Sungwoo Kim
/
HydraulicControlBoard_Learning
for learning
main.cpp@242:3a69403240a1, 2021-01-05 (annotated)
- Committer:
- Lightvalve
- Date:
- Tue Jan 05 01:37:24 2021 +0000
- Revision:
- 242:3a69403240a1
- Parent:
- 241:01a01b683a42
- Child:
- 243:6d81340c0e7b
210105-1 num_input 11 210102 data
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 242:3a69403240a1 | 1 | //210105_1 500Hz num_input 11 210102 data |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 11 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 12 | #include <string> |
Lightvalve | 170:42c938a40313 | 13 | #include <iostream> |
Lightvalve | 179:d5377766d7ea | 14 | #include <cmath> |
Lightvalve | 61:bc8c8270f0ab | 15 | |
Lightvalve | 61:bc8c8270f0ab | 16 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 17 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 18 | |
Lightvalve | 31:66738bfecec5 | 19 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 20 | |
jobuuu | 7:e9086c72bb22 | 21 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 22 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 23 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 24 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 25 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 26 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 27 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 28 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 29 | |
Lightvalve | 24:ef6e1092e9e6 | 30 | |
jobuuu | 7:e9086c72bb22 | 31 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 32 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 34 | |
jobuuu | 7:e9086c72bb22 | 35 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 36 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 37 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 38 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 39 | |
jobuuu | 7:e9086c72bb22 | 40 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 41 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 42 | DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 43 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 44 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 45 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 46 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 50 | |
jobuuu | 7:e9086c72bb22 | 51 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 52 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 53 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 54 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 55 | { |
Lightvalve | 11:82d8768d7351 | 56 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 57 | } |
jobuuu | 2:a1c0a37df760 | 58 | |
jobuuu | 7:e9086c72bb22 | 59 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 60 | State pos; |
jobuuu | 7:e9086c72bb22 | 61 | State vel; |
jobuuu | 7:e9086c72bb22 | 62 | State Vout; |
jobuuu | 7:e9086c72bb22 | 63 | State torq; |
Lightvalve | 207:c70c5a9f17dd | 64 | State torq_dot; |
jobuuu | 7:e9086c72bb22 | 65 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 66 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 67 | State cur; |
Lightvalve | 14:8e7590227d22 | 68 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 69 | |
Lightvalve | 14:8e7590227d22 | 70 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 71 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 72 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 73 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 74 | |
Lightvalve | 19:23b7c1ad8683 | 75 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 77 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 78 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 79 | |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 84 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 85 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 86 | |
Lightvalve | 61:bc8c8270f0ab | 87 | |
Lightvalve | 61:bc8c8270f0ab | 88 | |
Lightvalve | 61:bc8c8270f0ab | 89 | |
jobuuu | 7:e9086c72bb22 | 90 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 91 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 92 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 93 | |
Lightvalve | 12:6f2531038ea4 | 94 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 95 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 96 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 97 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 98 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 100 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 101 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 102 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 103 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 104 | }; |
Lightvalve | 12:6f2531038ea4 | 105 | |
Lightvalve | 12:6f2531038ea4 | 106 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 107 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 108 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 109 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 110 | //control mode |
Lightvalve | 12:6f2531038ea4 | 111 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 112 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 113 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 114 | |
Lightvalve | 47:fdcb8bd86fd6 | 115 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 116 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 171:bfc1fd2629d8 | 117 | MODE_RL, //5 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 121 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 122 | |
Lightvalve | 12:6f2531038ea4 | 123 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 124 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 125 | |
Lightvalve | 14:8e7590227d22 | 126 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 127 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 128 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 171:bfc1fd2629d8 | 129 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 |
Lightvalve | 13:747daba9cf59 | 130 | |
Lightvalve | 12:6f2531038ea4 | 131 | //utility |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 135 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 138 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 139 | |
Lightvalve | 12:6f2531038ea4 | 140 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 141 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 142 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 143 | MODE_SYSTEM_ID, //33 |
Lightvalve | 169:645207e160ca | 144 | MODE_FREQ_TEST, //34 |
Lightvalve | 169:645207e160ca | 145 | MODE_SEND_BUFFER, //35 |
Lightvalve | 169:645207e160ca | 146 | MODE_SEND_OVER, //36 |
Lightvalve | 169:645207e160ca | 147 | MODE_STEP_TEST, //37 |
Lightvalve | 12:6f2531038ea4 | 148 | }; |
Lightvalve | 12:6f2531038ea4 | 149 | |
Lightvalve | 65:a2d7c63419c2 | 150 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 151 | { |
Lightvalve | 169:645207e160ca | 152 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 169:645207e160ca | 153 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 154 | |
Lightvalve | 169:645207e160ca | 155 | /** Configure the main internal regulator output voltage |
Lightvalve | 169:645207e160ca | 156 | */ |
Lightvalve | 169:645207e160ca | 157 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 169:645207e160ca | 158 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 169:645207e160ca | 159 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 160 | */ |
Lightvalve | 169:645207e160ca | 161 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 169:645207e160ca | 162 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 169:645207e160ca | 163 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 169:645207e160ca | 164 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 169:645207e160ca | 165 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 169:645207e160ca | 166 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 169:645207e160ca | 167 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 169:645207e160ca | 168 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 169:645207e160ca | 169 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 169:645207e160ca | 170 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 169:645207e160ca | 171 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 172 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 173 | } |
Lightvalve | 169:645207e160ca | 174 | /** Activate the Over-Drive mode |
Lightvalve | 169:645207e160ca | 175 | */ |
Lightvalve | 169:645207e160ca | 176 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 169:645207e160ca | 177 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 178 | } |
Lightvalve | 169:645207e160ca | 179 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 180 | */ |
Lightvalve | 169:645207e160ca | 181 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 169:645207e160ca | 182 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 169:645207e160ca | 183 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 169:645207e160ca | 184 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 169:645207e160ca | 185 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 169:645207e160ca | 186 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 169:645207e160ca | 188 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 189 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 190 | } |
Lightvalve | 65:a2d7c63419c2 | 191 | } |
Lightvalve | 65:a2d7c63419c2 | 192 | |
Lightvalve | 99:7bbcb3c0fb06 | 193 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 194 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 195 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 196 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 197 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 198 | |
Lightvalve | 73:f80dc3970c99 | 199 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 200 | |
Lightvalve | 169:645207e160ca | 201 | const float h1[num_input][16] = { |
Lightvalve | 242:3a69403240a1 | 202 | {0.4395115077495575f,-0.19499783217906952f,0.2949129343032837f,-1.7119252681732178f,-1.3763988018035889f,-1.1331017017364502f,-0.05010789632797241f,-1.4494731426239014f,-0.014067143201828003f,0.5034036040306091f,0.13420411944389343f,1.083283543586731f,-0.1370140016078949f,0.9512890577316284f,-0.12633158266544342f,0.28724178671836853f}, |
Lightvalve | 242:3a69403240a1 | 203 | {-0.07440289855003357f,-0.8427966237068176f,0.19901078939437866f,-1.3025431632995605f,-0.5857564210891724f,0.05787134915590286f,0.2861805856227875f,-0.6488597393035889f,-0.4197855293750763f,0.5902780294418335f,0.40989622473716736f,-0.04585035890340805f,0.2678665816783905f,0.5462658405303955f,0.15645606815814972f,0.028149276971817017f}, |
Lightvalve | 242:3a69403240a1 | 204 | {0.13598337769508362f,-0.044001080095767975f,-0.3673018217086792f,-0.6391153931617737f,-0.41435277462005615f,-0.1997365951538086f,0.3189743459224701f,-0.7197628617286682f,-0.017896443605422974f,-0.02855086140334606f,-0.3730058968067169f,-0.2943127155303955f,-0.28849607706069946f,0.4371379315853119f,0.4030016362667084f,-0.36524245142936707f}, |
Lightvalve | 242:3a69403240a1 | 205 | {-0.1279621124267578f,0.7187304496765137f,0.3195853531360626f,-0.051839642226696014f,0.034461356699466705f,-0.39590418338775635f,-0.19934335350990295f,-0.0464964285492897f,0.3956039249897003f,0.22811168432235718f,0.10380366444587708f,0.3307979106903076f,0.28273478150367737f,-0.619130551815033f,0.031108509749174118f,-0.3463590741157532f}, |
Lightvalve | 242:3a69403240a1 | 206 | {-0.37194886803627014f,0.8092767596244812f,-0.2960986793041229f,1.258221983909607f,0.4812321662902832f,-0.24779711663722992f,-0.21219611167907715f,-0.25569164752960205f,-0.2933347821235657f,-0.5176833868026733f,0.018816828727722168f,-0.3137034773826599f,-0.23501892387866974f,-0.8895841836929321f,-0.035672347992658615f,-0.4684487283229828f}, |
Lightvalve | 242:3a69403240a1 | 207 | {0.3653339445590973f,-0.5159458518028259f,0.22217081487178802f,2.449561357498169f,0.9937579035758972f,2.222726583480835f,-0.39640942215919495f,2.079376459121704f,0.24109098315238953f,-1.1952153444290161f,0.26922866702079773f,-0.8573645949363708f,-0.3527783453464508f,-0.7064012289047241f,-0.401743084192276f,-0.05209025740623474f}, |
Lightvalve | 242:3a69403240a1 | 208 | {0.46669039130210876f,2.578354597091675f,-0.34453216195106506f,0.17729146778583527f,0.799236536026001f,-3.2361068725585938f,-0.34008562564849854f,-1.3001996278762817f,0.19872888922691345f,-0.16221241652965546f,0.07967641949653625f,0.5215776562690735f,-0.16751226782798767f,0.45836296677589417f,-0.045265812426805496f,-0.38570716977119446f}, |
Lightvalve | 242:3a69403240a1 | 209 | {0.44258496165275574f,-1.124619483947754f,0.3561808168888092f,0.0627649649977684f,-0.3088073432445526f,-1.1527888774871826f,-0.39387422800064087f,-0.14630559086799622f,-0.40561991930007935f,-0.2588892877101898f,0.3943038880825043f,0.37579813599586487f,-0.0688970685005188f,0.21867553889751434f,-0.3950801193714142f,0.3870544135570526f}, |
Lightvalve | 242:3a69403240a1 | 210 | {-0.27398866415023804f,-3.9986064434051514f,0.09761927276849747f,0.03670952841639519f,-0.9459232091903687f,1.8027892112731934f,-0.43313103914260864f,1.9326251745224f,-0.022006064653396606f,-0.7335339188575745f,0.2773580849170685f,-0.7395243048667908f,-0.3165479898452759f,-0.5466685891151428f,-0.4915670156478882f,0.19295188784599304f}, |
Lightvalve | 242:3a69403240a1 | 211 | {-0.06626856327056885f,-1.9961521625518799f,-0.17605823278427124f,-0.18560421466827393f,-0.8937968611717224f,1.0354164838790894f,0.3417527377605438f,0.33454787731170654f,-0.24497714638710022f,-0.45215678215026855f,-0.03615221381187439f,-0.5433576107025146f,-0.16851624846458435f,-0.4946214556694031f,0.05046036094427109f,-0.1590774953365326f}, |
Lightvalve | 242:3a69403240a1 | 212 | {-0.3194847106933594f,-1.6664073467254639f,-0.12144691497087479f,-0.07175904512405396f,-0.8182926177978516f,1.0137792825698853f,0.28284314274787903f,0.28671994805336f,-0.10242009162902832f,-0.3850765824317932f,-0.3214794099330902f,0.37128299474716187f,-0.30116844177246094f,0.4866725504398346f,-0.2227533906698227f,-0.08230504393577576f}, |
Lightvalve | 65:a2d7c63419c2 | 213 | }; |
Lightvalve | 65:a2d7c63419c2 | 214 | |
Lightvalve | 169:645207e160ca | 215 | const float h2[16][16] = { |
Lightvalve | 242:3a69403240a1 | 216 | {-0.4174925684928894f,-0.1903442144393921f,-0.2663029134273529f,-0.2239433228969574f,-0.4107252061367035f,-0.10916134715080261f,-0.35523247718811035f,-0.05923005938529968f,0.24697938561439514f,0.20464345812797546f,0.22474434971809387f,-0.36186057329177856f,0.2638958990573883f,-0.01342076063156128f,-0.018991619348526f,0.42572519183158875f}, |
Lightvalve | 242:3a69403240a1 | 217 | {-0.20840182900428772f,1.1922768354415894f,0.04429793730378151f,0.05470792204141617f,0.10645972937345505f,-0.40497255325317383f,-0.2475477159023285f,0.09334740042686462f,0.05917865037918091f,-1.0096787214279175f,-0.18006353080272675f,0.06113963946700096f,-0.17130956053733826f,-0.5045656561851501f,-5.049808502197266f,0.2382148802280426f}, |
Lightvalve | 242:3a69403240a1 | 218 | {-0.10494768619537354f,0.30879175662994385f,-0.4597139060497284f,-0.09947559982538223f,0.34661898016929626f,-0.2663155198097229f,-0.2870301604270935f,-0.224309504032135f,0.07985106110572815f,0.20972773432731628f,0.33962324261665344f,-0.14845634996891022f,-0.3216298520565033f,0.0856233537197113f,-0.020857231691479683f,0.3194220960140228f}, |
Lightvalve | 242:3a69403240a1 | 219 | {0.0898827612400055f,-15.400263786315918f,-12.12675666809082f,-7.3729963302612305f,-10.92629337310791f,-0.4423891603946686f,0.22108891606330872f,0.06987819075584412f,0.28942981362342834f,-5.972869396209717f,0.05636468157172203f,0.08637040108442307f,-0.3170206844806671f,-0.09118645638227463f,-1.4228596687316895f,0.3982376158237457f}, |
Lightvalve | 242:3a69403240a1 | 220 | {0.175510436296463f,0.826440155506134f,-0.0684206560254097f,-0.07894286513328552f,-0.04339203983545303f,0.20867036283016205f,-0.45876723527908325f,0.09623739123344421f,0.30149105191230774f,-1.829897165298462f,0.18261674046516418f,-0.38893941044807434f,-0.25166308879852295f,-0.2704605162143707f,-0.39183369278907776f,0.40440359711647034f}, |
Lightvalve | 242:3a69403240a1 | 221 | {0.3422999083995819f,-2.7589685916900635f,-1.2561345100402832f,-2.147170066833496f,2.4027018547058105f,-0.2408510148525238f,-0.012952080927789211f,0.3863409459590912f,-0.40749096870422363f,-1.8044953346252441f,-0.13049426674842834f,0.15178748965263367f,-0.1043839156627655f,-0.0359094962477684f,2.001944065093994f,-0.4296066462993622f}, |
Lightvalve | 242:3a69403240a1 | 222 | {0.34501931071281433f,0.39016982913017273f,0.23661300539970398f,-0.03952312469482422f,-0.04077571630477905f,0.29314395785331726f,0.0025136470794677734f,0.19214728474617004f,-0.3049856722354889f,0.3927038013935089f,-0.16256755590438843f,0.18383052945137024f,-0.011020690202713013f,-0.10081404447555542f,-0.09966704249382019f,-0.3646589517593384f}, |
Lightvalve | 242:3a69403240a1 | 223 | {0.04824116826057434f,-0.8159999847412109f,-0.4018074870109558f,-0.695694625377655f,0.6314516663551331f,0.33612173795700073f,0.2569681406021118f,0.41320332884788513f,0.3889271914958954f,-0.5131790637969971f,-0.45147067308425903f,-0.05108330026268959f,-0.013293176889419556f,-0.5629491209983826f,0.6329095959663391f,0.14396104216575623f}, |
Lightvalve | 242:3a69403240a1 | 224 | {-0.09896162152290344f,0.07154926657676697f,0.27162083983421326f,0.3986726701259613f,0.14927521347999573f,-0.16204702854156494f,0.34092673659324646f,0.1272009313106537f,0.28516218066215515f,-0.33180058002471924f,0.14157339930534363f,0.259924978017807f,-0.35835760831832886f,0.36774739623069763f,-0.36537232995033264f,-0.3062024414539337f}, |
Lightvalve | 242:3a69403240a1 | 225 | {0.29525265097618103f,-0.5444215536117554f,0.41078537702560425f,-0.49782174825668335f,0.23075973987579346f,0.0007858886383473873f,-0.0833626389503479f,0.12325546145439148f,-0.34758684039115906f,-0.21435561776161194f,-0.1865391731262207f,-0.21432577073574066f,-0.27841585874557495f,-0.24697032570838928f,-0.5456038117408752f,-0.2693742513656616f}, |
Lightvalve | 242:3a69403240a1 | 226 | {0.21443042159080505f,0.3156175911426544f,-0.09554815292358398f,-0.0613362193107605f,0.02147078514099121f,-0.04075857996940613f,-0.017631351947784424f,-0.26762086153030396f,0.3435862362384796f,0.0004999935626983643f,-0.13715174794197083f,-0.35900190472602844f,0.17812618613243103f,0.05165886878967285f,-0.2915101945400238f,0.42238500714302063f}, |
Lightvalve | 242:3a69403240a1 | 227 | {0.13178232312202454f,1.1244994401931763f,0.07918325066566467f,-0.13781893253326416f,0.006509727332741022f,-0.03528900071978569f,-0.3021824359893799f,0.05141368508338928f,-0.12655070424079895f,-0.22368530929088593f,0.13410837948322296f,0.33636513352394104f,-0.37890759110450745f,0.1702464371919632f,-0.9050610065460205f,-0.2544940114021301f}, |
Lightvalve | 242:3a69403240a1 | 228 | {-0.17858991026878357f,0.3761685788631439f,-0.18963053822517395f,-0.42528438568115234f,-0.3218997120857239f,-0.41969969868659973f,0.29964783787727356f,0.2836931049823761f,-0.3969922363758087f,0.35366687178611755f,0.087179034948349f,-0.1350896656513214f,-0.2557191252708435f,0.248151034116745f,-0.38071921467781067f,0.20126506686210632f}, |
Lightvalve | 242:3a69403240a1 | 229 | {0.3226926624774933f,1.302117109298706f,0.17973342537879944f,-0.148879274725914f,0.07005103677511215f,0.2094997614622116f,0.006076273508369923f,0.08535376191139221f,0.05332690477371216f,0.050606586039066315f,-0.12495644390583038f,-0.009744544513523579f,-0.24402110278606415f,-0.5112005472183228f,-0.24435687065124512f,-0.4138108789920807f}, |
Lightvalve | 242:3a69403240a1 | 230 | {-0.14203676581382751f,-0.22375868260860443f,0.04036872833967209f,-0.20451509952545166f,-0.319049596786499f,0.08163836598396301f,0.2391912043094635f,0.20567730069160461f,-0.34673574566841125f,0.026611290872097015f,0.34848132729530334f,-0.17517852783203125f,-0.4195477366447449f,-0.308102011680603f,-0.1457110494375229f,0.3528761565685272f}, |
Lightvalve | 242:3a69403240a1 | 231 | {-0.022448956966400146f,-0.1653653085231781f,-0.19286179542541504f,-0.0027570724487304688f,0.40614691376686096f,-0.03309375047683716f,0.25922414660453796f,-0.2693522572517395f,0.05686807632446289f,0.2767346203327179f,0.008086144924163818f,0.30404600501060486f,0.16001436114311218f,-0.32944655418395996f,-0.07044929265975952f,-0.34255728125572205f}, |
Lightvalve | 65:a2d7c63419c2 | 232 | }; |
Lightvalve | 65:a2d7c63419c2 | 233 | |
Lightvalve | 169:645207e160ca | 234 | const float h3[16][16] = { |
Lightvalve | 242:3a69403240a1 | 235 | {-0.10604047775268555f,-0.3886682391166687f,-0.1969919353723526f,-0.10143840312957764f,-0.14934241771697998f,-0.17951172590255737f,0.16622021794319153f,-0.21552053093910217f,-0.11682751774787903f,0.3737024962902069f,0.20878121256828308f,-0.42251378297805786f,0.3324459493160248f,-0.37539026141166687f,-0.4276333749294281f,-0.2609066367149353f}, |
Lightvalve | 242:3a69403240a1 | 236 | {0.25333431363105774f,0.4373423755168915f,-0.3615349531173706f,-0.2285880148410797f,-0.811042308807373f,2.462092638015747f,-0.05600005388259888f,-0.4356118440628052f,0.40716463327407837f,-0.13133101165294647f,1.6428941488265991f,2.2254762649536133f,0.2510645091533661f,0.2783043682575226f,-0.22051632404327393f,-0.34248286485671997f}, |
