289dbd488 1129 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1130
Lightvalve 175:2f7289dbd488 1131 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 1132 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1133 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 1134 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1135 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1136 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1137 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1138 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1139 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1140 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1141 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1142 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1143 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1144 }
Lightvalve 179:d5377766d7ea 1145 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1146 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1147 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1148 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1149 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1150 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1151 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1152 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1153 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1154 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1155 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1156 } else {
Lightvalve 175:2f7289dbd488 1157 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1158 }
Lightvalve 175:2f7289dbd488 1159 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1160 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1161 }
Lightvalve 170:42c938a40313 1162 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1163 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1164 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1165 }
Lightvalve 170:42c938a40313 1166 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1167
Lightvalve 171:bfc1fd2629d8 1168
Lightvalve 170:42c938a40313 1169 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1170 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1171 //Update Networks
Lightvalve 170:42c938a40313 1172 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1173 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1174 }
Lightvalve 170:42c938a40313 1175 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1176 Update_Case = 0;
Lightvalve 170:42c938a40313 1177 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1178
Lightvalve 170:42c938a40313 1179 break;
Lightvalve 170:42c938a40313 1180 }
Lightvalve 170:42c938a40313 1181 case 2: {
Lightvalve 170:42c938a40313 1182 //Network apply to next Network
Lightvalve 170:42c938a40313 1183 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1184 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1185 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1186 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1187 Update_Case = 0;
Lightvalve 170:42c938a40313 1188 break;
Lightvalve 170:42c938a40313 1189 }
Lightvalve 169:645207e160ca 1190
Lightvalve 170:42c938a40313 1191 }
GiJeongKim 0:51c43836c1d7 1192 }
jobuuu 1:e04e563be5ce 1193 }
jobuuu 1:e04e563be5ce 1194
Lightvalve 33:91b17819ec30 1195 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1196 {
Lightvalve 14:8e7590227d22 1197
Lightvalve 13:747daba9cf59 1198 int i = 0;
Lightvalve 48:889798ff9329 1199 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1200 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1201 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 1202 if(i==0) {
Lightvalve 50:3c630b5eba9f 1203 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1204 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1205 } else {
Lightvalve 57:f4819de54e7a 1206 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 1207 }
Lightvalve 14:8e7590227d22 1208 } else {
Lightvalve 50:3c630b5eba9f 1209 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1210 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1211 } else {
Lightvalve 57:f4819de54e7a 1212 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 1213 }
Lightvalve 13:747daba9cf59 1214 }
Lightvalve 13:747daba9cf59 1215 break;
Lightvalve 13:747daba9cf59 1216 }
Lightvalve 13:747daba9cf59 1217 }
Lightvalve 14:8e7590227d22 1218 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1219 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1220 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1221 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1222 }
Lightvalve 36:a46e63505ed8 1223
Lightvalve 57:f4819de54e7a 1224 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1225 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1226
Lightvalve 13:747daba9cf59 1227 }
jobuuu 6:df07d3491e3a 1228
jobuuu 6:df07d3491e3a 1229
Lightvalve 30:8d561f16383b 1230 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1231 {
Lightvalve 13:747daba9cf59 1232 int i = 0;
Lightvalve 13:747daba9cf59 1233
Lightvalve 38:118df027d851 1234 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1235 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1236 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1237 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1238 }
Lightvalve 38:118df027d851 1239
Lightvalve 89:a7b45368ea0f 1240 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1241 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1242 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1243 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1244 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1245 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1246
Lightvalve 13:747daba9cf59 1247 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 1248
Lightvalve 18:b8adf1582ea3 1249 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1250 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 1251 if(i==0) {
Lightvalve 48:889798ff9329 1252 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 1253 } else {
Lightvalve 48:889798ff9329 1254 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 1255 }
Lightvalve 13:747daba9cf59 1256 break;
Lightvalve 13:747daba9cf59 1257 }
Lightvalve 13:747daba9cf59 1258 }
Lightvalve 59:f308b1656d9c 1259 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1260 }
Lightvalve 13:747daba9cf59 1261
Lightvalve 14:8e7590227d22 1262 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1263 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 1264 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1265 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1266 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1267 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1268 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1269 }; // duty
Lightvalve 67:c2812cf26c38 1270 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 1271 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1272 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1273 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1274 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1275 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1276 }; // mV
Lightvalve 13:747daba9cf59 1277
Lightvalve 30:8d561f16383b 1278 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1279 {
Lightvalve 30:8d561f16383b 1280 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1281 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1282 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1283 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1284 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1285 } else {
Lightvalve 13:747daba9cf59 1286 int idx = 0;
Lightvalve 13:747daba9cf59 1287 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1288 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1289 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1290 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1291 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1292 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1293 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1294 break;
Lightvalve 13:747daba9cf59 1295 }
Lightvalve 13:747daba9cf59 1296 }
Lightvalve 13:747daba9cf59 1297 }
Lightvalve 14:8e7590227d22 1298
Lightvalve 13:747daba9cf59 1299 return PWM_duty;
Lightvalve 13:747daba9cf59 1300 }
jobuuu 6:df07d3491e3a 1301
Lightvalve 57:f4819de54e7a 1302
Lightvalve 57:f4819de54e7a 1303
Lightvalve 57:f4819de54e7a 1304
Lightvalve 57:f4819de54e7a 1305
jobuuu 2:a1c0a37df760 1306 /*******************************************************************************
jobuuu 2:a1c0a37df760 1307 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1308 *******************************************************************************/
jobuuu 2:a1c0a37df760 1309
Lightvalve 51:b46bed7fec80 1310 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1311 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1312 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1313 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1314 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1315 {
Lightvalve 19:23b7c1ad8683 1316 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1317
Lightvalve 21:e5f1a43ea6f9 1318 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1319 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1320 ********************************************************/
Lightvalve 13:747daba9cf59 1321
Lightvalve 57:f4819de54e7a 1322 //Encoder
Lightvalve 57:f4819de54e7a 1323 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1324 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1325 }
Lightvalve 61:bc8c8270f0ab 1326
Lightvalve 61:bc8c8270f0ab 1327 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1328 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1329 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1330 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1331 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1332 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1333 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1334
Lightvalve 67:c2812cf26c38 1335
Lightvalve 67:c2812cf26c38 1336 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1337 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1338 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1339 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1340 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1341
Lightvalve 17:1865016ca2e7 1342
Lightvalve 58:2eade98630e2 1343 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1344 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1345 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1346 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1347 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1348 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1349 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1350 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1351 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1352
