Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@170:42c938a40313, 2020-11-18 (annotated)

Committer:
Lightvalve
Date:
Wed Nov 18 12:03:39 2020 +0000
Revision:
170:42c938a40313
Parent:
169:645207e160ca
Child:
171:bfc1fd2629d8
201118-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 170:42c938a40313 1 //201118_1
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 61:bc8c8270f0ab 14
Lightvalve 61:bc8c8270f0ab 15 using namespace std;
Lightvalve 61:bc8c8270f0ab 16 Timer t;
GiJeongKim 0:51c43836c1d7 17
Lightvalve 31:66738bfecec5 18 ///191008////
Lightvalve 31:66738bfecec5 19
jobuuu 7:e9086c72bb22 20 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 21 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 22 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 23 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 24 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 25 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 26 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 27 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 28
Lightvalve 24:ef6e1092e9e6 29
jobuuu 7:e9086c72bb22 30 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 31 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 32 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 33
jobuuu 7:e9086c72bb22 34 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 35 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 36 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 37 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 38
jobuuu 7:e9086c72bb22 39 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 40 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 41 DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 42 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 43 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 44 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 45 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 46
jobuuu 7:e9086c72bb22 47 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 48 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 49
jobuuu 7:e9086c72bb22 50 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 51 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 52 CANMessage msg;
Lightvalve 11:82d8768d7351 53 void onMsgReceived()
Lightvalve 11:82d8768d7351 54 {
Lightvalve 11:82d8768d7351 55 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 56 }
jobuuu 2:a1c0a37df760 57
jobuuu 7:e9086c72bb22 58 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 59 State pos;
jobuuu 7:e9086c72bb22 60 State vel;
jobuuu 7:e9086c72bb22 61 State Vout;
jobuuu 7:e9086c72bb22 62 State torq;
jobuuu 7:e9086c72bb22 63 State pres_A;
jobuuu 7:e9086c72bb22 64 State pres_B;
jobuuu 7:e9086c72bb22 65 State cur;
Lightvalve 14:8e7590227d22 66 State valve_pos;
Lightvalve 14:8e7590227d22 67
Lightvalve 14:8e7590227d22 68 State INIT_Vout;
Lightvalve 14:8e7590227d22 69 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 70 State INIT_Pos;
Lightvalve 14:8e7590227d22 71 State INIT_torq;
jobuuu 5:a4319f79457b 72
Lightvalve 19:23b7c1ad8683 73 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 74 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 75 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 76 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 77
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 84
Lightvalve 61:bc8c8270f0ab 85
Lightvalve 61:bc8c8270f0ab 86
Lightvalve 61:bc8c8270f0ab 87
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89 // =============================================================================
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91
Lightvalve 12:6f2531038ea4 92 /*******************************************************************************
Lightvalve 12:6f2531038ea4 93 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 94 ******************************************************************************/
Lightvalve 13:747daba9cf59 95 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 96 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 97 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 98 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 99 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 100 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 101 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 102 };
Lightvalve 12:6f2531038ea4 103
Lightvalve 12:6f2531038ea4 104 /*******************************************************************************
Lightvalve 12:6f2531038ea4 105 * CONTROL MODE
Lightvalve 12:6f2531038ea4 106 ******************************************************************************/