Lightvalve | 242:3a69403240a1 | 237 | {0.2112409770488739f,-1.8757857084274292f,-0.33076995611190796f,0.32822462916374207f,-0.4151061177253723f,-3.165085792541504f,-1.695064663887024f,-0.04937491565942764f,-0.08132382482290268f,-3.881321430206299f,1.8772403001785278f,-1.551486611366272f,-0.20319047570228577f,0.04101104289293289f,-0.20173367857933044f,0.16263136267662048f}, |
Lightvalve | 242:3a69403240a1 | 238 | {-0.006657928228378296f,2.0905849933624268f,-0.38295111060142517f,0.11680355668067932f,0.033681292086839676f,-1.2485034465789795f,-1.4672917127609253f,-0.13095775246620178f,-0.4378699064254761f,0.811735987663269f,0.3804759681224823f,-0.9416329860687256f,-0.2991219460964203f,-0.11386805772781372f,-0.34945082664489746f,-0.04808643460273743f}, |
Lightvalve | 242:3a69403240a1 | 239 | {0.41306057572364807f,-4.427568435668945f,0.027752727270126343f,-0.10797390341758728f,-0.6349897384643555f,-5.120845317840576f,0.6373991370201111f,0.011591927148401737f,0.16482727229595184f,-3.1365513801574707f,1.068908929824829f,0.3137792944908142f,-0.21713165938854218f,-0.4891384541988373f,0.40753689408302307f,0.05848345160484314f}, |
Lightvalve | 242:3a69403240a1 | 240 | {-0.39686959981918335f,-0.012015391141176224f,0.03719416260719299f,0.10071304440498352f,0.2808418571949005f,-0.4051697552204132f,0.341806560754776f,-0.23310469090938568f,0.00837087631225586f,0.18908515572547913f,-0.07792602479457855f,-0.04861186817288399f,-0.16708052158355713f,0.15246477723121643f,-0.4132021963596344f,0.3235029876232147f}, |
Lightvalve | 242:3a69403240a1 | 241 | {-0.30211833119392395f,0.03296257182955742f,-0.2204650193452835f,0.24337729811668396f,0.03300801292061806f,-0.18682564795017242f,-0.03608163073658943f,0.20882055163383484f,0.10134110599756241f,0.2658829092979431f,0.29015180468559265f,-0.312002569437027f,-0.0336284339427948f,0.009718998335301876f,0.33526888489723206f,0.15600594878196716f}, |
Lightvalve | 242:3a69403240a1 | 242 | {0.08432736992835999f,-0.24120114743709564f,0.33729884028434753f,-0.22690346837043762f,0.16049101948738098f,-0.2693745493888855f,0.32751402258872986f,-0.2470502108335495f,-0.4307761490345001f,-0.25031232833862305f,-0.0734899640083313f,-0.22055937349796295f,-0.11108550429344177f,0.24784895777702332f,-0.1185782253742218f,-0.372456431388855f}, |
Lightvalve | 242:3a69403240a1 | 243 | {0.18167439103126526f,0.3463030755519867f,0.13630828261375427f,-0.08701696991920471f,0.1716318428516388f,0.4086710512638092f,0.22993174195289612f,-0.26399534940719604f,-0.1418783962726593f,0.1913956105709076f,0.32302799820899963f,0.11429271101951599f,0.21219369769096375f,0.4145464599132538f,-0.3005605936050415f,0.08969703316688538f}, |
Lightvalve | 242:3a69403240a1 | 244 | {0.16673901677131653f,-2.4412598609924316f,0.3016323745250702f,-0.22985267639160156f,-0.2628300189971924f,-7.458578109741211f,1.4685499668121338f,-0.3844762146472931f,0.3879964053630829f,-2.987759828567505f,1.7171852588653564f,-1.5159578323364258f,0.08014926314353943f,-0.06658732146024704f,-0.3683040738105774f,-0.3001290559768677f}, |
Lightvalve | 242:3a69403240a1 | 245 | {0.2704727351665497f,0.4202183485031128f,-0.26292669773101807f,0.18999752402305603f,-0.016994180157780647f,-0.25693464279174805f,0.2407235950231552f,0.01979336142539978f,-0.37008845806121826f,-0.26788049936294556f,0.06001570448279381f,0.21761544048786163f,0.3874034583568573f,0.3802539110183716f,0.21498039364814758f,0.2293347418308258f}, |
Lightvalve | 242:3a69403240a1 | 246 | {0.005438178777694702f,0.07567739486694336f,-0.29691368341445923f,-0.3179910182952881f,0.10288617014884949f,-0.08138439804315567f,-0.33737823367118835f,0.36627307534217834f,0.12733952701091766f,0.027669347822666168f,-0.1826152801513672f,-0.3259546160697937f,0.38622209429740906f,-0.38506004214286804f,0.09614560008049011f,-0.0247802734375f}, |
Lightvalve | 242:3a69403240a1 | 247 | {0.18679848313331604f,0.09067311882972717f,-0.3224688768386841f,-0.3707871735095978f,0.1202792227268219f,-0.2974916100502014f,-0.25063011050224304f,0.13395991921424866f,-0.4061816930770874f,0.2978958785533905f,-0.3238070607185364f,0.2823725640773773f,-0.18368029594421387f,0.39752617478370667f,-0.4276828169822693f,0.1473551094532013f}, |
Lightvalve | 242:3a69403240a1 | 248 | {-0.1859329491853714f,0.15391220152378082f,-0.28393644094467163f,-0.2615772783756256f,-0.2754630446434021f,0.2420152723789215f,-0.3057212233543396f,0.08835211396217346f,-0.20865270495414734f,-0.04625978693366051f,-0.3773849308490753f,-0.361136257648468f,-0.20789885520935059f,-0.30551549792289734f,0.29493460059165955f,-0.18214762210845947f}, |
Lightvalve | 242:3a69403240a1 | 249 | {0.09645447134971619f,3.129891872406006f,-0.37440866231918335f,-0.03001353144645691f,0.0354924201965332f,0.1901566982269287f,-0.7003742456436157f,-0.09893745183944702f,-0.0639135017991066f,-0.5371392965316772f,-0.97945636510849f,0.1412825733423233f,0.17563733458518982f,0.19120608270168304f,0.2034631073474884f,0.32831546664237976f}, |
Lightvalve | 242:3a69403240a1 | 250 | {0.33395102620124817f,-0.1180163025856018f,0.3448650538921356f,-0.32227301597595215f,0.21300050616264343f,0.05410882830619812f,0.19832196831703186f,0.41894862055778503f,0.17769548296928406f,0.027089297771453857f,-0.4018171727657318f,0.2767740786075592f,-0.3311743438243866f,-0.3428812623023987f,-0.05344057083129883f,0.18927672505378723f}, |
Lightvalve | 66:a8e6799dbce3 | 251 | }; |
Lightvalve | 65:a2d7c63419c2 | 252 | |
Lightvalve | 242:3a69403240a1 | 253 | const float hout[16] = { -0.18555325269699097f,0.40512433648109436f,0.08735883235931396f,0.12762928009033203f,-0.006158428266644478f,-0.3144420087337494f,0.26171600818634033f,-0.007215678226202726f,0.09225618094205856f,-0.43399468064308167f,-0.3119194209575653f,0.2528810203075409f,0.49821269512176514f,-0.13186222314834595f,-0.31430715322494507f,-0.06077861785888672f }; |
Lightvalve | 242:3a69403240a1 | 254 | |
Lightvalve | 242:3a69403240a1 | 255 | const float b1[16] = { -1.5314393043518066f,3.2663400173187256f,-0.47990235686302185f,-0.0021877712570130825f,0.9545651078224182f,0.36077484488487244f,0.11969366669654846f,0.3929675221443176f,-0.26272815465927124f,0.8011259436607361f,-1.5077043771743774f,-0.08186519145965576f,0.2704813778400421f,-0.193472221493721f,0.24921636283397675f,-0.7067744731903076f }; |
Lightvalve | 242:3a69403240a1 | 256 | |
Lightvalve | 242:3a69403240a1 | 257 | const float b2[16] = { -0.6275243759155273f,0.7035140991210938f,0.62980055809021f,1.4861348867416382f,0.08716721832752228f,-0.4282395839691162f,-0.2845798134803772f,-2.1334736347198486f,-0.5640315413475037f,0.876550018787384f,-0.13218070566654205f,-0.996061384677887f,-1.1738464832305908f,-0.24521739780902863f,0.0576016828417778f,-0.5288206934928894f }; |
Lightvalve | 242:3a69403240a1 | 258 | |
Lightvalve | 242:3a69403240a1 | 259 | const float b3[16] = { -1.3697437047958374f,-1.2035200595855713f,-1.3548451662063599f,-1.102222204208374f,-0.05619557574391365f,0.5334264039993286f,0.6936960816383362f,-0.19088532030582428f,-0.37561899423599243f,1.822994589805603f,-0.5319691896438599f,0.9203968644142151f,-0.41231250762939453f,-0.8610756993293762f,-2.4311153888702393f,-1.7576136589050293f }; |
Lightvalve | 242:3a69403240a1 | 260 | |
Lightvalve | 242:3a69403240a1 | 261 | const float bout[1] = { 0.024319183081388474f }; |
Lightvalve | 225:278b48b86f27 | 262 | |
Lightvalve | 225:278b48b86f27 | 263 | float valve_ref_pos_buffer[10] = {0.0f}; |
Lightvalve | 65:a2d7c63419c2 | 264 | |
Lightvalve | 170:42c938a40313 | 265 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 266 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 267 | |
Lightvalve | 170:42c938a40313 | 268 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 269 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 270 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 271 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 272 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 273 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 274 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 275 | |
Lightvalve | 170:42c938a40313 | 276 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 277 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 278 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 279 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 280 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 281 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 282 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 283 | |
Lightvalve | 170:42c938a40313 | 284 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 285 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 286 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 287 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 288 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 289 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 290 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 291 | |
Lightvalve | 170:42c938a40313 | 292 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 293 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 294 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 295 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 296 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 297 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 298 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 299 | |
Lightvalve | 87:471334725012 | 300 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 301 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 302 | |
Lightvalve | 179:d5377766d7ea | 303 | /////////////////////////////////////////////RL tuning |
Lightvalve | 179:d5377766d7ea | 304 | float Gradient_Limit = 0.5f; |
Lightvalve | 179:d5377766d7ea | 305 | float gradient_rate_actor = 0.001f; |
Lightvalve | 179:d5377766d7ea | 306 | float gradient_rate_critic = 0.001f; |
Lightvalve | 179:d5377766d7ea | 307 | ////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 308 | |
Lightvalve | 170:42c938a40313 | 309 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 310 | { |
Lightvalve | 173:68c7914679ec | 311 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 312 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 313 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 314 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 315 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 316 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 317 | } |
Lightvalve | 173:68c7914679ec | 318 | //ReLU |
Lightvalve | 173:68c7914679ec | 319 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 320 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 321 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 322 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 323 | } |
Lightvalve | 173:68c7914679ec | 324 | //tanh |
Lightvalve | 173:68c7914679ec | 325 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 326 | } |
Lightvalve | 173:68c7914679ec | 327 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 328 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 329 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 330 | } |
Lightvalve | 173:68c7914679ec | 331 | //ReLU |
Lightvalve | 173:68c7914679ec | 332 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 333 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 334 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 335 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 336 | } |
Lightvalve | 173:68c7914679ec | 337 | //tanh |
Lightvalve | 173:68c7914679ec | 338 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 339 | } |
Lightvalve | 170:42c938a40313 | 340 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 341 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 342 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 343 | } |
Lightvalve | 173:68c7914679ec | 344 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 345 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 346 | } |
Lightvalve | 170:42c938a40313 | 347 | return output; |
Lightvalve | 170:42c938a40313 | 348 | } |
Lightvalve | 170:42c938a40313 | 349 | |
Lightvalve | 170:42c938a40313 | 350 | |
Lightvalve | 170:42c938a40313 | 351 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 352 | { |
Lightvalve | 173:68c7914679ec | 353 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 354 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 355 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 356 | |
Lightvalve | 173:68c7914679ec | 357 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 358 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 178:1074553d2f6f | 359 | output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 360 | } |
Lightvalve | 178:1074553d2f6f | 361 | output1[index2] = output1[index2] + ba1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 362 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 363 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 364 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 365 | } |
Lightvalve | 173:68c7914679ec | 366 | } |
Lightvalve | 173:68c7914679ec | 367 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 368 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 178:1074553d2f6f | 369 | output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 370 | } |
Lightvalve | 178:1074553d2f6f | 371 | output2[index2] = output2[index2] + ba2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 372 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 373 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 374 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 375 | } |
Lightvalve | 173:68c7914679ec | 376 | } |
Lightvalve | 173:68c7914679ec | 377 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 378 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 178:1074553d2f6f | 379 | output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 380 | } |
Lightvalve | 178:1074553d2f6f | 381 | hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 382 | } |
Lightvalve | 178:1074553d2f6f | 383 | |
Lightvalve | 178:1074553d2f6f | 384 | mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus |
Lightvalve | 178:1074553d2f6f | 385 | deviation_before_SP = output[1] + ba3_temp[1]; |
Lightvalve | 173:68c7914679ec | 386 | //Softplus |
Lightvalve | 173:68c7914679ec | 387 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 388 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 179:d5377766d7ea | 389 | logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 390 | logging4 = deviation; |
Lightvalve | 173:68c7914679ec | 391 | } |
Lightvalve | 173:68c7914679ec | 392 | |
Lightvalve | 173:68c7914679ec | 393 | |
Lightvalve | 173:68c7914679ec | 394 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 395 | { |
Lightvalve | 173:68c7914679ec | 396 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 397 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 398 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 399 | |
Lightvalve | 173:68c7914679ec | 400 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 401 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 402 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 403 | } |
Lightvalve | 170:42c938a40313 | 404 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 405 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 406 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 407 | } |
Lightvalve | 170:42c938a40313 | 408 | } |
Lightvalve | 173:68c7914679ec | 409 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 410 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 411 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 412 | } |
Lightvalve | 173:68c7914679ec | 413 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 414 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 415 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 416 | } |
Lightvalve | 170:42c938a40313 | 417 | } |
Lightvalve | 170:42c938a40313 | 418 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 419 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 420 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 421 | } |
Lightvalve | 170:42c938a40313 | 422 | } |
Lightvalve | 173:68c7914679ec | 423 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 424 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 425 | //Softplus |
Lightvalve | 173:68c7914679ec | 426 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 427 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 428 | } |
Lightvalve | 170:42c938a40313 | 429 | |
Lightvalve | 170:42c938a40313 | 430 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 431 | { |
Lightvalve | 170:42c938a40313 | 432 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 433 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 434 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 435 | } |
Lightvalve | 170:42c938a40313 | 436 | |
Lightvalve | 170:42c938a40313 | 437 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 438 | { |
Lightvalve | 170:42c938a40313 | 439 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 440 | 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 | 441 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 442 | } |
Lightvalve | 170:42c938a40313 | 443 | |
Lightvalve | 173:68c7914679ec | 444 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 445 | { |
Lightvalve | 173:68c7914679ec | 446 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 447 | return x; |
Lightvalve | 173:68c7914679ec | 448 | } else { |
Lightvalve | 173:68c7914679ec | 449 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 450 | } |
Lightvalve | 173:68c7914679ec | 451 | } |
Lightvalve | 173:68c7914679ec | 452 | |
Lightvalve | 170:42c938a40313 | 453 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 454 | { |
Lightvalve | 173:68c7914679ec | 455 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 177:8e9cf31d63f4 | 456 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 457 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 458 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 459 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 460 | float d_V_d_hc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 461 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 462 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 463 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 464 | d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 465 | } |
Lightvalve | 173:68c7914679ec | 466 | } |
Lightvalve | 170:42c938a40313 | 467 | } |
Lightvalve | 177:8e9cf31d63f4 | 468 | G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); |
Lightvalve | 170:42c938a40313 | 469 | } |
Lightvalve | 170:42c938a40313 | 470 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 471 | if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 472 | else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 473 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 474 | } |
Lightvalve | 173:68c7914679ec | 475 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 476 | float d_V_d_bc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 477 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 478 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 479 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 480 | d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 481 | } |
Lightvalve | 173:68c7914679ec | 482 | } |
Lightvalve | 173:68c7914679ec | 483 | } |
Lightvalve | 177:8e9cf31d63f4 | 484 | G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); |
Lightvalve | 173:68c7914679ec | 485 | } |
Lightvalve | 173:68c7914679ec | 486 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 487 | if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 488 | else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 489 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 490 | } |
Lightvalve | 173:68c7914679ec | 491 | |
Lightvalve | 175:2f7289dbd488 | 492 | |
Lightvalve | 173:68c7914679ec | 493 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 494 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 495 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 496 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 497 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 498 | float d_V_d_hc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 499 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 500 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 501 | d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 502 | } |
Lightvalve | 173:68c7914679ec | 503 | } |
Lightvalve | 177:8e9cf31d63f4 | 504 | G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); |
Lightvalve | 173:68c7914679ec | 505 | } |
Lightvalve | 173:68c7914679ec | 506 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 507 | if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 508 | else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 509 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 510 | } |
Lightvalve | 173:68c7914679ec | 511 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 512 | float d_V_d_bc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 513 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 514 | d_V_d_bc2 = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 515 | } |
Lightvalve | 177:8e9cf31d63f4 | 516 | G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); |
Lightvalve | 173:68c7914679ec | 517 | } |