Lightvalve 58:2eade98630e2 1353 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1354 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 1355 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1356 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 1357 }
Lightvalve 58:2eade98630e2 1358 }
Lightvalve 61:bc8c8270f0ab 1359
Lightvalve 58:2eade98630e2 1360 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1361 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1362 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1363 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1364 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1365 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1366 // 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 1367 //
Lightvalve 58:2eade98630e2 1368 //
Lightvalve 58:2eade98630e2 1369 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1370 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1371 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1372 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1373 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1374
Lightvalve 17:1865016ca2e7 1375
Lightvalve 21:e5f1a43ea6f9 1376 //Current
Lightvalve 21:e5f1a43ea6f9 1377 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1378 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1379 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1380 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1381 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1382 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1383 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1384
Lightvalve 57:f4819de54e7a 1385 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1386 }
Lightvalve 11:82d8768d7351 1387 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1388 }
Lightvalve 19:23b7c1ad8683 1389
Lightvalve 19:23b7c1ad8683 1390
Lightvalve 18:b8adf1582ea3 1391 int j =0;
Lightvalve 54:647072f5307a 1392 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1393 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1394 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1395 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 1396
Lightvalve 11:82d8768d7351 1397 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1398 {
Lightvalve 19:23b7c1ad8683 1399 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1400
Lightvalve 57:f4819de54e7a 1401 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1402 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1403 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1404 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1405 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1406 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1407 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1408 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1409 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1410 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1411 }
Lightvalve 50:3c630b5eba9f 1412
Lightvalve 50:3c630b5eba9f 1413 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1414 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1415 cnt_trans++;
Lightvalve 46:2694daea349b 1416 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1417 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1418 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1419 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1420 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1421 cnt_trans++;
Lightvalve 46:2694daea349b 1422 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1423 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1424 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1425 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1426 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1427 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1428 } else {
Lightvalve 58:2eade98630e2 1429 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1430 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1431 }
Lightvalve 45:35fa6884d0c6 1432
Lightvalve 50:3c630b5eba9f 1433
Lightvalve 57:f4819de54e7a 1434 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1435 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1436
Lightvalve 57:f4819de54e7a 1437 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1438 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1439 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1440 } else {
Lightvalve 57:f4819de54e7a 1441 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1442 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1443 }
Lightvalve 56:6f50d9d3bfee 1444
Lightvalve 56:6f50d9d3bfee 1445
Lightvalve 56:6f50d9d3bfee 1446
Lightvalve 57:f4819de54e7a 1447 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1448
Lightvalve 57:f4819de54e7a 1449 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1450 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1451 break;
Lightvalve 13:747daba9cf59 1452 }
Lightvalve 14:8e7590227d22 1453
Lightvalve 14:8e7590227d22 1454 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1455 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1456 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1457 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1458
Lightvalve 14:8e7590227d22 1459 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1460 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1461 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1462
Lightvalve 84:c355d3e52bf1 1463 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1464
Lightvalve 30:8d561f16383b 1465 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1466 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1467
Lightvalve 16:903b5a4433b4 1468 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1469 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1470 }
Lightvalve 13:747daba9cf59 1471 } else {
Lightvalve 58:2eade98630e2 1472 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1473 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1474 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1475 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1476
Lightvalve 170:42c938a40313 1477 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1478 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1479
Lightvalve 30:8d561f16383b 1480 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1481
Lightvalve 13:747daba9cf59 1482 }
Lightvalve 14:8e7590227d22 1483 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1484 break;
Lightvalve 19:23b7c1ad8683 1485 }
Lightvalve 14:8e7590227d22 1486
Lightvalve 50:3c630b5eba9f 1487 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1488 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1489 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1490 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1491 // }
Lightvalve 50:3c630b5eba9f 1492 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1493 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1494 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1495 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1496 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1497 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1498 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1499 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1500 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1501 // }
Lightvalve 50:3c630b5eba9f 1502 //
Lightvalve 50:3c630b5eba9f 1503 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1504 // 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 1505 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1506 //
Lightvalve 50:3c630b5eba9f 1507 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1508 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1509 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1510 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1511 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1512 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1513 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1514 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1515 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1516 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1517 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1518 //
Lightvalve 50:3c630b5eba9f 1519 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1520 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1521 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1522 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1523 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1524 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1525 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1526 //
Lightvalve 50:3c630b5eba9f 1527 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1528 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1529 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1530 // } else {
Lightvalve 50:3c630b5eba9f 1531 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1532 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1533 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1534 // }
Lightvalve 50:3c630b5eba9f 1535 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1536 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1537 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1538 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1539 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1540 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1541 // }
Lightvalve 50:3c630b5eba9f 1542 // } else {
Lightvalve 50:3c630b5eba9f 1543 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1544 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1545 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1546 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1547 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1548 // }
Lightvalve 50:3c630b5eba9f 1549 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1550 //
Lightvalve 50:3c630b5eba9f 1551 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1552 //
Lightvalve 50:3c630b5eba9f 1553 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1554 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1555 //
Lightvalve 50:3c630b5eba9f 1556 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1557 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1558 // }
Lightvalve 50:3c630b5eba9f 1559 // }
Lightvalve 50:3c630b5eba9f 1560 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1561 // break;
Lightvalve 50:3c630b5eba9f 1562 // }
Lightvalve 14:8e7590227d22 1563