Lightvalve 13:747daba9cf59 107 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 108 //control mode
Lightvalve 12:6f2531038ea4 109 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 110 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 111 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 112
Lightvalve 47:fdcb8bd86fd6 113 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 114 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 122 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 123
Lightvalve 14:8e7590227d22 124 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 125 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 126 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 170:42c938a40313 127 MODE_RL, //14
Lightvalve 13:747daba9cf59 128
Lightvalve 12:6f2531038ea4 129 //utility
Lightvalve 12:6f2531038ea4 130 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 131 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 132 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 133 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 134 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 135 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 136 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 137
Lightvalve 12:6f2531038ea4 138 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 139 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 140 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 141 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 142 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 143 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 144 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 145 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 146 };
Lightvalve 12:6f2531038ea4 147
Lightvalve 65:a2d7c63419c2 148 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 149 {
Lightvalve 169:645207e160ca 150 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 151 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 152
Lightvalve 169:645207e160ca 153 /** Configure the main internal regulator output voltage
Lightvalve 169:645207e160ca 154 */
Lightvalve 169:645207e160ca 155 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 156 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 169:645207e160ca 157 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 158 */
Lightvalve 169:645207e160ca 159 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 169:645207e160ca 160 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 169:645207e160ca 161 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 162 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 169:645207e160ca 163 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 169:645207e160ca 164 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 169:645207e160ca 165 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 169:645207e160ca 166 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 167 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 168 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 169 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 170 //Error_Handler();
Lightvalve 169:645207e160ca 171 }
Lightvalve 169:645207e160ca 172 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 173 */
Lightvalve 169:645207e160ca 174 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 175 //Error_Handler();
Lightvalve 169:645207e160ca 176 }
Lightvalve 169:645207e160ca 177 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 178 */
Lightvalve 169:645207e160ca 179 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 180 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 181 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 182 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 183 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 184 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 185
Lightvalve 169:645207e160ca 186 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 169:645207e160ca 187 //Error_Handler();
Lightvalve 169:645207e160ca 188 }
Lightvalve 65:a2d7c63419c2 189 }
Lightvalve 65:a2d7c63419c2 190
Lightvalve 99:7bbcb3c0fb06 191 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 192 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 193 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 194 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 195 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 196
Lightvalve 73:f80dc3970c99 197 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 198
Lightvalve 169:645207e160ca 199 const float h1[num_input][16] = {