Lightvalve | 173:68c7914679ec | 518 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 519 | if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 520 | else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 521 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 522 | } |
Lightvalve | 173:68c7914679ec | 523 | |
Lightvalve | 173:68c7914679ec | 524 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 525 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 526 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 527 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 528 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 529 | float d_V_d_hc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 530 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 531 | d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 532 | } |
Lightvalve | 177:8e9cf31d63f4 | 533 | G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); |
Lightvalve | 173:68c7914679ec | 534 | } |
Lightvalve | 173:68c7914679ec | 535 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 179:d5377766d7ea | 536 | if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 537 | else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 538 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 539 | } |
Lightvalve | 173:68c7914679ec | 540 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 541 | float d_V_d_bc3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 542 | d_V_d_bc3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 543 | G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); |
Lightvalve | 173:68c7914679ec | 544 | } |
Lightvalve | 173:68c7914679ec | 545 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 179:d5377766d7ea | 546 | if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 547 | else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 548 | //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 173:68c7914679ec | 549 | } |
Lightvalve | 173:68c7914679ec | 550 | |
Lightvalve | 173:68c7914679ec | 551 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 552 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 553 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 554 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 555 | } |
Lightvalve | 179:d5377766d7ea | 556 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 557 | } |
Lightvalve | 173:68c7914679ec | 558 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 559 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 560 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 561 | } |
Lightvalve | 179:d5377766d7ea | 562 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 563 | } |
Lightvalve | 170:42c938a40313 | 564 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 565 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 566 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 567 | } |
Lightvalve | 179:d5377766d7ea | 568 | bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 170:42c938a40313 | 569 | } |
Lightvalve | 170:42c938a40313 | 570 | } |
Lightvalve | 170:42c938a40313 | 571 | |
Lightvalve | 173:68c7914679ec | 572 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 573 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 574 | { |
Lightvalve | 218:066030f7951f | 575 | |
Lightvalve | 173:68c7914679ec | 576 | |
Lightvalve | 173:68c7914679ec | 577 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 578 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 579 | |
Lightvalve | 173:68c7914679ec | 580 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 581 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 582 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 583 | float d_x_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 584 | float d_y_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 585 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 586 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 587 | } else { |
Lightvalve | 173:68c7914679ec | 588 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 589 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 590 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 591 | d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 592 | d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 593 | } |
Lightvalve | 171:bfc1fd2629d8 | 594 | } |
Lightvalve | 170:42c938a40313 | 595 | } |
Lightvalve | 170:42c938a40313 | 596 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 597 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 598 | 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 | 599 | 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 | 600 | |
Lightvalve | 173:68c7914679ec | 601 | 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 | 602 | } |
Lightvalve | 170:42c938a40313 | 603 | } |
Lightvalve | 176:589ea3edcf3c | 604 | G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 605 | if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 606 | else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 607 | //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 608 | } |
Lightvalve | 173:68c7914679ec | 609 | |
Lightvalve | 173:68c7914679ec | 610 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 611 | float d_x_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 612 | float d_y_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 613 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 614 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 615 | } else { |
Lightvalve | 173:68c7914679ec | 616 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 617 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 618 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 619 | d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 620 | d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 621 | } |
Lightvalve | 171:bfc1fd2629d8 | 622 | } |
Lightvalve | 170:42c938a40313 | 623 | } |
Lightvalve | 170:42c938a40313 | 624 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 625 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 626 | 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 | 627 | 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 | 628 | |
Lightvalve | 173:68c7914679ec | 629 | 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 | 630 | } |
Lightvalve | 170:42c938a40313 | 631 | } |
Lightvalve | 176:589ea3edcf3c | 632 | G_ba1[index2] = -G_ba1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 633 | if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 634 | else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 635 | //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 636 | } |
Lightvalve | 170:42c938a40313 | 637 | |
Lightvalve | 173:68c7914679ec | 638 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 639 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 640 | |
Lightvalve | 173:68c7914679ec | 641 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 642 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 643 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 644 | float d_x_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 645 | float d_y_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 646 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 647 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 648 | } else { |
Lightvalve | 173:68c7914679ec | 649 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 650 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 651 | d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 652 | d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 653 | } |
Lightvalve | 170:42c938a40313 | 654 | } |
Lightvalve | 173:68c7914679ec | 655 | |
Lightvalve | 170:42c938a40313 | 656 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 657 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 658 | 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 | 659 | 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 | 660 | |
Lightvalve | 173:68c7914679ec | 661 | 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 | 662 | } |
Lightvalve | 170:42c938a40313 | 663 | } |
Lightvalve | 176:589ea3edcf3c | 664 | G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 665 | if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 666 | else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 667 | //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 668 | } |
Lightvalve | 173:68c7914679ec | 669 | |
Lightvalve | 173:68c7914679ec | 670 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 671 | float d_x_d_ba2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 672 | float d_y_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 673 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 674 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 675 | } else { |
Lightvalve | 170:42c938a40313 | 676 | |
Lightvalve | 173:68c7914679ec | 677 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 678 | d_x_d_ba2 = ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 679 | d_y_d_ba2 = ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 680 | } |
Lightvalve | 173:68c7914679ec | 681 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 682 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 683 | 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 | 684 | 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 | 685 | |
Lightvalve | 173:68c7914679ec | 686 | 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 | 687 | } |
Lightvalve | 170:42c938a40313 | 688 | } |
Lightvalve | 176:589ea3edcf3c | 689 | G_ba2[index2] = -G_ba2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 690 | if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 691 | else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 692 | //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 693 | } |
Lightvalve | 173:68c7914679ec | 694 | |
Lightvalve | 173:68c7914679ec | 695 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 696 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 697 | |
Lightvalve | 173:68c7914679ec | 698 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 699 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 700 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 701 | float d_x_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 702 | float d_y_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 703 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 704 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 705 | } else { |
Lightvalve | 173:68c7914679ec | 706 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 707 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 708 | d_x_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 177:8e9cf31d63f4 | 709 | d_y_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 710 | } |
Lightvalve | 173:68c7914679ec | 711 | } |
Lightvalve | 173:68c7914679ec | 712 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 713 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 714 | 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 | 715 | 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 | 716 | |
Lightvalve | 173:68c7914679ec | 717 | 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 | 718 | } |
Lightvalve | 173:68c7914679ec | 719 | } |
Lightvalve | 176:589ea3edcf3c | 720 | G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 721 | if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 722 | else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 723 | //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 724 | } |
Lightvalve | 173:68c7914679ec | 725 | |
Lightvalve | 173:68c7914679ec | 726 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 727 | float d_x_d_ba3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 728 | float d_y_d_ba3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 729 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 730 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 731 | } else { |
Lightvalve | 173:68c7914679ec | 732 | |
Lightvalve | 177:8e9cf31d63f4 | 733 | d_x_d_ba3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 734 | d_y_d_ba3 = 1.0f; |
Lightvalve | 173:68c7914679ec | 735 | |
Lightvalve | 173:68c7914679ec | 736 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 737 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 738 | 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 | 739 | 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 | 740 | |
Lightvalve | 173:68c7914679ec | 741 | 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 | 742 | } |
Lightvalve | 173:68c7914679ec | 743 | } |
Lightvalve | 176:589ea3edcf3c | 744 | G_ba3[index2] = -G_ba3[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 745 | if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 746 | else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 747 | //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 175:2f7289dbd488 | 748 | } |
Lightvalve | 177:8e9cf31d63f4 | 749 | |
Lightvalve | 175:2f7289dbd488 | 750 | // Simultaneous Update |
Lightvalve | 175:2f7289dbd488 | 751 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 175:2f7289dbd488 | 752 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 753 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 754 | } |
Lightvalve | 179:d5377766d7ea | 755 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 175:2f7289dbd488 | 756 | } |
Lightvalve | 175:2f7289dbd488 | 757 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 758 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 759 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 760 | } |
Lightvalve | 179:d5377766d7ea | 761 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 175:2f7289dbd488 | 762 | } |
Lightvalve | 175:2f7289dbd488 | 763 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 764 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 765 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 766 | } |
Lightvalve | 179:d5377766d7ea | 767 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 768 | } |
Lightvalve | 170:42c938a40313 | 769 | } |
Lightvalve | 170:42c938a40313 | 770 | |
Lightvalve | 170:42c938a40313 | 771 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 772 | { |
Lightvalve | 170:42c938a40313 | 773 | //Box muller method |
Lightvalve | 170:42c938a40313 | 774 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 775 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 776 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 777 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 778 | do { |
Lightvalve | 170:42c938a40313 | 779 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 780 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 781 | |
Lightvalve | 170:42c938a40313 | 782 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 783 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 784 | { |
Lightvalve | 170:42c938a40313 | 785 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 786 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 787 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 788 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 789 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 790 | return result; |
Lightvalve | 170:42c938a40313 | 791 | } |
Lightvalve | 170:42c938a40313 | 792 | } else { |
Lightvalve | 170:42c938a40313 | 793 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 794 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 795 | } |
Lightvalve | 170:42c938a40313 | 796 | } |
Lightvalve | 170:42c938a40313 | 797 | |
Lightvalve | 179:d5377766d7ea | 798 | float mean_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 799 | { |
Lightvalve | 179:d5377766d7ea | 800 | float add = 0.0f; |
Lightvalve | 179:d5377766d7ea | 801 | float result; |
Lightvalve | 218:066030f7951f | 802 | |
Lightvalve | 218:066030f7951f | 803 | for (int i=0; i<size; i++) { |
Lightvalve | 179:d5377766d7ea | 804 | add += x[i]; |
Lightvalve | 179:d5377766d7ea | 805 | } |
Lightvalve | 179:d5377766d7ea | 806 | result = (float) add/size; |
Lightvalve | 179:d5377766d7ea | 807 | return result; |
Lightvalve | 179:d5377766d7ea | 808 | } |
Lightvalve | 179:d5377766d7ea | 809 | float deviation_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 810 | { |
Lightvalve | 179:d5377766d7ea | 811 | float sigma = 0.0f; |
Lightvalve | 179:d5377766d7ea | 812 | float resultDeb = 0.0f; |
Lightvalve | 218:066030f7951f | 813 | |
Lightvalve | 218:066030f7951f | 814 | for (int k=0; k<size; k++) { |
Lightvalve | 179:d5377766d7ea | 815 | sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1); |
Lightvalve | 179:d5377766d7ea | 816 | resultDeb += sqrt(sigma); |
Lightvalve | 179:d5377766d7ea | 817 | } |
Lightvalve | 179:d5377766d7ea | 818 | return resultDeb; |
Lightvalve | 218:066030f7951f | 819 | } |
Lightvalve | 218:066030f7951f | 820 | |
Lightvalve | 173:68c7914679ec | 821 | |
Lightvalve | 170:42c938a40313 | 822 | void Overwirte_Critic_Networks() |
Lightvalve | 170:42c938a40313 | 823 | { |
Lightvalve | 173:68c7914679ec | 824 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 825 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 826 | hc1[index1][index2] = hc1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 827 | } |
Lightvalve | 170:42c938a40313 | 828 | bc1[index2] = bc1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 829 | } |
Lightvalve | 173:68c7914679ec | 830 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 831 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 832 | hc2[index1][index2] = hc2_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 833 | } |
Lightvalve | 173:68c7914679ec | 834 | bc2[index2] = bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 835 | hc3[index2] = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 836 | } |
Lightvalve | 173:68c7914679ec | 837 | bc3 = bc3_temp; |
Lightvalve | 170:42c938a40313 | 838 | } |
Lightvalve | 170:42c938a40313 | 839 | void Overwirte_Actor_Networks() |
Lightvalve | 170:42c938a40313 | 840 | { |
Lightvalve | 173:68c7914679ec | 841 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 842 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 843 | ha1[index1][index2] = ha1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 844 | } |
Lightvalve | 170:42c938a40313 | 845 | ba1[index2] = ba1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 846 | } |
Lightvalve | 173:68c7914679ec | 847 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 848 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 170:42c938a40313 | 849 | ha2[index1][index2] = ha2_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 850 | } |
Lightvalve | 170:42c938a40313 | 851 | ba2[index2] = ba2_temp[index2]; |
Lightvalve | 170:42c938a40313 | 852 | } |
Lightvalve | 173:68c7914679ec | 853 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 854 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 855 | ha3[index1][index2] = ha3_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 856 | } |
Lightvalve | 173:68c7914679ec | 857 | ba3[index2] = ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 858 | } |
Lightvalve | 170:42c938a40313 | 859 | } |
Lightvalve | 170:42c938a40313 | 860 | |
Lightvalve | 170:42c938a40313 | 861 | |
GiJeongKim | 0:51c43836c1d7 | 862 | int main() |
GiJeongKim | 0:51c43836c1d7 | 863 | { |
Lightvalve | 66:a8e6799dbce3 | 864 | |
Lightvalve | 65:a2d7c63419c2 | 865 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 866 | SystemClock_Config(); |
Lightvalve | 169:645207e160ca | 867 | |
jobuuu | 6:df07d3491e3a | 868 | /********************************* |
jobuuu | 1:e04e563be5ce | 869 | *** Initialization |
jobuuu | 6:df07d3491e3a | 870 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 871 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 872 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 873 | |
GiJeongKim | 0:51c43836c1d7 | 874 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 875 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 876 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 877 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 878 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 879 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 880 | |
GiJeongKim | 0:51c43836c1d7 | 881 | // // spi init |
Lightvalve | 170:42c938a40313 | 882 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 883 | eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 884 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 885 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 886 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 887 | |
Lightvalve | 16:903b5a4433b4 | 888 | //rom |
Lightvalve | 19:23b7c1ad8683 | 889 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 890 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 891 | |
GiJeongKim | 0:51c43836c1d7 | 892 | // ADC init |
jobuuu | 5:a4319f79457b | 893 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 894 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 895 | |
GiJeongKim | 0:51c43836c1d7 | 896 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 897 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 898 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 899 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 900 | |
Lightvalve | 11:82d8768d7351 | 901 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 902 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 903 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 904 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 905 | |