Lightvalve 14:8e7590227d22 1564 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1565 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1566 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1567 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1568 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1569 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1570 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1571 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1572 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1573 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1574 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1575 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1576 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1577 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1578 }
Lightvalve 29:69f3f5445d6d 1579 cnt_findhome++;
Lightvalve 14:8e7590227d22 1580
Lightvalve 29:69f3f5445d6d 1581 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1582 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1583 } else {
Lightvalve 29:69f3f5445d6d 1584 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1585 }
Lightvalve 19:23b7c1ad8683 1586
Lightvalve 57:f4819de54e7a 1587 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1588 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1589 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1590 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1591
Lightvalve 59:f308b1656d9c 1592 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1593 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1594 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1595 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1596 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1597
Lightvalve 59:f308b1656d9c 1598 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1599 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1600
Lightvalve 34:bb2ca2fc2a8e 1601
Lightvalve 29:69f3f5445d6d 1602 } else {
Lightvalve 29:69f3f5445d6d 1603 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1604 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1605 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1606 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1607 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1608 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1609 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1610 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1611 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1612 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1613 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1614
Lightvalve 67:c2812cf26c38 1615
Lightvalve 67:c2812cf26c38 1616 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1617 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1618 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1619 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1620 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1621 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1622 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1623
Lightvalve 169:645207e160ca 1624
Lightvalve 29:69f3f5445d6d 1625 }
Lightvalve 29:69f3f5445d6d 1626 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1627 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1628 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 1629 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1630 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1631
Lightvalve 29:69f3f5445d6d 1632 // input for position control
Lightvalve 169:645207e160ca 1633
Lightvalve 67:c2812cf26c38 1634 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1635 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1636
Lightvalve 67:c2812cf26c38 1637 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1638 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1639 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1640 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1641
Lightvalve 67:c2812cf26c38 1642 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1643
Lightvalve 67:c2812cf26c38 1644 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1645 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1646 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1647
Lightvalve 67:c2812cf26c38 1648 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1649 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1650 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1651
Lightvalve 69:3995ffeaa786 1652 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
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) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 1654 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1655 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1656 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 1657 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1658 }
Lightvalve 67:c2812cf26c38 1659 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 1660 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1661
Lightvalve 67:c2812cf26c38 1662 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1663
Lightvalve 67:c2812cf26c38 1664
Lightvalve 67:c2812cf26c38 1665
Lightvalve 67:c2812cf26c38 1666 } else {
Lightvalve 67:c2812cf26c38 1667 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1668 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 1669
Lightvalve 67:c2812cf26c38 1670 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1671 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1672 } else {
Lightvalve 67:c2812cf26c38 1673 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1674 }
Lightvalve 67:c2812cf26c38 1675
Lightvalve 67:c2812cf26c38 1676 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1677
Lightvalve 67:c2812cf26c38 1678 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1679
Lightvalve 67:c2812cf26c38 1680 }
Lightvalve 67:c2812cf26c38 1681
Lightvalve 67:c2812cf26c38 1682
Lightvalve 169:645207e160ca 1683
Lightvalve 169:645207e160ca 1684
Lightvalve 59:f308b1656d9c 1685 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1686 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1687 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1688 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1689 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1690
Lightvalve 29:69f3f5445d6d 1691 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1692 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1693 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1694 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1695 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1696 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1697 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1698 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1699 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1700 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1701 }
Lightvalve 13:747daba9cf59 1702 }
Lightvalve 19:23b7c1ad8683 1703
Lightvalve 13:747daba9cf59 1704 break;
Lightvalve 13:747daba9cf59 1705 }
Lightvalve 14:8e7590227d22 1706
Lightvalve 50:3c630b5eba9f 1707 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1708 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1709 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1710 // else {
Lightvalve 50:3c630b5eba9f 1711 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1712 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1713 // }
Lightvalve 50:3c630b5eba9f 1714 // }
Lightvalve 50:3c630b5eba9f 1715 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1716 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1717 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1718 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1719 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1720 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1721 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1722 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1723 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1724 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1725 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1726 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1727 // }
Lightvalve 50:3c630b5eba9f 1728 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1729 // }
Lightvalve 50:3c630b5eba9f 1730 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1731 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1732 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1733 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1734 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1735 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1736 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1737 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1738 // 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 1739 // // 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 1740 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1741 // }
Lightvalve 50:3c630b5eba9f 1742 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1743 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1744 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1745 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1746 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1747 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1748 // 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 1749 // // 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 1750 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1751 // }
Lightvalve 50:3c630b5eba9f 1752 // }
Lightvalve 50:3c630b5eba9f 1753 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1754 //
Lightvalve 50:3c630b5eba9f 1755 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1756 //
Lightvalve 50:3c630b5eba9f 1757 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1758 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1759 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1760 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1761 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1762 // }
Lightvalve 50:3c630b5eba9f 1763 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1764 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1765 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1766 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1767 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1768 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1769 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1770 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1771 // }
Lightvalve 50:3c630b5eba9f 1772 //
Lightvalve 50:3c630b5eba9f 1773 // }
Lightvalve 50:3c630b5eba9f 1774 // break;
Lightvalve 50:3c630b5eba9f 1775 // }
Lightvalve 50:3c630b5eba9f 1776 //
Lightvalve 50:3c630b5eba9f 1777 // }
Lightvalve 14:8e7590227d22 1778 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1779 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1780 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1781 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1782 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1783
Lightvalve 14:8e7590227d22 1784 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1785 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1786 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1787 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1788 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1789