Lightvalve 169:645207e160ca 200 {-1.3752100467681885f,0.9850414395332336f,0.12903714179992676f,-0.23237967491149902f,-1.5664141178131104f,0.36565715074539185f,-0.17472904920578003f,-0.3780243396759033f,-0.5318458676338196f,-0.6931207776069641f,-0.24376395344734192f,-3.9280478954315186f,-0.259793758392334f,-0.5339483022689819f,-0.2571594715118408f,-0.4960939884185791f},
Lightvalve 169:645207e160ca 201 {-1.184814453125f,0.8704654574394226f,-0.3927857577800751f,-0.40050771832466125f,-1.4921096563339233f,0.5157514810562134f,-0.4054011106491089f,-0.3723553717136383f,-0.264297217130661f,-0.4598728120326996f,-0.2805407643318176f,-2.543855905532837f,0.24001067876815796f,-0.9143947958946228f,-0.20967772603034973f,-0.46271881461143494f},
Lightvalve 169:645207e160ca 202 {-0.9112814664840698f,0.6714562773704529f,0.36391180753707886f,-0.6117674708366394f,-1.1069424152374268f,0.9712548851966858f,0.2872133255004883f,-0.059537652879953384f,-0.28272250294685364f,-0.4464949667453766f,-0.3544096052646637f,-1.0609019994735718f,0.0019771659281104803f,-0.2590618431568146f,0.05590221285820007f,-1.0201798677444458f},
Lightvalve 169:645207e160ca 203 {-0.2895396053791046f,-0.01403216365724802f,0.39742106199264526f,0.20069332420825958f,-0.6715657114982605f,0.5361601710319519f,-0.11584559082984924f,0.3479021489620209f,-0.01779201813042164f,-0.017457854002714157f,0.08943979442119598f,0.845181941986084f,-0.15994226932525635f,-0.14522784948349f,-0.2961459457874298f,-0.7345172166824341f},
Lightvalve 169:645207e160ca 204 {1.1968307495117188f,-0.8280011415481567f,-0.0051451027393341064f,0.39627134799957275f,0.3181920051574707f,-0.05303953215479851f,0.1294034719467163f,0.16528914868831635f,0.07129872590303421f,0.7101694941520691f,0.34140077233314514f,1.623598575592041f,-0.06323867291212082f,0.27155500650405884f,-0.3865056037902832f,-0.30631402134895325f},
Lightvalve 169:645207e160ca 205 {3.009206533432007f,-3.122997522354126f,0.21773302555084229f,0.7692314386367798f,2.249300003051758f,-2.275317907333374f,0.16514194011688232f,0.11058115214109421f,0.17132356762886047f,2.417614459991455f,-0.25413116812705994f,2.2743594646453857f,-0.25959381461143494f,0.8003392219543457f,-0.4132833778858185f,1.4499995708465576f},
Lightvalve 169:645207e160ca 206 {-0.7179104089736938f,0.8526995182037354f,-0.2501986622810364f,-0.875395655632019f,-0.5985659956932068f,2.8744397163391113f,0.06014183163642883f,-0.8439451456069946f,-0.05617062747478485f,-0.640657901763916f,0.14294663071632385f,3.381211519241333f,-0.1638868898153305f,-0.2370987981557846f,-0.15618428587913513f,-0.7710326910018921f},
Lightvalve 169:645207e160ca 207 {-0.5504567623138428f,0.25199615955352783f,-0.26619744300842285f,-0.08971554040908813f,-0.3043712079524994f,0.903326153755188f,-0.17925891280174255f,-0.6943695545196533f,-0.25526830554008484f,0.20558907091617584f,0.09723648428916931f,2.3618743419647217f,0.38060376048088074f,-0.1769549399614334f,0.04303058981895447f,-0.12222103029489517f},
Lightvalve 169:645207e160ca 208 {0.06810358166694641f,0.17962348461151123f,0.10248100757598877f,-0.30372604727745056f,0.4354613721370697f,-0.7276828289031982f,-0.07246989011764526f,-0.6118704676628113f,-0.42743170261383057f,1.453460693359375f,-0.30540645122528076f,1.6834946870803833f,0.23858578503131866f,0.21455851197242737f,-0.30555272102355957f,0.8063939213752747f},
Lightvalve 169:645207e160ca 209 {-0.0713198110461235f,-0.4495846927165985f,0.18462657928466797f,0.05500239133834839f,0.7719969153404236f,-1.2848507165908813f,-0.2990540862083435f,-0.22474081814289093f,-0.1015893891453743f,0.7663454413414001f,-0.016399379819631577f,-0.03539150580763817f,0.38201630115509033f,-0.09081173688173294f,0.3484981060028076f,0.7820040583610535f},
Lightvalve 169:645207e160ca 210 {0.33533185720443726f,0.13371603190898895f,0.37182438373565674f,0.39484986662864685f,0.35771995782852173f,-1.3015228509902954f,-0.20339298248291016f,-0.14145439863204956f,-0.5059540271759033f,0.8015591502189636f,0.34025880694389343f,-0.6485148072242737f,-0.05657690018415451f,0.09265313297510147f,0.26688337326049805f,0.2284013032913208f},
Lightvalve 169:645207e160ca 211 {-0.4380135238170624f,-0.15535405278205872f,-0.40320003032684326f,0.0452105812728405f,0.23505118489265442f,-0.8950125575065613f,0.1533789038658142f,0.1997886300086975f,-0.24218705296516418f,0.45601460337638855f,-0.42232224345207214f,-0.5756524205207825f,0.15488487482070923f,-0.013335001654922962f,0.10493969917297363f,0.23898905515670776f},
Lightvalve 169:645207e160ca 212 {-0.02198643982410431f,0.009633726440370083f,0.19847965240478516f,0.0860355794429779f,0.336037278175354f,-0.277248352766037f,-0.2404318004846573f,-0.07731665670871735f,-0.2765587270259857f,-0.1708865910768509f,-0.11712735891342163f,-0.7335506677627563f,0.10241620987653732f,-0.06552530825138092f,-0.22268100082874298f,-0.13819573819637299f},