Lightvalve | 50:3c630b5eba9f | 906 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 907 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 908 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 909 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 910 | |
GiJeongKim | 0:51c43836c1d7 | 911 | // CAN |
jobuuu | 2:a1c0a37df760 | 912 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 913 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 914 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 915 | |
Lightvalve | 23:59218d4a256d | 916 | //Timer priority |
Lightvalve | 23:59218d4a256d | 917 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 918 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 919 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 920 | |
Lightvalve | 23:59218d4a256d | 921 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 922 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 923 | |
GiJeongKim | 0:51c43836c1d7 | 924 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 925 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 926 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 927 | |
Lightvalve | 11:82d8768d7351 | 928 | //DAC init |
Lightvalve | 58:2eade98630e2 | 929 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 930 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 931 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 932 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 933 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 934 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 935 | } |
Lightvalve | 11:82d8768d7351 | 936 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 937 | |
Lightvalve | 19:23b7c1ad8683 | 938 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 939 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 940 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 941 | else |
Lightvalve | 38:118df027d851 | 942 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 943 | } |
Lightvalve | 169:645207e160ca | 944 | |
Lightvalve | 173:68c7914679ec | 945 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 946 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 947 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; |
Lightvalve | 170:42c938a40313 | 948 | } |
Lightvalve | 179:d5377766d7ea | 949 | bc1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 950 | } |
Lightvalve | 173:68c7914679ec | 951 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 952 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 953 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 954 | } |
Lightvalve | 179:d5377766d7ea | 955 | bc2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 179:d5377766d7ea | 956 | hc3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 957 | } |
Lightvalve | 179:d5377766d7ea | 958 | bc3_temp = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 959 | |
Lightvalve | 173:68c7914679ec | 960 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 961 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 962 | ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 963 | } |
Lightvalve | 179:d5377766d7ea | 964 | ba1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 965 | } |
Lightvalve | 173:68c7914679ec | 966 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 967 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 968 | ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 969 | } |
Lightvalve | 179:d5377766d7ea | 970 | ba2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 971 | } |
Lightvalve | 170:42c938a40313 | 972 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 973 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 974 | ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 975 | } |
Lightvalve | 179:d5377766d7ea | 976 | ba3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 977 | } |
Lightvalve | 171:bfc1fd2629d8 | 978 | |
Lightvalve | 170:42c938a40313 | 979 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 980 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 981 | |
jobuuu | 6:df07d3491e3a | 982 | /************************************ |
jobuuu | 1:e04e563be5ce | 983 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 984 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 985 | while(1) { |
Lightvalve | 169:645207e160ca | 986 | |
Lightvalve | 171:bfc1fd2629d8 | 987 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 988 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 989 | // 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 | 990 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 991 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 992 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 993 | // } |
Lightvalve | 169:645207e160ca | 994 | |
Lightvalve | 171:bfc1fd2629d8 | 995 | |
Lightvalve | 171:bfc1fd2629d8 | 996 | //i2c |
Lightvalve | 180:02be1711ee0b | 997 | read_field(i2c_slave_addr1); |
Lightvalve | 180:02be1711ee0b | 998 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 999 | |
Lightvalve | 177:8e9cf31d63f4 | 1000 | //timer_while ++; |
Lightvalve | 169:645207e160ca | 1001 | |
Lightvalve | 170:42c938a40313 | 1002 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1003 | |
Lightvalve | 73:f80dc3970c99 | 1004 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1005 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1006 | } |
Lightvalve | 169:645207e160ca | 1007 | |
Lightvalve | 73:f80dc3970c99 | 1008 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1009 | |
Lightvalve | 162:9dd4f35e9de8 | 1010 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1011 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1012 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1013 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1014 | } |
Lightvalve | 162:9dd4f35e9de8 | 1015 | |
Lightvalve | 162:9dd4f35e9de8 | 1016 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1017 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1018 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1019 | } |
Lightvalve | 162:9dd4f35e9de8 | 1020 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1021 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1022 | |
Lightvalve | 162:9dd4f35e9de8 | 1023 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1024 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1025 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1026 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1027 | |
Lightvalve | 162:9dd4f35e9de8 | 1028 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1029 | // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 208:408f9f15c486 | 1030 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1031 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1032 | } |
Lightvalve | 208:408f9f15c486 | 1033 | // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1034 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1035 | ind = ind + 1; |
Lightvalve | 238:e4bda4d06a7d | 1036 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1037 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1038 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; |
Lightvalve | 206:2e4d0c287578 | 1039 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1040 | input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1041 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1042 | } |
Lightvalve | 169:645207e160ca | 1043 | |
Lightvalve | 112:8dcb1600cb90 | 1044 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1045 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1046 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1047 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1048 | |
Lightvalve | 112:8dcb1600cb90 | 1049 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1050 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1051 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1052 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1053 | } |
Lightvalve | 66:a8e6799dbce3 | 1054 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1055 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1056 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1057 | } |
Lightvalve | 66:a8e6799dbce3 | 1058 | } |
Lightvalve | 65:a2d7c63419c2 | 1059 | |
Lightvalve | 112:8dcb1600cb90 | 1060 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1061 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1062 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1063 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1064 | } |
Lightvalve | 66:a8e6799dbce3 | 1065 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1066 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1067 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1068 | } |
Lightvalve | 66:a8e6799dbce3 | 1069 | } |
Lightvalve | 65:a2d7c63419c2 | 1070 | |
Lightvalve | 112:8dcb1600cb90 | 1071 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1072 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1073 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1074 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1075 | } |
Lightvalve | 66:a8e6799dbce3 | 1076 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1077 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1078 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1079 | } |
Lightvalve | 65:a2d7c63419c2 | 1080 | } |
Lightvalve | 66:a8e6799dbce3 | 1081 | |
Lightvalve | 66:a8e6799dbce3 | 1082 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1083 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1084 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1085 | } |
Lightvalve | 66:a8e6799dbce3 | 1086 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1087 | |
Lightvalve | 66:a8e6799dbce3 | 1088 | } |
Lightvalve | 73:f80dc3970c99 | 1089 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1090 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1091 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1092 | |
Lightvalve | 66:a8e6799dbce3 | 1093 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1094 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1095 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1096 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1097 | } |
Lightvalve | 87:471334725012 | 1098 | |
Lightvalve | 169:645207e160ca | 1099 | |
Lightvalve | 69:3995ffeaa786 | 1100 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1101 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1102 | } else |
Lightvalve | 69:3995ffeaa786 | 1103 | LED = 1; |
Lightvalve | 169:645207e160ca | 1104 | |
Lightvalve | 65:a2d7c63419c2 | 1105 | } |
Lightvalve | 171:bfc1fd2629d8 | 1106 | |
Lightvalve | 171:bfc1fd2629d8 | 1107 | |
Lightvalve | 170:42c938a40313 | 1108 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1109 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1110 | case 0: { |
Lightvalve | 170:42c938a40313 | 1111 | break; |
Lightvalve | 170:42c938a40313 | 1112 | } |
Lightvalve | 170:42c938a40313 | 1113 | case 1: { |
Lightvalve | 170:42c938a40313 | 1114 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1115 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1116 | float loss_sum = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1117 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 170:42c938a40313 | 1118 | //Calculate Estimated V |
Lightvalve | 175:2f7289dbd488 | 1119 | //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; |
Lightvalve | 175:2f7289dbd488 | 1120 | float temp_array[2] = {state_array[n][0], state_array[n][1]}; |
Lightvalve | 175:2f7289dbd488 | 1121 | V[n] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1122 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 175:2f7289dbd488 | 1123 | hx_c_sum_array[n][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1124 | } |
Lightvalve | 173:68c7914679ec | 1125 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 175:2f7289dbd488 | 1126 | hxh_c_sum_array[n][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1127 | } |
Lightvalve | 175:2f7289dbd488 | 1128 | hxhh_c_sum_array[n] = hxhh_c_sum; |
Lightvalve | 177:8e9cf31d63f4 | 1129 | |
Lightvalve | 175:2f7289dbd488 | 1130 | 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 | 1131 | Actor_Network_Old(temp_array); |
Lightvalve | 175:2f7289dbd488 | 1132 | 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 | 1133 | r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); |
Lightvalve | 175:2f7289dbd488 | 1134 | if(n == batch_size-1) return_G[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1135 | else return_G[n] = gamma * return_G[n+1] + r[n]; |
Lightvalve | 175:2f7289dbd488 | 1136 | if(n == batch_size-1) td_target[n] = r[n]; |
Lightvalve | 175:2f7289dbd488 | 1137 | else td_target[n] = r[n] + gamma * V[n+1]; |
Lightvalve | 175:2f7289dbd488 | 1138 | delta[n] = td_target[n] - V[n]; |
Lightvalve | 175:2f7289dbd488 | 1139 | if(n == batch_size-1) advantage[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1140 | else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; |
Lightvalve | 179:d5377766d7ea | 1141 | // return_G[n] = advantage[n] + V[n]; |
Lightvalve | 175:2f7289dbd488 | 1142 | ratio[n] = pi[n]/pi_old[n]; |
Lightvalve | 179:d5377766d7ea | 1143 | } |
Lightvalve | 179:d5377766d7ea | 1144 | float mean_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1145 | float dev_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1146 | mean_advantage = mean_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1147 | dev_advantage = deviation_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1148 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 179:d5377766d7ea | 1149 | //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; |
Lightvalve | 175:2f7289dbd488 | 1150 | surr1[n] = ratio[n] * advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1151 | if (ratio[n] > 1.0f + epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1152 | surr2[n] = (1.0f + epsilon)*advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1153 | } else if( ratio[n] < 1.0f - epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1154 | surr2[n] = (1.0f - epsilon)*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1155 | } else { |
Lightvalve | 175:2f7289dbd488 | 1156 | surr2[n] = ratio[n]*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1157 | } |
Lightvalve | 175:2f7289dbd488 | 1158 | loss[n] = -min(surr1[n], surr2[n]); |
Lightvalve | 175:2f7289dbd488 | 1159 | loss_sum = loss_sum + loss[n]; |
Lightvalve | 170:42c938a40313 | 1160 | } |
Lightvalve | 170:42c938a40313 | 1161 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1162 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1163 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1164 | } |
Lightvalve | 170:42c938a40313 | 1165 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1166 | |
Lightvalve | 171:bfc1fd2629d8 | 1167 | |
Lightvalve | 170:42c938a40313 | 1168 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1169 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1170 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1171 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1172 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1173 | } |
Lightvalve | 170:42c938a40313 | 1174 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1175 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1176 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1177 | |
Lightvalve | 170:42c938a40313 | 1178 | break; |
Lightvalve | 170:42c938a40313 | 1179 | } |
Lightvalve | 170:42c938a40313 | 1180 | case 2: { |
Lightvalve | 170:42c938a40313 | 1181 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1182 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1183 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1184 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1185 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1186 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1187 | break; |
Lightvalve | 170:42c938a40313 | 1188 | } |
Lightvalve | 169:645207e160ca | 1189 | |
Lightvalve | 170:42c938a40313 | 1190 | } |
GiJeongKim | 0:51c43836c1d7 | 1191 | } |
jobuuu | 1:e04e563be5ce | 1192 | } |
jobuuu | 1:e04e563be5ce | 1193 | |
Lightvalve | 33:91b17819ec30 | 1194 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1195 | { |
Lightvalve | 14:8e7590227d22 | 1196 | |
Lightvalve | 13:747daba9cf59 | 1197 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1198 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1199 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1200 | 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 | 1201 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1202 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1203 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1204 | } else { |
Lightvalve | 57:f4819de54e7a | 1205 | 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 | 1206 | } |
Lightvalve | 14:8e7590227d22 | 1207 | } else { |
Lightvalve | 50:3c630b5eba9f | 1208 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1209 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1210 | } else { |
Lightvalve | 57:f4819de54e7a | 1211 | 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 | 1212 | } |
Lightvalve | 13:747daba9cf59 | 1213 | } |
Lightvalve | 13:747daba9cf59 | 1214 | break; |
Lightvalve | 13:747daba9cf59 | 1215 | } |
Lightvalve | 13:747daba9cf59 | 1216 | } |
Lightvalve | 14:8e7590227d22 | 1217 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1218 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1219 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1220 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1221 | } |
Lightvalve | 36:a46e63505ed8 | 1222 | |
Lightvalve | 57:f4819de54e7a | 1223 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1224 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1225 | |
Lightvalve | 13:747daba9cf59 | 1226 | } |
jobuuu | 6:df07d3491e3a | 1227 | |
jobuuu | 6:df07d3491e3a | 1228 | |
Lightvalve | 30:8d561f16383b | 1229 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1230 | { |
Lightvalve | 13:747daba9cf59 | 1231 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1232 | |
Lightvalve | 38:118df027d851 | 1233 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1234 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1235 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1236 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1237 | } |
Lightvalve | 38:118df027d851 | 1238 | |
Lightvalve | 89:a7b45368ea0f | 1239 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1240 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1241 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1242 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1243 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1244 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1245 | |
Lightvalve | 13:747daba9cf59 | 1246 | 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 | 1247 | |
Lightvalve | 18:b8adf1582ea3 | 1248 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1249 | 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 | 1250 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1251 | 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 | 1252 | } else { |
Lightvalve | 48:889798ff9329 | 1253 | 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 | 1254 | } |
Lightvalve | 13:747daba9cf59 | 1255 | break; |
Lightvalve | 13:747daba9cf59 | 1256 | } |
Lightvalve | 13:747daba9cf59 | 1257 | } |
Lightvalve | 59:f308b1656d9c | 1258 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1259 | } |
Lightvalve | 13:747daba9cf59 | 1260 | |
Lightvalve | 14:8e7590227d22 | 1261 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1262 | 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 | 1263 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1264 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1265 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1266 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1267 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1268 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1269 | 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 | 1270 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1271 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1272 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1273 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1274 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1275 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1276 | |
Lightvalve | 30:8d561f16383b | 1277 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1278 | { |
Lightvalve | 30:8d561f16383b | 1279 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1280 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1281 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1282 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1283 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1284 | } else { |
Lightvalve | 13:747daba9cf59 | 1285 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1286 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1287 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1288 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1289 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1290 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1291 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1292 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1293 | break; |