Lightvalve 38:118df027d851 1790 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1791 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1792 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1793
Lightvalve 30:8d561f16383b 1794 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1795 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1796 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1797 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1798
Lightvalve 30:8d561f16383b 1799 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1800 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1801 }
Lightvalve 13:747daba9cf59 1802 } else {
Lightvalve 57:f4819de54e7a 1803 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1804 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1805 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1806 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1807 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1808 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1809
Lightvalve 170:42c938a40313 1810 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1811 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1812 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1813
Lightvalve 30:8d561f16383b 1814 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1815 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1816 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1817 }
Lightvalve 14:8e7590227d22 1818 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1819 break;
Lightvalve 13:747daba9cf59 1820 }
Lightvalve 14:8e7590227d22 1821
Lightvalve 50:3c630b5eba9f 1822 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1823 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1824 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1825 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1826 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1827 // }
Lightvalve 50:3c630b5eba9f 1828 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1829 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1830 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1831 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1832 // }
Lightvalve 50:3c630b5eba9f 1833 // } else {
Lightvalve 50:3c630b5eba9f 1834 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1835 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1836 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1837 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1838 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1839 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1840 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1841 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1842 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1843 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1844 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1845 //
Lightvalve 50:3c630b5eba9f 1846 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1847 //
Lightvalve 50:3c630b5eba9f 1848 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1849 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1850 // }
Lightvalve 50:3c630b5eba9f 1851 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1852 // break;
Lightvalve 50:3c630b5eba9f 1853 // }
Lightvalve 19:23b7c1ad8683 1854
Lightvalve 50:3c630b5eba9f 1855 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1856 // 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 1857 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1858 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1859 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1860 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1861 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1862 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1863 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1864 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1865 // }
Lightvalve 50:3c630b5eba9f 1866 // break;
Lightvalve 50:3c630b5eba9f 1867 // }
Lightvalve 14:8e7590227d22 1868
Lightvalve 14:8e7590227d22 1869 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1870 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1871 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1872
Lightvalve 14:8e7590227d22 1873 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1874 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1875 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1876 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1877 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1878 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1879 data_num = 0;
Lightvalve 14:8e7590227d22 1880 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1881 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1882 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1883 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1884 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1885 } else {
Lightvalve 13:747daba9cf59 1886 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1887 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1888 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1889 }
Lightvalve 14:8e7590227d22 1890
Lightvalve 17:1865016ca2e7 1891 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1892 int i;
Lightvalve 13:747daba9cf59 1893 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1894 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1895 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1896 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1897 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1898 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1899 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1900 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1901 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1902 }
Lightvalve 13:747daba9cf59 1903 }
Lightvalve 170:42c938a40313 1904 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1905 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1906 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1907 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1908 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1909 }
Lightvalve 13:747daba9cf59 1910 ID_index = 0;
Lightvalve 57:f4819de54e7a 1911 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1912 }
Lightvalve 14:8e7590227d22 1913
Lightvalve 14:8e7590227d22 1914
Lightvalve 13:747daba9cf59 1915 break;
Lightvalve 13:747daba9cf59 1916 }
Lightvalve 14:8e7590227d22 1917
Lightvalve 14:8e7590227d22 1918 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1919 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1920 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1921 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1922 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1923 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1924 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1925 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1926 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1927 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1928 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1929 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1930 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1931 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1932 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1933 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 1934 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1935 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 1936 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1937 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1938 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1939 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1940 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1941 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1942 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1943 data_num = 0;
Lightvalve 14:8e7590227d22 1944
Lightvalve 30:8d561f16383b 1945 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1946 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1947 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1948
Lightvalve 30:8d561f16383b 1949 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1950 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1951 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1952
Lightvalve 30:8d561f16383b 1953 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1954 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1955 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1956 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1957
Lightvalve 60:64181f1d3e60 1958 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1959 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1960 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1961 DZ_case = -1;
Lightvalve 14:8e7590227d22 1962 } else {
Lightvalve 13:747daba9cf59 1963 DZ_case = 0;
Lightvalve 13:747daba9cf59 1964 }
Lightvalve 61:bc8c8270f0ab 1965
Lightvalve 60:64181f1d3e60 1966 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1967
Lightvalve 13:747daba9cf59 1968 first_check = 1;
Lightvalve 13:747daba9cf59 1969 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1970 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1971 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1972 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1973 DZ_index = 1;
Lightvalve 14:8e7590227d22 1974
Lightvalve 13:747daba9cf59 1975 }
Lightvalve 19:23b7c1ad8683 1976 } else {
Lightvalve 14:8e7590227d22 1977 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1978 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1979 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 1980 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1981 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1982 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1983 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1984 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1985 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1986 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1987 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1988 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1989 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1990 }
Lightvalve 14:8e7590227d22 1991 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1992
Lightvalve 30:8d561f16383b 1993 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1994 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1995 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1996
Lightvalve 14:8e7590227d22 1997 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1998 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1999 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2000 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2001 } else {
Lightvalve 13:747daba9cf59 2002 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2003 }
Lightvalve 14:8e7590227d22 2004
Lightvalve 13:747daba9cf59 2005 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2006 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2007 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2008 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2009 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2010 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2011 DZ_index = 1;
Lightvalve 13:747daba9cf59 2012 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2013 }
Lightvalve 13:747daba9cf59 2014 }
Lightvalve 14:8e7590227d22 2015 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2016 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2017 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 2018 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2019 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2020 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2021 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2022 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2023 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2024 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2025 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2026 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2027 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2028 }
Lightvalve 14:8e7590227d22 2029 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2030
Lightvalve 30:8d561f16383b 2031 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2032 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2033 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2034 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2035 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2036
Lightvalve 14:8e7590227d22 2037 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2038 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2039 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2040 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2041 } else {
Lightvalve 60:64181f1d3e60 2042 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2043 }
Lightvalve 14:8e7590227d22 2044
Lightvalve 13:747daba9cf59 2045 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2046 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2047 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2048 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2049 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2050 first_check = 0;
Lightvalve 33:91b17819ec30 2051 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2052 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2053
Lightvalve 170:42c938a40313 2054 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2055 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2056 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2057 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2058
Lightvalve 60:64181f1d3e60 2059 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2060 DZ_index = 1;
Lightvalve 13:747daba9cf59 2061 }
Lightvalve 13:747daba9cf59 2062 }
Lightvalve 14:8e7590227d22 2063 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2064 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2065 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 2066 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2067 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2068 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2069 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2070 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2071 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2072 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2073 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2074 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2075 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2076 }
Lightvalve 14:8e7590227d22 2077 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2078
Lightvalve 30:8d561f16383b 2079 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2080 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2081 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2082
Lightvalve 14:8e7590227d22 2083 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2084 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2085 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2086 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2087 } else {
Lightvalve 13:747daba9cf59 2088 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2089 }
Lightvalve 13:747daba9cf59 2090 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2091 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2092 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2093 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2094 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2095 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2096 DZ_index = 1;
Lightvalve 13:747daba9cf59 2097 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2098 }
Lightvalve 13:747daba9cf59 2099 }
Lightvalve 14:8e7590227d22 2100 } else {
Lightvalve 30:8d561f16383b 2101 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2102 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 2103 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2104 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2105 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2106 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2107 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2108 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2109 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2110 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2111 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2112 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2113 }
Lightvalve 14:8e7590227d22 2114 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2115
Lightvalve 30:8d561f16383b 2116 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2117 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2118 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2119 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2120 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2121
Lightvalve 60:64181f1d3e60 2122 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2123 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2124 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2125 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2126 } else {
Lightvalve 13:747daba9cf59 2127 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2128 }
Lightvalve 14:8e7590227d22 2129
Lightvalve 13:747daba9cf59 2130 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2131 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2132 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2133 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2134 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2135 first_check = 0;
Lightvalve 33:91b17819ec30 2136 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2137 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2138
Lightvalve 170:42c938a40313 2139 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2140 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2141 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2142 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2143
Lightvalve 57:f4819de54e7a 2144 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2145 DZ_index = 1;
Lightvalve 13:747daba9cf59 2146 }
Lightvalve 13:747daba9cf59 2147 }
Lightvalve 13:747daba9cf59 2148 }
Lightvalve 14:8e7590227d22 2149 }
Lightvalve 13:747daba9cf59 2150 break;
Lightvalve 13:747daba9cf59 2151 }
Lightvalve 14:8e7590227d22 2152
Lightvalve 14:8e7590227d22 2153 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2154 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2155 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2156 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2157 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2158 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2159 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2160 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2161 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2162 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2163 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2164 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2165 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2166 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2167 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2168 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2169 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2170 first_check = 1;
Lightvalve 13:747daba9cf59 2171 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2172 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2173 ID_index = 0;
Lightvalve 13:747daba9cf59 2174 max_check = 0;
Lightvalve 13:747daba9cf59 2175 min_check = 0;
Lightvalve 13:747daba9cf59 2176 }
Lightvalve 14:8e7590227d22 2177 } else {
Lightvalve 30:8d561f16383b 2178 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2179 //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 2180 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2181 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2182 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2183 data_num = 0;
Lightvalve 57:f4819de54e7a 2184 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2185
Lightvalve 14:8e7590227d22 2186 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2187 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2188 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2189 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2190 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2191 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2192 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2193 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2194 one_period_end = 1;
Lightvalve 13:747daba9cf59 2195 }
Lightvalve 30:8d561f16383b 2196 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2197 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2198 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2199 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2200 }
Lightvalve 14:8e7590227d22 2201
Lightvalve 14:8e7590227d22 2202 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2203 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2204 max_check = 1;
Lightvalve 14:8e7590227d22 2205 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2206 min_check = 1;
Lightvalve 13:747daba9cf59 2207 }
Lightvalve 13:747daba9cf59 2208 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2209
Lightvalve 13:747daba9cf59 2210 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2211 one_period_end = 0;
Lightvalve 13:747daba9cf59 2212 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2213 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2214 }
Lightvalve 14:8e7590227d22 2215
Lightvalve 14:8e7590227d22 2216 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2217