Lightvalve | 13:747daba9cf59 | 1294 | } |
Lightvalve | 13:747daba9cf59 | 1295 | } |
Lightvalve | 13:747daba9cf59 | 1296 | } |
Lightvalve | 14:8e7590227d22 | 1297 | |
Lightvalve | 13:747daba9cf59 | 1298 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1299 | } |
jobuuu | 6:df07d3491e3a | 1300 | |
Lightvalve | 57:f4819de54e7a | 1301 | |
Lightvalve | 57:f4819de54e7a | 1302 | |
Lightvalve | 57:f4819de54e7a | 1303 | |
Lightvalve | 57:f4819de54e7a | 1304 | |
jobuuu | 2:a1c0a37df760 | 1305 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1306 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1307 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1308 | |
Lightvalve | 51:b46bed7fec80 | 1309 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1310 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1311 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1312 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1313 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1314 | { |
Lightvalve | 19:23b7c1ad8683 | 1315 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1316 | |
Lightvalve | 21:e5f1a43ea6f9 | 1317 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1318 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1319 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1320 | |
Lightvalve | 57:f4819de54e7a | 1321 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1322 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1323 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1324 | } |
Lightvalve | 61:bc8c8270f0ab | 1325 | |
Lightvalve | 61:bc8c8270f0ab | 1326 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1327 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1328 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1329 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1330 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1331 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 1332 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1333 | |
Lightvalve | 67:c2812cf26c38 | 1334 | |
Lightvalve | 67:c2812cf26c38 | 1335 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1336 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1337 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1338 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1339 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1340 | |
Lightvalve | 17:1865016ca2e7 | 1341 | |
Lightvalve | 58:2eade98630e2 | 1342 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1343 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1344 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1345 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1346 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1347 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1348 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1349 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1350 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1351 | |
Lightvalve | 58:2eade98630e2 | 1352 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1353 | 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 | 1354 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1355 | 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 | 1356 | } |
Lightvalve | 58:2eade98630e2 | 1357 | } |
Lightvalve | 61:bc8c8270f0ab | 1358 | |
Lightvalve | 58:2eade98630e2 | 1359 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1360 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1361 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1362 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1363 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1364 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1365 | // 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 | 1366 | // |
Lightvalve | 58:2eade98630e2 | 1367 | // |
Lightvalve | 58:2eade98630e2 | 1368 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1369 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1370 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1371 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1372 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1373 | |
Lightvalve | 17:1865016ca2e7 | 1374 | |
Lightvalve | 21:e5f1a43ea6f9 | 1375 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1376 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1377 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1378 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1379 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1380 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1381 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1382 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1383 | |
Lightvalve | 57:f4819de54e7a | 1384 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1385 | } |
Lightvalve | 11:82d8768d7351 | 1386 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1387 | } |
Lightvalve | 19:23b7c1ad8683 | 1388 | |
Lightvalve | 19:23b7c1ad8683 | 1389 | |
Lightvalve | 18:b8adf1582ea3 | 1390 | int j =0; |
Lightvalve | 54:647072f5307a | 1391 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1392 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1393 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1394 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 48:889798ff9329 | 1395 | |
Lightvalve | 11:82d8768d7351 | 1396 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1397 | { |
Lightvalve | 19:23b7c1ad8683 | 1398 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1399 | |
Lightvalve | 57:f4819de54e7a | 1400 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1401 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1402 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1403 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1404 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1405 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1406 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1407 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1408 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1409 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1410 | } |
Lightvalve | 50:3c630b5eba9f | 1411 | |
Lightvalve | 50:3c630b5eba9f | 1412 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1413 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1414 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1415 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1416 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1417 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1418 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1419 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1420 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1421 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1422 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1423 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1424 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1425 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1426 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1427 | } else { |
Lightvalve | 58:2eade98630e2 | 1428 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1429 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1430 | } |
Lightvalve | 45:35fa6884d0c6 | 1431 | |
Lightvalve | 50:3c630b5eba9f | 1432 | |
Lightvalve | 57:f4819de54e7a | 1433 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1434 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1435 | |
Lightvalve | 57:f4819de54e7a | 1436 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1437 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1438 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1439 | } else { |
Lightvalve | 57:f4819de54e7a | 1440 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1441 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1442 | } |
Lightvalve | 56:6f50d9d3bfee | 1443 | |
Lightvalve | 56:6f50d9d3bfee | 1444 | |
Lightvalve | 56:6f50d9d3bfee | 1445 | |
Lightvalve | 57:f4819de54e7a | 1446 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1447 | |
Lightvalve | 57:f4819de54e7a | 1448 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1449 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1450 | break; |
Lightvalve | 13:747daba9cf59 | 1451 | } |
Lightvalve | 14:8e7590227d22 | 1452 | |
Lightvalve | 14:8e7590227d22 | 1453 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1454 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1455 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1456 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1457 | |
Lightvalve | 14:8e7590227d22 | 1458 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1459 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1460 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1461 | |
Lightvalve | 84:c355d3e52bf1 | 1462 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1463 | |
Lightvalve | 30:8d561f16383b | 1464 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1465 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1466 | |
Lightvalve | 16:903b5a4433b4 | 1467 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1468 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1469 | } |
Lightvalve | 13:747daba9cf59 | 1470 | } else { |
Lightvalve | 58:2eade98630e2 | 1471 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1472 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1473 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1474 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1475 | |
Lightvalve | 170:42c938a40313 | 1476 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1477 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1478 | |
Lightvalve | 30:8d561f16383b | 1479 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1480 | |
Lightvalve | 13:747daba9cf59 | 1481 | } |
Lightvalve | 14:8e7590227d22 | 1482 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1483 | break; |
Lightvalve | 19:23b7c1ad8683 | 1484 | } |
Lightvalve | 14:8e7590227d22 | 1485 | |
Lightvalve | 50:3c630b5eba9f | 1486 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1487 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1488 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1489 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1490 | // } |
Lightvalve | 50:3c630b5eba9f | 1491 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1492 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1493 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1494 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1495 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1496 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1497 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1498 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1499 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1500 | // } |
Lightvalve | 50:3c630b5eba9f | 1501 | // |
Lightvalve | 50:3c630b5eba9f | 1502 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1503 | // 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 | 1504 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1505 | // |
Lightvalve | 50:3c630b5eba9f | 1506 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1507 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1508 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1509 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1510 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1511 | // else 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 DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1514 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1515 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1516 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1517 | // |
Lightvalve | 50:3c630b5eba9f | 1518 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1519 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1520 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1521 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1522 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1523 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1524 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1525 | // |
Lightvalve | 50:3c630b5eba9f | 1526 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1527 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1528 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1529 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1530 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1531 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1532 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1533 | // } |
Lightvalve | 50:3c630b5eba9f | 1534 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1535 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1536 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1537 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1538 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1539 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1540 | // } |
Lightvalve | 50:3c630b5eba9f | 1541 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1542 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1543 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1544 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1545 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1546 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1547 | // } |
Lightvalve | 50:3c630b5eba9f | 1548 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1549 | // |
Lightvalve | 50:3c630b5eba9f | 1550 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1551 | // |
Lightvalve | 50:3c630b5eba9f | 1552 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1553 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1554 | // |
Lightvalve | 50:3c630b5eba9f | 1555 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1556 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1557 | // } |
Lightvalve | 50:3c630b5eba9f | 1558 | // } |
Lightvalve | 50:3c630b5eba9f | 1559 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1560 | // break; |
Lightvalve | 50:3c630b5eba9f | 1561 | // } |
Lightvalve | 14:8e7590227d22 | 1562 | |
Lightvalve | 14:8e7590227d22 | 1563 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1564 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1565 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1566 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1567 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1568 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1569 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1570 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1571 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1572 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1573 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1574 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1575 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1576 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1577 | } |
Lightvalve | 29:69f3f5445d6d | 1578 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1579 | |
Lightvalve | 29:69f3f5445d6d | 1580 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1581 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1582 | } else { |
Lightvalve | 29:69f3f5445d6d | 1583 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1584 | } |
Lightvalve | 19:23b7c1ad8683 | 1585 | |
Lightvalve | 57:f4819de54e7a | 1586 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1587 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1588 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1589 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1590 | |
Lightvalve | 59:f308b1656d9c | 1591 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1592 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1593 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1594 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1595 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1596 | |
Lightvalve | 59:f308b1656d9c | 1597 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1598 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1599 | |
Lightvalve | 34:bb2ca2fc2a8e | 1600 | |
Lightvalve | 29:69f3f5445d6d | 1601 | } else { |
Lightvalve | 29:69f3f5445d6d | 1602 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1603 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1604 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1605 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1606 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1607 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1608 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1609 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1610 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1611 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1612 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1613 | |
Lightvalve | 67:c2812cf26c38 | 1614 | |
Lightvalve | 67:c2812cf26c38 | 1615 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1616 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1617 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1618 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1619 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1620 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1621 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1622 | |
Lightvalve | 169:645207e160ca | 1623 | |
Lightvalve | 29:69f3f5445d6d | 1624 | } |
Lightvalve | 29:69f3f5445d6d | 1625 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1626 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1627 | 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 | 1628 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1629 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1630 | |
Lightvalve | 29:69f3f5445d6d | 1631 | // input for position control |
Lightvalve | 169:645207e160ca | 1632 | |
Lightvalve | 67:c2812cf26c38 | 1633 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1634 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1635 | |
Lightvalve | 67:c2812cf26c38 | 1636 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1637 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1638 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1639 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1640 | |
Lightvalve | 67:c2812cf26c38 | 1641 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1642 | |
Lightvalve | 67:c2812cf26c38 | 1643 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1644 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1645 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1646 | |
Lightvalve | 67:c2812cf26c38 | 1647 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1648 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1649 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1650 | |
Lightvalve | 69:3995ffeaa786 | 1651 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1652 | 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 | 1653 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1654 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1655 | 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 | 1656 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1657 | } |
Lightvalve | 67:c2812cf26c38 | 1658 | 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 | 1659 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1660 | |
Lightvalve | 67:c2812cf26c38 | 1661 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1662 | |
Lightvalve | 67:c2812cf26c38 | 1663 | |
Lightvalve | 67:c2812cf26c38 | 1664 | |
Lightvalve | 67:c2812cf26c38 | 1665 | } else { |
Lightvalve | 67:c2812cf26c38 | 1666 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1667 | 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 | 1668 | |
Lightvalve | 67:c2812cf26c38 | 1669 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1670 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1671 | } else { |
Lightvalve | 67:c2812cf26c38 | 1672 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1673 | } |
Lightvalve | 67:c2812cf26c38 | 1674 | |
Lightvalve | 67:c2812cf26c38 | 1675 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1676 | |
Lightvalve | 67:c2812cf26c38 | 1677 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1678 | |
Lightvalve | 67:c2812cf26c38 | 1679 | } |
Lightvalve | 67:c2812cf26c38 | 1680 | |
Lightvalve | 67:c2812cf26c38 | 1681 | |
Lightvalve | 169:645207e160ca | 1682 | |
Lightvalve | 169:645207e160ca | 1683 | |
Lightvalve | 59:f308b1656d9c | 1684 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1685 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1686 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1687 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1688 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1689 | |
Lightvalve | 29:69f3f5445d6d | 1690 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1691 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1692 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1693 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1694 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1695 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1696 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1697 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1698 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1699 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1700 | } |