Lightvalve 13:747daba9cf59 2218 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2219 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2220 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2221 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2222 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2223 }
Lightvalve 13:747daba9cf59 2224 ID_index = 0;
Lightvalve 13:747daba9cf59 2225 first_check = 0;
Lightvalve 13:747daba9cf59 2226 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2227 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2228 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2229 }
Lightvalve 13:747daba9cf59 2230 }
Lightvalve 13:747daba9cf59 2231 break;
Lightvalve 13:747daba9cf59 2232 }
Lightvalve 58:2eade98630e2 2233
Lightvalve 57:f4819de54e7a 2234 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2235 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2236 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2237 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2238 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2239 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2240 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2241 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2242 }
Lightvalve 57:f4819de54e7a 2243 break;
Lightvalve 57:f4819de54e7a 2244 }
Lightvalve 58:2eade98630e2 2245
Lightvalve 169:645207e160ca 2246 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2247 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2248 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2249 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2250 } else {
Lightvalve 169:645207e160ca 2251 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2252 }
Lightvalve 169:645207e160ca 2253 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2254 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2255 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2256 } else {
Lightvalve 169:645207e160ca 2257 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2258 }
Lightvalve 58:2eade98630e2 2259
Lightvalve 169:645207e160ca 2260 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2261 cnt_freq_test++;
Lightvalve 169:645207e160ca 2262 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2263 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2264 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2265 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2266 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2267 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2268 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2269 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2270 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2271 }
Lightvalve 169:645207e160ca 2272 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2273 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2274
Lightvalve 169:645207e160ca 2275 }
Lightvalve 169:645207e160ca 2276 break;
Lightvalve 169:645207e160ca 2277 }
Lightvalve 169:645207e160ca 2278 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2279 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2280 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2281 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2282 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2283 // }
Lightvalve 169:645207e160ca 2284 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2285 // }
Lightvalve 169:645207e160ca 2286
Lightvalve 169:645207e160ca 2287 break;
Lightvalve 169:645207e160ca 2288 }
Lightvalve 169:645207e160ca 2289 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2290 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2291 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2292 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2293 break;
Lightvalve 169:645207e160ca 2294 }
Lightvalve 170:42c938a40313 2295
Lightvalve 169:645207e160ca 2296 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2297 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2298 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2299 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2300 } else {
Lightvalve 169:645207e160ca 2301 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2302 }
Lightvalve 169:645207e160ca 2303 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2304 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2305 } else {
Lightvalve 169:645207e160ca 2306 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2307 }
Lightvalve 169:645207e160ca 2308 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2309 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2310 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2311 } else {
Lightvalve 169:645207e160ca 2312 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2313 }
Lightvalve 169:645207e160ca 2314
Lightvalve 169:645207e160ca 2315 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2316 cnt_step_test++;
Lightvalve 170:42c938a40313 2317 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2318 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2319 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2320 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2321 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2322 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2323 }
Lightvalve 169:645207e160ca 2324 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2325 // {
Lightvalve 169:645207e160ca 2326 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2327 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2328 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2329 // }
Lightvalve 170:42c938a40313 2330
Lightvalve 169:645207e160ca 2331 break;
Lightvalve 169:645207e160ca 2332 }
Lightvalve 57:f4819de54e7a 2333
Lightvalve 57:f4819de54e7a 2334 default:
Lightvalve 57:f4819de54e7a 2335 break;
Lightvalve 57:f4819de54e7a 2336 }
Lightvalve 57:f4819de54e7a 2337
Lightvalve 57:f4819de54e7a 2338 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2339
Lightvalve 57:f4819de54e7a 2340 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2341 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2342 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2343 break;
Lightvalve 57:f4819de54e7a 2344 }
Lightvalve 57:f4819de54e7a 2345
Lightvalve 57:f4819de54e7a 2346 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2347 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2348 ////For Test LIMC//////////////////////////////////////////
Lightvalve 233:0a37cdd59651 2349 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 233:0a37cdd59651 2350 // for(int i=0; i<9; i++){
Lightvalve 233:0a37cdd59651 2351 // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 233:0a37cdd59651 2352 // }
Lightvalve 233:0a37cdd59651 2353 // valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 233:0a37cdd59651 2354 // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2355 ////////////////////////////////////////////////////////////
Lightvalve 225:278b48b86f27 2356
Lightvalve 59:f308b1656d9c 2357 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2358 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2359 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2360 } else {
Lightvalve 67:c2812cf26c38 2361 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2362 }
Lightvalve 57:f4819de54e7a 2363 break;
Lightvalve 57:f4819de54e7a 2364 }
Lightvalve 57:f4819de54e7a 2365
Lightvalve 57:f4819de54e7a 2366 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2367
Lightvalve 57:f4819de54e7a 2368 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2369 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2370 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2371 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2372
Lightvalve 67:c2812cf26c38 2373 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2374 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2375 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2376 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2377
Lightvalve 139:15621998925b 2378 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2379 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2380
Lightvalve 57:f4819de54e7a 2381 // torque feedback
Lightvalve 67:c2812cf26c38 2382 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2383 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2384
Lightvalve 57:f4819de54e7a 2385 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2386
Lightvalve 57:f4819de54e7a 2387 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2388 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2389 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2390
Lightvalve 57:f4819de54e7a 2391 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2392 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2393 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2394
Lightvalve 69:3995ffeaa786 2395 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
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) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2397 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2398 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2399 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2400 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2401 }
Lightvalve 57:f4819de54e7a 2402 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 2403 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2404
Lightvalve 57:f4819de54e7a 2405 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2406 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2407 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2408 // 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 2409 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2410 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2411 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2412 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 2413 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2414 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2415 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2416 }
Lightvalve 57:f4819de54e7a 2417 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 2418 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2419 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2420 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2421 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2422
Lightvalve 57:f4819de54e7a 2423 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2424
Lightvalve 67:c2812cf26c38 2425 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2426 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2427 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2428 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2429 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2430 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2431 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2432 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2433 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2434 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2435 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2436 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2437 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2438 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2439 }
Lightvalve 67:c2812cf26c38 2440 }
Lightvalve 57:f4819de54e7a 2441
Lightvalve 57:f4819de54e7a 2442 } else {
Lightvalve 57:f4819de54e7a 2443 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2444 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2445 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2446
Lightvalve 209:ebc69d6ee6f1 2447 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 2448
Lightvalve 72:3436ce769b1e 2449 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 2450
Lightvalve 72:3436ce769b1e 2451 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2452
Lightvalve 169:645207e160ca 2453
Lightvalve 72:3436ce769b1e 2454 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2455 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2456 } else {
Lightvalve 72:3436ce769b1e 2457 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2458 }
Lightvalve 57:f4819de54e7a 2459
Lightvalve 57:f4819de54e7a 2460 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2461 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2462 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2463 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2464 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2465 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2466 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2467 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2468 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2469 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2470 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2471 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2472 }
Lightvalve 57:f4819de54e7a 2473 }
Lightvalve 61:bc8c8270f0ab 2474
Lightvalve 57:f4819de54e7a 2475 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2476
Lightvalve 67:c2812cf26c38 2477 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2478 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2479
Lightvalve 57:f4819de54e7a 2480 }
Lightvalve 169:645207e160ca 2481
Lightvalve 72:3436ce769b1e 2482 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2483
Lightvalve 133:22ab22818e01 2484
Lightvalve 57:f4819de54e7a 2485 break;
Lightvalve 57:f4819de54e7a 2486 }
Lightvalve 58:2eade98630e2 2487
Lightvalve 57:f4819de54e7a 2488 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2489 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2490 break;
Lightvalve 57:f4819de54e7a 2491 }
Lightvalve 169:645207e160ca 2492
Lightvalve 138:a843f32ced33 2493 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2494
Lightvalve 169:645207e160ca 2495
Lightvalve 139:15621998925b 2496 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 2497 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 2498
Lightvalve 170:42c938a40313 2499 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2500
Lightvalve 218:066030f7951f 2501 //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 2502 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2503
Lightvalve 138:a843f32ced33 2504 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2505 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2506 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2507 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2508 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2509 } else {
Lightvalve 138:a843f32ced33 2510 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2511 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2512 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2513 } else {
Lightvalve 138:a843f32ced33 2514 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2515 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2516 }
Lightvalve 138:a843f32ced33 2517 }
Lightvalve 138:a843f32ced33 2518 float tau = 0.01f;
Lightvalve 142:43026242815a 2519 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 2520
Lightvalve 138:a843f32ced33 2521 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2522 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2523 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2524 } else {
Lightvalve 138:a843f32ced33 2525 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2526 }
Lightvalve 138:a843f32ced33 2527 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2528 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2529
Lightvalve 139:15621998925b 2530 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2531
Lightvalve 138:a843f32ced33 2532 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2533 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2534 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2535
Lightvalve 138:a843f32ced33 2536 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2537 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2538
Lightvalve 212:ec41f1449ef9 2539 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2540 float k4 = 10.0f;
Lightvalve 142:43026242815a 2541 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2542 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2543 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2544 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2545 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2546
Lightvalve 139:15621998925b 2547 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2548 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2549 } else {
Lightvalve 139:15621998925b 2550 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2551 }
Lightvalve 169:645207e160ca 2552
Lightvalve 138:a843f32ced33 2553 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2554 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2555 float V_input = 0.0f;
Lightvalve 139:15621998925b 2556 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 2557 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2558 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2559 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2560
Lightvalve 218:066030f7951f 2561 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2562 // 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 2563 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2564 //
Lightvalve 218:066030f7951f 2565 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2566 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2567
Lightvalve 218:066030f7951f 2568 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2569 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2570 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2571
Lightvalve 218:066030f7951f 2572 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2573 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2574
Lightvalve 169:645207e160ca 2575 break;
Lightvalve 138:a843f32ced33 2576 }
Lightvalve 171:bfc1fd2629d8 2577
Lightvalve 170:42c938a40313 2578 case MODE_RL: {
Lightvalve 170:42c938a40313 2579 //t.reset();
Lightvalve 170:42c938a40313 2580 //t.start();
Lightvalve 170:42c938a40313 2581
Lightvalve 170:42c938a40313 2582 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2583 // else LED = 0;
Lightvalve 170:42c938a40313 2584
Lightvalve 170:42c938a40313 2585 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2586 //Gather Data on each loop
Lightvalve 170:42c938a40313 2587 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2588 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2589 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2590 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2591 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2592 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2593 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2594 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2595 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2596 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2597 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2598 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2599 }
Lightvalve 173:68c7914679ec 2600 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2601 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2602 }
Lightvalve 173:68c7914679ec 2603 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2604 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2605 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2606 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2607 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2608
Lightvalve 179:d5377766d7ea 2609 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2610 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2611 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2612 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2613 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2614 }
Lightvalve 171:bfc1fd2629d8 2615
Lightvalve 170:42c938a40313 2616 RL_timer++;
Lightvalve 170:42c938a40313 2617
Lightvalve 170:42c938a40313 2618
Lightvalve 170:42c938a40313 2619 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2620 RL_timer = 0;
Lightvalve 170:42c938a40313 2621 batch++;
Lightvalve 170:42c938a40313 2622 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2623 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2624 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2625 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2626 }
Lightvalve 170:42c938a40313 2627 Update_Case = 1;
Lightvalve 170:42c938a40313 2628 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2629 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2630
Lightvalve 170:42c938a40313 2631 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2632 batch = 0;
Lightvalve 170:42c938a40313 2633 RL_timer = 0;
Lightvalve 170:42c938a40313 2634 Update_Case = 2;
Lightvalve 170:42c938a40313 2635 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2636 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2637 }
Lightvalve 170:42c938a40313 2638 }
Lightvalve 170:42c938a40313 2639 }
Lightvalve 170:42c938a40313 2640
Lightvalve 170:42c938a40313 2641 else {
Lightvalve 170:42c938a40313 2642 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2643 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2644 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2645 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2646 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2647 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2648 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2649 //logging1 = action;
Lightvalve 179:d5377766d7ea 2650 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2651 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2652 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2653 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2654 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2655 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2656 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2657 }