Lightvalve | 13:747daba9cf59 | 1701 | } |
Lightvalve | 19:23b7c1ad8683 | 1702 | |
Lightvalve | 13:747daba9cf59 | 1703 | break; |
Lightvalve | 13:747daba9cf59 | 1704 | } |
Lightvalve | 14:8e7590227d22 | 1705 | |
Lightvalve | 50:3c630b5eba9f | 1706 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1707 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1708 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1709 | // else { |
Lightvalve | 50:3c630b5eba9f | 1710 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1711 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1712 | // } |
Lightvalve | 50:3c630b5eba9f | 1713 | // } |
Lightvalve | 50:3c630b5eba9f | 1714 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1715 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1716 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1717 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1718 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1719 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1720 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1721 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1722 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1723 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1724 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1725 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1726 | // } |
Lightvalve | 50:3c630b5eba9f | 1727 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1728 | // } |
Lightvalve | 50:3c630b5eba9f | 1729 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1730 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1731 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1732 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1733 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1734 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1735 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1736 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1737 | // 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 | 1738 | // // 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 | 1739 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1740 | // } |
Lightvalve | 50:3c630b5eba9f | 1741 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1742 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1743 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1744 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1745 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1746 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1747 | // 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 | 1748 | // // 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 | 1749 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1750 | // } |
Lightvalve | 50:3c630b5eba9f | 1751 | // } |
Lightvalve | 50:3c630b5eba9f | 1752 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1753 | // |
Lightvalve | 50:3c630b5eba9f | 1754 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1755 | // |
Lightvalve | 50:3c630b5eba9f | 1756 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1757 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1758 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1759 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1760 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1761 | // } |
Lightvalve | 50:3c630b5eba9f | 1762 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1763 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1764 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1765 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1766 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1767 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1768 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1769 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1770 | // } |
Lightvalve | 50:3c630b5eba9f | 1771 | // |
Lightvalve | 50:3c630b5eba9f | 1772 | // } |
Lightvalve | 50:3c630b5eba9f | 1773 | // break; |
Lightvalve | 50:3c630b5eba9f | 1774 | // } |
Lightvalve | 50:3c630b5eba9f | 1775 | // |
Lightvalve | 50:3c630b5eba9f | 1776 | // } |
Lightvalve | 14:8e7590227d22 | 1777 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1778 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1779 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1780 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1781 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1782 | |
Lightvalve | 14:8e7590227d22 | 1783 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1784 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1785 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1786 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1787 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1788 | |
Lightvalve | 38:118df027d851 | 1789 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1790 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1791 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1792 | |
Lightvalve | 30:8d561f16383b | 1793 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1794 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1795 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1796 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1797 | |
Lightvalve | 30:8d561f16383b | 1798 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1799 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1800 | } |
Lightvalve | 13:747daba9cf59 | 1801 | } else { |
Lightvalve | 57:f4819de54e7a | 1802 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1803 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1804 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1805 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1806 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1807 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1808 | |
Lightvalve | 170:42c938a40313 | 1809 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1810 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1811 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1812 | |
Lightvalve | 30:8d561f16383b | 1813 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1814 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1815 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1816 | } |
Lightvalve | 14:8e7590227d22 | 1817 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1818 | break; |
Lightvalve | 13:747daba9cf59 | 1819 | } |
Lightvalve | 14:8e7590227d22 | 1820 | |
Lightvalve | 50:3c630b5eba9f | 1821 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1822 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1823 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1824 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1825 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1826 | // } |
Lightvalve | 50:3c630b5eba9f | 1827 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1828 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1829 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1830 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1831 | // } |
Lightvalve | 50:3c630b5eba9f | 1832 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1833 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1834 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1835 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1836 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1837 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1838 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1839 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1840 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1841 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1842 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1843 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1844 | // |
Lightvalve | 50:3c630b5eba9f | 1845 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1846 | // |
Lightvalve | 50:3c630b5eba9f | 1847 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1848 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1849 | // } |
Lightvalve | 50:3c630b5eba9f | 1850 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1851 | // break; |
Lightvalve | 50:3c630b5eba9f | 1852 | // } |
Lightvalve | 19:23b7c1ad8683 | 1853 | |
Lightvalve | 50:3c630b5eba9f | 1854 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1855 | // 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 | 1856 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1857 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1858 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1859 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1860 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1861 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1862 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1863 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1864 | // } |
Lightvalve | 50:3c630b5eba9f | 1865 | // break; |
Lightvalve | 50:3c630b5eba9f | 1866 | // } |
Lightvalve | 14:8e7590227d22 | 1867 | |
Lightvalve | 14:8e7590227d22 | 1868 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1869 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1870 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1871 | |
Lightvalve | 14:8e7590227d22 | 1872 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1873 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1874 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1875 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1876 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1877 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1878 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1879 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1880 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1881 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1882 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1883 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1884 | } else { |
Lightvalve | 13:747daba9cf59 | 1885 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1886 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1887 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1888 | } |
Lightvalve | 14:8e7590227d22 | 1889 | |
Lightvalve | 17:1865016ca2e7 | 1890 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1891 | int i; |
Lightvalve | 13:747daba9cf59 | 1892 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1893 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1894 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1895 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1896 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1897 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1898 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1899 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1900 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1901 | } |
Lightvalve | 13:747daba9cf59 | 1902 | } |
Lightvalve | 170:42c938a40313 | 1903 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1904 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1905 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1906 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1907 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1908 | } |
Lightvalve | 13:747daba9cf59 | 1909 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1910 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1911 | } |
Lightvalve | 14:8e7590227d22 | 1912 | |
Lightvalve | 14:8e7590227d22 | 1913 | |
Lightvalve | 13:747daba9cf59 | 1914 | break; |
Lightvalve | 13:747daba9cf59 | 1915 | } |
Lightvalve | 14:8e7590227d22 | 1916 | |
Lightvalve | 14:8e7590227d22 | 1917 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1918 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1919 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1920 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1921 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1922 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1923 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1924 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1925 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1926 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1927 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1928 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1929 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1930 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1931 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1932 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 30:8d561f16383b | 1933 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1934 | 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 | 1935 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1936 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1937 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1938 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1939 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1940 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1941 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1942 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1943 | |
Lightvalve | 30:8d561f16383b | 1944 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1945 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1946 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1947 | |
Lightvalve | 30:8d561f16383b | 1948 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1949 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1950 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1951 | |
Lightvalve | 30:8d561f16383b | 1952 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1953 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1954 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1955 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1956 | |
Lightvalve | 60:64181f1d3e60 | 1957 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1958 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1959 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1960 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1961 | } else { |
Lightvalve | 13:747daba9cf59 | 1962 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1963 | } |
Lightvalve | 61:bc8c8270f0ab | 1964 | |
Lightvalve | 60:64181f1d3e60 | 1965 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1966 | |
Lightvalve | 13:747daba9cf59 | 1967 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1968 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1969 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1970 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1971 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1972 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1973 | |
Lightvalve | 13:747daba9cf59 | 1974 | } |
Lightvalve | 19:23b7c1ad8683 | 1975 | } else { |
Lightvalve | 14:8e7590227d22 | 1976 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1977 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1978 | 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 | 1979 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1980 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1981 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1982 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1983 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1984 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1985 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1986 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1987 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1988 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1989 | } |
Lightvalve | 14:8e7590227d22 | 1990 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1991 | |
Lightvalve | 30:8d561f16383b | 1992 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1993 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1994 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1995 | |
Lightvalve | 14:8e7590227d22 | 1996 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1997 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1998 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1999 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2000 | } else { |
Lightvalve | 13:747daba9cf59 | 2001 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2002 | } |
Lightvalve | 14:8e7590227d22 | 2003 | |
Lightvalve | 13:747daba9cf59 | 2004 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2005 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2006 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2007 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2008 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2009 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2010 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2011 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2012 | } |
Lightvalve | 13:747daba9cf59 | 2013 | } |
Lightvalve | 14:8e7590227d22 | 2014 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2015 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2016 | 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 | 2017 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2018 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2019 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2020 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2021 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2022 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2023 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2024 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2025 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2026 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2027 | } |
Lightvalve | 14:8e7590227d22 | 2028 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2029 | |
Lightvalve | 30:8d561f16383b | 2030 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2031 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2032 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2033 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2034 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2035 | |
Lightvalve | 14:8e7590227d22 | 2036 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2037 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2038 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2039 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2040 | } else { |
Lightvalve | 60:64181f1d3e60 | 2041 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2042 | } |
Lightvalve | 14:8e7590227d22 | 2043 | |
Lightvalve | 13:747daba9cf59 | 2044 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2045 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2046 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2047 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2048 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2049 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2050 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2051 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2052 | |
Lightvalve | 170:42c938a40313 | 2053 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2054 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2055 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2056 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2057 | |
Lightvalve | 60:64181f1d3e60 | 2058 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2059 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2060 | } |
Lightvalve | 13:747daba9cf59 | 2061 | } |
Lightvalve | 14:8e7590227d22 | 2062 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2063 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2064 | 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 | 2065 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2066 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2067 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2068 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2069 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2070 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2071 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2072 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2073 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2074 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2075 | } |
Lightvalve | 14:8e7590227d22 | 2076 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2077 | |
Lightvalve | 30:8d561f16383b | 2078 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2079 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2080 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2081 | |
Lightvalve | 14:8e7590227d22 | 2082 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2083 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2084 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2085 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2086 | } else { |
Lightvalve | 13:747daba9cf59 | 2087 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2088 | } |
Lightvalve | 13:747daba9cf59 | 2089 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2090 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2091 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2092 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2093 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2094 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2095 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2096 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2097 | } |
Lightvalve | 13:747daba9cf59 | 2098 | } |
Lightvalve | 14:8e7590227d22 | 2099 | } else { |
Lightvalve | 30:8d561f16383b | 2100 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2101 | 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 | 2102 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2103 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2104 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2105 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2106 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2107 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2108 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2109 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2110 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2111 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2112 | } |
Lightvalve | 14:8e7590227d22 | 2113 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2114 | |
Lightvalve | 30:8d561f16383b | 2115 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2116 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2117 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2118 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2119 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2120 | |
Lightvalve | 60:64181f1d3e60 | 2121 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2122 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2123 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2124 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2125 | } else { |
Lightvalve | 13:747daba9cf59 | 2126 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2127 | } |
Lightvalve | 14:8e7590227d22 | 2128 | |
Lightvalve | 13:747daba9cf59 | 2129 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2130 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2131 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2132 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2133 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2134 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2135 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2136 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2137 | |
Lightvalve | 170:42c938a40313 | 2138 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2139 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2140 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2141 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2142 | |
Lightvalve | 57:f4819de54e7a | 2143 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2144 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2145 | } |
Lightvalve | 13:747daba9cf59 | 2146 | } |
Lightvalve | 13:747daba9cf59 | 2147 | } |
Lightvalve | 14:8e7590227d22 | 2148 | } |
Lightvalve | 13:747daba9cf59 | 2149 | break; |
Lightvalve | 13:747daba9cf59 | 2150 | } |
Lightvalve | 14:8e7590227d22 | 2151 | |
Lightvalve | 14:8e7590227d22 | 2152 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2153 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2154 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2155 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2156 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2157 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2158 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2159 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2160 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2161 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2162 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2163 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2164 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2165 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2166 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2167 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2168 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2169 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2170 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2171 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2172 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2173 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2174 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2175 | } |
Lightvalve | 14:8e7590227d22 | 2176 | } else { |
Lightvalve | 30:8d561f16383b | 2177 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2178 | //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 | 2179 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2180 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2181 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2182 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2183 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2184 | |
Lightvalve | 14:8e7590227d22 | 2185 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2186 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2187 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2188 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2189 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2190 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2191 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2192 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2193 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2194 | } |
Lightvalve | 30:8d561f16383b | 2195 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2196 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2197 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2198 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2199 | } |
Lightvalve | 14:8e7590227d22 | 2200 | |
Lightvalve | 14:8e7590227d22 | 2201 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2202 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2203 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2204 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2205 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2206 | } |
Lightvalve | 13:747daba9cf59 | 2207 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2208 | |
Lightvalve | 13:747daba9cf59 | 2209 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2210 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2211 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2212 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2213 | } |
Lightvalve | 14:8e7590227d22 | 2214 | |
Lightvalve | 14:8e7590227d22 | 2215 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2216 | |
Lightvalve | 13:747daba9cf59 | 2217 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2218 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2219 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2220 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2221 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2222 | } |
Lightvalve | 13:747daba9cf59 | 2223 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2224 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2225 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2226 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2227 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2228 | } |
Lightvalve | 13:747daba9cf59 | 2229 | } |
Lightvalve | 13:747daba9cf59 | 2230 | break; |
Lightvalve | 13:747daba9cf59 | 2231 | } |
Lightvalve | 58:2eade98630e2 | 2232 | |
Lightvalve | 57:f4819de54e7a | 2233 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2234 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2235 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2236 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2237 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2238 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2239 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2240 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2241 | } |
Lightvalve | 57:f4819de54e7a | 2242 | break; |
Lightvalve | 57:f4819de54e7a | 2243 | } |
Lightvalve | 58:2eade98630e2 | 2244 | |
Lightvalve | 169:645207e160ca | 2245 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2246 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2247 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2248 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2249 | } else { |
Lightvalve | 169:645207e160ca | 2250 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2251 | } |
Lightvalve | 169:645207e160ca | 2252 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2253 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2254 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2255 | } else { |
Lightvalve | 169:645207e160ca | 2256 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2257 | } |
Lightvalve | 58:2eade98630e2 | 2258 | |
Lightvalve | 169:645207e160ca | 2259 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2260 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2261 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2262 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2263 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2264 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2265 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2266 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2267 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2268 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2269 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2270 | } |
Lightvalve | 169:645207e160ca | 2271 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2272 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2273 | |
Lightvalve | 169:645207e160ca | 2274 | } |
Lightvalve | 169:645207e160ca | 2275 | break; |
Lightvalve | 169:645207e160ca | 2276 | } |
Lightvalve | 169:645207e160ca | 2277 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2278 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2279 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2280 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2281 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2282 | // } |
Lightvalve | 169:645207e160ca | 2283 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2284 | // } |
Lightvalve | 169:645207e160ca | 2285 | |
Lightvalve | 169:645207e160ca | 2286 | break; |
Lightvalve | 169:645207e160ca | 2287 | } |
Lightvalve | 169:645207e160ca | 2288 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2289 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2290 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2291 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2292 | break; |
Lightvalve | 169:645207e160ca | 2293 | } |
Lightvalve | 170:42c938a40313 | 2294 | |
Lightvalve | 169:645207e160ca | 2295 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2296 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2297 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2298 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2299 | } else { |
Lightvalve | 169:645207e160ca | 2300 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2301 | } |
Lightvalve | 169:645207e160ca | 2302 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2303 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2304 | } else { |
Lightvalve | 169:645207e160ca | 2305 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2306 | } |
Lightvalve | 169:645207e160ca | 2307 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2308 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2309 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2310 | } else { |
Lightvalve | 169:645207e160ca | 2311 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2312 | } |
Lightvalve | 169:645207e160ca | 2313 | |
Lightvalve | 169:645207e160ca | 2314 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2315 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2316 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2317 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2318 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2319 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2320 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2321 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2322 | } |
Lightvalve | 169:645207e160ca | 2323 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2324 | // { |
Lightvalve | 169:645207e160ca | 2325 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2326 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2327 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2328 | // } |
Lightvalve | 170:42c938a40313 | 2329 | |
Lightvalve | 169:645207e160ca | 2330 | break; |
Lightvalve | 169:645207e160ca | 2331 | } |
Lightvalve | 57:f4819de54e7a | 2332 | |
Lightvalve | 57:f4819de54e7a | 2333 | default: |
Lightvalve | 57:f4819de54e7a | 2334 | break; |
Lightvalve | 57:f4819de54e7a | 2335 | } |
Lightvalve | 57:f4819de54e7a | 2336 | |
Lightvalve | 57:f4819de54e7a | 2337 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2338 | |
Lightvalve | 57:f4819de54e7a | 2339 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2340 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2341 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2342 | break; |
Lightvalve | 57:f4819de54e7a | 2343 | } |
Lightvalve | 57:f4819de54e7a | 2344 | |
Lightvalve | 57:f4819de54e7a | 2345 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2346 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 225:278b48b86f27 | 2347 | ////For Test LIMC////////////////////////////////////////// |
Lightvalve | 233:0a37cdd59651 | 2348 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 233:0a37cdd59651 | 2349 | // for(int i=0; i<9; i++){ |
Lightvalve | 233:0a37cdd59651 | 2350 | // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1]; |
Lightvalve | 233:0a37cdd59651 | 2351 | // } |
Lightvalve | 233:0a37cdd59651 | 2352 | // valve_ref_pos_buffer[9] = valve_pos.ref; |
Lightvalve | 233:0a37cdd59651 | 2353 | // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]); |
Lightvalve | 225:278b48b86f27 | 2354 | //////////////////////////////////////////////////////////// |
Lightvalve | 225:278b48b86f27 | 2355 | |
Lightvalve | 59:f308b1656d9c | 2356 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2357 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2358 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2359 | } else { |
Lightvalve | 67:c2812cf26c38 | 2360 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2361 | } |
Lightvalve | 57:f4819de54e7a | 2362 | break; |
Lightvalve | 57:f4819de54e7a | 2363 | } |
Lightvalve | 57:f4819de54e7a | 2364 | |
Lightvalve | 57:f4819de54e7a | 2365 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2366 | |
Lightvalve | 57:f4819de54e7a | 2367 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2368 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2369 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2370 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2371 | |
Lightvalve | 67:c2812cf26c38 | 2372 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2373 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2374 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2375 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2376 | |
Lightvalve | 139:15621998925b | 2377 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2378 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2379 | |
Lightvalve | 57:f4819de54e7a | 2380 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2381 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2382 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2383 | |
Lightvalve | 57:f4819de54e7a | 2384 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2385 | |
Lightvalve | 57:f4819de54e7a | 2386 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2387 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2388 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2389 | |
Lightvalve | 57:f4819de54e7a | 2390 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2391 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2392 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2393 | |
Lightvalve | 69:3995ffeaa786 | 2394 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2395 | 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 | 2396 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2397 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2398 | 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 | 2399 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2400 | } |
Lightvalve | 57:f4819de54e7a | 2401 | 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 | 2402 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2403 | |
Lightvalve | 57:f4819de54e7a | 2404 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2405 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2406 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2407 | // 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 | 2408 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2409 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2410 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2411 | 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 | 2412 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2413 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2414 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2415 | } |
Lightvalve | 57:f4819de54e7a | 2416 | 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 | 2417 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2418 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2419 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2420 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2421 | |
Lightvalve | 57:f4819de54e7a | 2422 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2423 | |
Lightvalve | 67:c2812cf26c38 | 2424 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2425 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2426 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2427 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2428 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2429 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2430 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2431 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2432 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2433 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2434 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2435 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2436 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2437 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2438 | } |
Lightvalve | 67:c2812cf26c38 | 2439 | } |
Lightvalve | 57:f4819de54e7a | 2440 | |
Lightvalve | 57:f4819de54e7a | 2441 | } else { |
Lightvalve | 57:f4819de54e7a | 2442 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2443 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2444 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2445 | |
Lightvalve | 209:ebc69d6ee6f1 | 2446 | 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 | 2447 | |
Lightvalve | 72:3436ce769b1e | 2448 | 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 | 2449 | |
Lightvalve | 72:3436ce769b1e | 2450 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2451 | |
Lightvalve | 169:645207e160ca | 2452 | |
Lightvalve | 72:3436ce769b1e | 2453 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2454 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2455 | } else { |
Lightvalve | 72:3436ce769b1e | 2456 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2457 | } |
Lightvalve | 57:f4819de54e7a | 2458 | |
Lightvalve | 57:f4819de54e7a | 2459 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2460 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2461 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2462 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2463 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2464 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2465 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2466 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2467 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2468 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2469 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2470 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2471 | } |
Lightvalve | 57:f4819de54e7a | 2472 | } |
Lightvalve | 61:bc8c8270f0ab | 2473 | |
Lightvalve | 57:f4819de54e7a | 2474 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2475 | |
Lightvalve | 67:c2812cf26c38 | 2476 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2477 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2478 | |
Lightvalve | 57:f4819de54e7a | 2479 | } |
Lightvalve | 169:645207e160ca | 2480 | |
Lightvalve | 72:3436ce769b1e | 2481 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2482 | |
Lightvalve | 133:22ab22818e01 | 2483 | |
Lightvalve | 57:f4819de54e7a | 2484 | break; |
Lightvalve | 57:f4819de54e7a | 2485 | } |
Lightvalve | 58:2eade98630e2 | 2486 | |
Lightvalve | 57:f4819de54e7a | 2487 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2488 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2489 | break; |