Lightvalve 170:42c938a40313 2658
Lightvalve 170:42c938a40313 2659 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2660 }
Lightvalve 170:42c938a40313 2661
Lightvalve 170:42c938a40313 2662 //t.stop();
Lightvalve 170:42c938a40313 2663 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2664
Lightvalve 170:42c938a40313 2665 break;
Lightvalve 170:42c938a40313 2666 }
Lightvalve 14:8e7590227d22 2667
Lightvalve 12:6f2531038ea4 2668 default:
Lightvalve 12:6f2531038ea4 2669 break;
Lightvalve 12:6f2531038ea4 2670 }
Lightvalve 14:8e7590227d22 2671
Lightvalve 57:f4819de54e7a 2672
Lightvalve 57:f4819de54e7a 2673 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2674
Lightvalve 57:f4819de54e7a 2675 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2676 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2677 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2678 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2679 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2680 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2681
Lightvalve 57:f4819de54e7a 2682 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2683 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2684
Lightvalve 57:f4819de54e7a 2685
Lightvalve 57:f4819de54e7a 2686 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2687 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2688 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2689 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2690 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2691 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2692
Lightvalve 57:f4819de54e7a 2693 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2694 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2695 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2696 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2697 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2698 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2699 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2700 }
Lightvalve 57:f4819de54e7a 2701
Lightvalve 57:f4819de54e7a 2702 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2703
Lightvalve 67:c2812cf26c38 2704 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2705 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2706 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2707 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2708 // 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 2709 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2710 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2711
Lightvalve 57:f4819de54e7a 2712 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2713 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2714 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2715 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2716 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2717 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2718 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2719 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2720 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2721 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2722 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2723 }
Lightvalve 57:f4819de54e7a 2724 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2725 } else {
Lightvalve 57:f4819de54e7a 2726 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2727 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2728 }
Lightvalve 57:f4819de54e7a 2729
Lightvalve 57:f4819de54e7a 2730 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2731 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2732 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2733 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2734 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2735 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2736 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2737
Lightvalve 57:f4819de54e7a 2738 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2739
Lightvalve 57:f4819de54e7a 2740 } else {
Lightvalve 57:f4819de54e7a 2741 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2742 }
Lightvalve 57:f4819de54e7a 2743
Lightvalve 57:f4819de54e7a 2744 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2745 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2746 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2747
Lightvalve 57:f4819de54e7a 2748 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2749 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2750 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2751 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2752 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2753 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2754 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2755 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2756
Lightvalve 89:a7b45368ea0f 2757 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2758 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2759 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2760 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2761
Lightvalve 135:79885a39c161 2762 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2763 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2764 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2765 }
Lightvalve 169:645207e160ca 2766
Lightvalve 67:c2812cf26c38 2767 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2768 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2769 // else V_out = V_out;
Lightvalve 169:645207e160ca 2770
jobuuu 7:e9086c72bb22 2771 /*******************************************************
jobuuu 7:e9086c72bb22 2772 *** PWM
jobuuu 7:e9086c72bb22 2773 ********************************************************/
Lightvalve 169:645207e160ca 2774 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2775 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2776 }
Lightvalve 169:645207e160ca 2777
Lightvalve 49:e7bcfc244d40 2778 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2779 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2780 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2781 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2782 }
Lightvalve 49:e7bcfc244d40 2783 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2784
Lightvalve 19:23b7c1ad8683 2785 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2786 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2787 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2788
Lightvalve 30:8d561f16383b 2789 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2790 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2791 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2792 } else {
jobuuu 2:a1c0a37df760 2793 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2794 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2795 }
Lightvalve 13:747daba9cf59 2796
jobuuu 1:e04e563be5ce 2797 //pwm
Lightvalve 30:8d561f16383b 2798 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2799 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2800
Lightvalve 61:bc8c8270f0ab 2801
Lightvalve 233:0a37cdd59651 2802
Lightvalve 233:0a37cdd59651 2803 /*
Lightvalve 237:aa3863117889 2804 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 233:0a37cdd59651 2805
Lightvalve 54:647072f5307a 2806 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2807 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2808 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2809 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2810 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2811 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2812 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 2813 }
Lightvalve 57:f4819de54e7a 2814 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2815 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2816 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 2817 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2818 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 2819 }
Lightvalve 52:8ea76864368a 2820 }
Lightvalve 52:8ea76864368a 2821 }
Lightvalve 233:0a37cdd59651 2822
Lightvalve 56:6f50d9d3bfee 2823 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2824 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2825 }
Lightvalve 58:2eade98630e2 2826
Lightvalve 58:2eade98630e2 2827
Lightvalve 171:bfc1fd2629d8 2828 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2829 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2830 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2831 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2832 } else {
Lightvalve 131:d08121ac87ba 2833 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2834 }
Lightvalve 169:645207e160ca 2835 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2836 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2837 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2838 } else {
Lightvalve 169:645207e160ca 2839 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2840 }
Lightvalve 169:645207e160ca 2841
Lightvalve 169:645207e160ca 2842
Lightvalve 169:645207e160ca 2843 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2844 }
Lightvalve 58:2eade98630e2 2845
Lightvalve 57:f4819de54e7a 2846 //If it doesn't rest, below can can not work.
Lightvalve 233:0a37cdd59651 2847 for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2848 ;
Lightvalve 57:f4819de54e7a 2849 }
Lightvalve 58:2eade98630e2 2850
Lightvalve 169:645207e160ca 2851 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2852 //PWM
Lightvalve 209:ebc69d6ee6f1 2853 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 209:ebc69d6ee6f1 2854 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2855 }
Lightvalve 179:d5377766d7ea 2856
Lightvalve 56:6f50d9d3bfee 2857 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2858 //valve position
Lightvalve 212:ec41f1449ef9 2859 //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 2860 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 54:647072f5307a 2861 }
Lightvalve 237:aa3863117889 2862
Lightvalve 233:0a37cdd59651 2863
Lightvalve 20:806196fda269 2864
Lightvalve 54:647072f5307a 2865 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 237:aa3863117889 2866 if (flag_data_request[1] == HIGH) {
Lightvalve 237:aa3863117889 2867 CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 237:aa3863117889 2868 }
Lightvalve 237:aa3863117889 2869 if (flag_delay_test == 1){
Lightvalve 237:aa3863117889 2870 CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 237:aa3863117889 2871 }
Lightvalve 52:8ea76864368a 2872
Lightvalve 54:647072f5307a 2873 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2874 }
Lightvalve 54:647072f5307a 2875 TMR2_COUNT_CAN_TX++;
Lightvalve 237:aa3863117889 2876
Lightvalve 237:aa3863117889 2877 */
Lightvalve 237:aa3863117889 2878
Lightvalve 20:806196fda269 2879 }
Lightvalve 52:8ea76864368a 2880 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2881
Lightvalve 58:2eade98630e2 2882 }