Lightvalve | 57:f4819de54e7a | 2490 | } |
Lightvalve | 169:645207e160ca | 2491 | |
Lightvalve | 138:a843f32ced33 | 2492 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2493 | |
Lightvalve | 169:645207e160ca | 2494 | |
Lightvalve | 139:15621998925b | 2495 | 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 | 2496 | 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 | 2497 | |
Lightvalve | 170:42c938a40313 | 2498 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2499 | |
Lightvalve | 218:066030f7951f | 2500 | //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 | 2501 | float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 169:645207e160ca | 2502 | |
Lightvalve | 138:a843f32ced33 | 2503 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2504 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2505 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2506 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2507 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2508 | } else { |
Lightvalve | 138:a843f32ced33 | 2509 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2510 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2511 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2512 | } else { |
Lightvalve | 138:a843f32ced33 | 2513 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2514 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2515 | } |
Lightvalve | 138:a843f32ced33 | 2516 | } |
Lightvalve | 138:a843f32ced33 | 2517 | float tau = 0.01f; |
Lightvalve | 142:43026242815a | 2518 | float K_valve = 0.0004f; |
Lightvalve | 169:645207e160ca | 2519 | |
Lightvalve | 138:a843f32ced33 | 2520 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2521 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2522 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2523 | } else { |
Lightvalve | 138:a843f32ced33 | 2524 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2525 | } |
Lightvalve | 138:a843f32ced33 | 2526 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2527 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2528 | |
Lightvalve | 139:15621998925b | 2529 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2530 | |
Lightvalve | 138:a843f32ced33 | 2531 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2532 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2533 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2534 | |
Lightvalve | 138:a843f32ced33 | 2535 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2536 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2537 | |
Lightvalve | 212:ec41f1449ef9 | 2538 | float k3 = 2000.0f; //2000 //20000 |
Lightvalve | 142:43026242815a | 2539 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2540 | float rho3 = 3.2f; |
Lightvalve | 212:ec41f1449ef9 | 2541 | float rho4 = 10000000.0f; //25000000.0f; |
Lightvalve | 218:066030f7951f | 2542 | float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2543 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2544 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2545 | |
Lightvalve | 139:15621998925b | 2546 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2547 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2548 | } else { |
Lightvalve | 139:15621998925b | 2549 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2550 | } |
Lightvalve | 169:645207e160ca | 2551 | |
Lightvalve | 138:a843f32ced33 | 2552 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2553 | x_4_des_old = x_4_des; |
Lightvalve | 212:ec41f1449ef9 | 2554 | float V_input = 0.0f; |
Lightvalve | 139:15621998925b | 2555 | 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 | 2556 | // //V_out LPF |
Lightvalve | 212:ec41f1449ef9 | 2557 | // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz |
Lightvalve | 212:ec41f1449ef9 | 2558 | // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out); |
Lightvalve | 212:ec41f1449ef9 | 2559 | |
Lightvalve | 218:066030f7951f | 2560 | // float rho_gamma = 5000.0f;//5000 for change //50000 for not change |
Lightvalve | 218:066030f7951f | 2561 | // 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 | 2562 | // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2563 | // |
Lightvalve | 218:066030f7951f | 2564 | // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f; |
Lightvalve | 218:066030f7951f | 2565 | // else if(gamma_hat < 100.0f) gamma_hat = 100.0f; |
Lightvalve | 218:066030f7951f | 2566 | |
Lightvalve | 218:066030f7951f | 2567 | float rho_a = 0.00001f; |
Lightvalve | 218:066030f7951f | 2568 | float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err); |
Lightvalve | 218:066030f7951f | 2569 | a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2570 | |
Lightvalve | 218:066030f7951f | 2571 | if(a_hat > -3000000.0f) a_hat = -3000000.0f; |
Lightvalve | 218:066030f7951f | 2572 | else if(a_hat < -30000000.0f) a_hat = -30000000.0f; |
Lightvalve | 218:066030f7951f | 2573 | |
Lightvalve | 169:645207e160ca | 2574 | break; |
Lightvalve | 138:a843f32ced33 | 2575 | } |
Lightvalve | 171:bfc1fd2629d8 | 2576 | |
Lightvalve | 170:42c938a40313 | 2577 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2578 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2579 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2580 | |
Lightvalve | 170:42c938a40313 | 2581 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2582 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2583 | |
Lightvalve | 170:42c938a40313 | 2584 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2585 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2586 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2587 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2588 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2589 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2590 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2591 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2592 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2593 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2594 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2595 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2596 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2597 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2598 | } |
Lightvalve | 173:68c7914679ec | 2599 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2600 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2601 | } |
Lightvalve | 173:68c7914679ec | 2602 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2603 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2604 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2605 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2606 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2607 | |
Lightvalve | 179:d5377766d7ea | 2608 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2609 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2610 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2611 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2612 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2613 | } |
Lightvalve | 171:bfc1fd2629d8 | 2614 | |
Lightvalve | 170:42c938a40313 | 2615 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2616 | |
Lightvalve | 170:42c938a40313 | 2617 | |
Lightvalve | 170:42c938a40313 | 2618 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2619 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2620 | batch++; |
Lightvalve | 170:42c938a40313 | 2621 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2622 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2623 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2624 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2625 | } |
Lightvalve | 170:42c938a40313 | 2626 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2627 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2628 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2629 | |
Lightvalve | 170:42c938a40313 | 2630 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2631 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2632 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2633 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2634 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2635 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2636 | } |
Lightvalve | 170:42c938a40313 | 2637 | } |
Lightvalve | 170:42c938a40313 | 2638 | } |
Lightvalve | 170:42c938a40313 | 2639 | |
Lightvalve | 170:42c938a40313 | 2640 | else { |
Lightvalve | 170:42c938a40313 | 2641 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2642 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2643 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2644 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2645 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2646 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2647 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2648 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2649 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2650 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2651 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2652 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2653 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2654 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2655 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2656 | } |
Lightvalve | 170:42c938a40313 | 2657 | |
Lightvalve | 170:42c938a40313 | 2658 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2659 | } |
Lightvalve | 170:42c938a40313 | 2660 | |
Lightvalve | 170:42c938a40313 | 2661 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2662 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2663 | |
Lightvalve | 170:42c938a40313 | 2664 | break; |
Lightvalve | 170:42c938a40313 | 2665 | } |
Lightvalve | 14:8e7590227d22 | 2666 | |
Lightvalve | 12:6f2531038ea4 | 2667 | default: |
Lightvalve | 12:6f2531038ea4 | 2668 | break; |
Lightvalve | 12:6f2531038ea4 | 2669 | } |
Lightvalve | 14:8e7590227d22 | 2670 | |
Lightvalve | 57:f4819de54e7a | 2671 | |
Lightvalve | 57:f4819de54e7a | 2672 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2673 | |
Lightvalve | 57:f4819de54e7a | 2674 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2675 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2676 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2677 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2678 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2679 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2680 | |
Lightvalve | 57:f4819de54e7a | 2681 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2682 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2683 | |
Lightvalve | 57:f4819de54e7a | 2684 | |
Lightvalve | 57:f4819de54e7a | 2685 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2686 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2687 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2688 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2689 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2690 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2691 | |
Lightvalve | 57:f4819de54e7a | 2692 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2693 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2694 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2695 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2696 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2697 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2698 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2699 | } |
Lightvalve | 57:f4819de54e7a | 2700 | |
Lightvalve | 57:f4819de54e7a | 2701 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2702 | |
Lightvalve | 67:c2812cf26c38 | 2703 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2704 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2705 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2706 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2707 | // 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 | 2708 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2709 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2710 | |
Lightvalve | 57:f4819de54e7a | 2711 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2712 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2713 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2714 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2715 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2716 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2717 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2718 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2719 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2720 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2721 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2722 | } |
Lightvalve | 57:f4819de54e7a | 2723 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2724 | } else { |
Lightvalve | 57:f4819de54e7a | 2725 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2726 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2727 | } |
Lightvalve | 57:f4819de54e7a | 2728 | |
Lightvalve | 57:f4819de54e7a | 2729 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2730 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2731 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2732 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2733 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2734 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2735 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2736 | |
Lightvalve | 57:f4819de54e7a | 2737 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2738 | |
Lightvalve | 57:f4819de54e7a | 2739 | } else { |
Lightvalve | 57:f4819de54e7a | 2740 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2741 | } |
Lightvalve | 57:f4819de54e7a | 2742 | |
Lightvalve | 57:f4819de54e7a | 2743 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2744 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2745 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2746 | |
Lightvalve | 57:f4819de54e7a | 2747 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2748 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2749 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2750 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2751 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2752 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2753 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2754 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2755 | |
Lightvalve | 89:a7b45368ea0f | 2756 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2757 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2758 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2759 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2760 | |
Lightvalve | 135:79885a39c161 | 2761 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2762 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2763 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2764 | } |
Lightvalve | 169:645207e160ca | 2765 | |
Lightvalve | 67:c2812cf26c38 | 2766 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2767 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2768 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2769 | |
jobuuu | 7:e9086c72bb22 | 2770 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2771 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2772 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2773 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2774 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2775 | } |
Lightvalve | 169:645207e160ca | 2776 | |
Lightvalve | 49:e7bcfc244d40 | 2777 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2778 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2779 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2780 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2781 | } |
Lightvalve | 49:e7bcfc244d40 | 2782 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2783 | |
Lightvalve | 19:23b7c1ad8683 | 2784 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2785 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2786 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2787 | |
Lightvalve | 30:8d561f16383b | 2788 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2789 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2790 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2791 | } else { |
jobuuu | 2:a1c0a37df760 | 2792 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2793 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2794 | } |
Lightvalve | 13:747daba9cf59 | 2795 | |
jobuuu | 1:e04e563be5ce | 2796 | //pwm |
Lightvalve | 30:8d561f16383b | 2797 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2798 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2799 | |
Lightvalve | 61:bc8c8270f0ab | 2800 | |
Lightvalve | 233:0a37cdd59651 | 2801 | |
Lightvalve | 233:0a37cdd59651 | 2802 | /* |
Lightvalve | 237:aa3863117889 | 2803 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 233:0a37cdd59651 | 2804 | |
Lightvalve | 54:647072f5307a | 2805 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2806 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2807 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2808 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2809 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2810 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2811 | 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 | 2812 | } |
Lightvalve | 57:f4819de54e7a | 2813 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2814 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2815 | 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 | 2816 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2817 | 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 | 2818 | } |
Lightvalve | 52:8ea76864368a | 2819 | } |
Lightvalve | 52:8ea76864368a | 2820 | } |
Lightvalve | 233:0a37cdd59651 | 2821 | |
Lightvalve | 56:6f50d9d3bfee | 2822 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 179:d5377766d7ea | 2823 | CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 54:647072f5307a | 2824 | } |
Lightvalve | 58:2eade98630e2 | 2825 | |
Lightvalve | 58:2eade98630e2 | 2826 | |
Lightvalve | 171:bfc1fd2629d8 | 2827 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2828 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2829 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2830 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2831 | } else { |
Lightvalve | 131:d08121ac87ba | 2832 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2833 | } |
Lightvalve | 169:645207e160ca | 2834 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2835 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2836 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2837 | } else { |
Lightvalve | 169:645207e160ca | 2838 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2839 | } |
Lightvalve | 169:645207e160ca | 2840 | |
Lightvalve | 169:645207e160ca | 2841 | |
Lightvalve | 169:645207e160ca | 2842 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2843 | } |
Lightvalve | 58:2eade98630e2 | 2844 | |
Lightvalve | 57:f4819de54e7a | 2845 | //If it doesn't rest, below can can not work. |
Lightvalve | 233:0a37cdd59651 | 2846 | for (int can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2847 | ; |
Lightvalve | 57:f4819de54e7a | 2848 | } |
Lightvalve | 58:2eade98630e2 | 2849 | |
Lightvalve | 169:645207e160ca | 2850 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2851 | //PWM |
Lightvalve | 209:ebc69d6ee6f1 | 2852 | CAN_TX_PWM((int16_t) (torq.ref)); //1500 |
Lightvalve | 209:ebc69d6ee6f1 | 2853 | // CAN_TX_PWM((int16_t) (f_future[1])); //1500 |
Lightvalve | 54:647072f5307a | 2854 | } |
Lightvalve | 179:d5377766d7ea | 2855 | |
Lightvalve | 56:6f50d9d3bfee | 2856 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2857 | //valve position |
Lightvalve | 212:ec41f1449ef9 | 2858 | //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 | 2859 | CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600 |
Lightvalve | 54:647072f5307a | 2860 | } |
Lightvalve | 237:aa3863117889 | 2861 | |
Lightvalve | 233:0a37cdd59651 | 2862 | |
Lightvalve | 20:806196fda269 | 2863 | |
Lightvalve | 54:647072f5307a | 2864 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 237:aa3863117889 | 2865 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 237:aa3863117889 | 2866 | CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 237:aa3863117889 | 2867 | } |
Lightvalve | 237:aa3863117889 | 2868 | if (flag_delay_test == 1){ |
Lightvalve | 237:aa3863117889 | 2869 | CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 237:aa3863117889 | 2870 | } |
Lightvalve | 52:8ea76864368a | 2871 | |
Lightvalve | 54:647072f5307a | 2872 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2873 | } |
Lightvalve | 54:647072f5307a | 2874 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 237:aa3863117889 | 2875 | |
Lightvalve | 237:aa3863117889 | 2876 | */ |
Lightvalve | 237:aa3863117889 | 2877 | |
Lightvalve | 20:806196fda269 | 2878 | } |
Lightvalve | 52:8ea76864368a | 2879 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2880 | |
Lightvalve | 58:2eade98630e2 | 2881 | } |