Lightvalve 169:645207e160ca 213 {0.020149538293480873f,-0.03840681165456772f,0.4127817749977112f,-0.2523573637008667f,-0.21765978634357452f,-0.4540342092514038f,-0.32001304626464844f,-0.5396589040756226f,-0.21919101476669312f,-0.2550864815711975f,-0.20302052795886993f,-0.2918916642665863f,-0.3021690249443054f,-0.19007131457328796f,0.0479682981967926f,0.28083792328834534f},
Lightvalve 169:645207e160ca 214 {0.19955825805664062f,0.13080951571464539f,0.20282304286956787f,-0.21126452088356018f,0.15339018404483795f,-0.06708966940641403f,0.04202890396118164f,0.06752092391252518f,0.25217023491859436f,-0.20238792896270752f,-0.2873592674732208f,-0.42253321409225464f,0.11435109376907349f,-0.2376958578824997f,0.0668090283870697f,0.04261681064963341f},
Lightvalve 169:645207e160ca 215 {-0.03747318685054779f,-0.29164087772369385f,-0.40439701080322266f,-0.3783135414123535f,-0.40124887228012085f,-0.026558339595794678f,-0.15568238496780396f,-0.08766567707061768f,0.21709603071212769f,-0.35802650451660156f,-0.4817592203617096f,-0.3809756338596344f,-0.2601439654827118f,-0.1273980438709259f,-0.08245879411697388f,0.014104350470006466f},
Lightvalve 169:645207e160ca 216 {0.16147102415561676f,-0.5628581643104553f,0.16706281900405884f,-0.1172998696565628f,-0.03297983109951019f,-0.9104568362236023f,-0.041414469480514526f,0.1465616226196289f,0.04248951002955437f,0.007101915311068296f,-0.3614332377910614f,-0.48312774300575256f,0.12316523492336273f,0.3939219117164612f,0.29427415132522583f,0.3038717210292816f},
Lightvalve 65:a2d7c63419c2 217 };
Lightvalve 65:a2d7c63419c2 218
Lightvalve 169:645207e160ca 219 const float h2[16][16] = {
Lightvalve 168:f05a45d5f318 220 {0.33418041467666626f,2.9079723358154297f,-0.06966331601142883f,-0.009902028366923332f,2.812035322189331f,4.195849418640137f,-0.038234543055295944f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.10707370936870575f,-0.20333009958267212f,-0.031739287078380585f,-3.289416551589966f,-1.172767996788025f,-0.6248859763145447f},
Lightvalve 169:645207e160ca 221 {0.11070519685745239f,-2.3348469734191895f,0.057057321071624756f,-0.10134492069482803f,-5.252432346343994f,-1.3715343475341797f,-0.8426902890205383f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-7.361403465270996f,-0.858361005783081f,0.0845860168337822f,2.2169580459594727f,-3.0816471576690674f,-1.0190033912658691f},
Lightvalve 169:645207e160ca 222 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve 169:645207e160ca 223 {-0.1391567885875702f,0.03293241187930107f,-0.2894435524940491f,0.25554025173187256f,0.08946844935417175f,0.1340968757867813f,-0.39087218046188354f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.7025435566902161f,0.05798906087875366f,-0.5013425946235657f,-0.030901746824383736f,-0.06675297021865845f,-0.0446302704513073f},
Lightvalve 169:645207e160ca 224 {-2.245600938796997f,1.6008015871047974f,-0.25313520431518555f,0.1469619870185852f,1.6072996854782104f,-1.3637473583221436f,-0.5957030653953552f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-6.811410427093506f,-0.7977238893508911f,-0.022602174431085587f,-1.6454986333847046f,0.5441725850105286f,-0.7979243397712708f},
Lightvalve 169:645207e160ca 225 {0.5210384130477905f,-0.11346126347780228f,-0.3519742488861084f,0.29306867718696594f,-0.3572634160518646f,1.75344979763031f,-0.744201123714447f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.398893117904663f,-0.48980283737182617f,-0.45957082509994507f,0.5487804412841797f,-0.7850930690765381f,-0.7663227319717407f},
Lightvalve 169:645207e160ca 226 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 169:645207e160ca 227 {-0.007747650612145662f,0.3667842745780945f,0.33083590865135193f,-0.38213321566581726f,-0.14358049631118774f,-0.2546055316925049f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.49078798294067383f,-0.3058888614177704f,-0.31673234701156616f,0.44664251804351807f,-0.9339061975479126f,-0.1061311885714531f},
Lightvalve 169:645207e160ca 228 {-0.17694538831710815f,0.1767565757036209f,-0.11379697918891907f,-0.07116051763296127f,0.041274964809417725f,-0.517110288143158f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.3456110656261444f,-0.24793067574501038f,-0.4166972041130066f,-0.30618393421173096f,-0.33565962314605713f,-0.48154377937316895f},
Lightvalve 169:645207e160ca 229 {0.5043365359306335f,0.1850307136774063f,-0.13502129912376404f,-0.25706031918525696f,-0.8451530337333679f,-0.9415315389633179f,-0.2777014970779419f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,1.5622152090072632f,-0.19312366843223572f,0.1250869333744049f,-0.1843482404947281f,1.0270578861236572f,-0.5840676426887512f},
Lightvalve 169:645207e160ca 230 {-0.25693249702453613f,-0.010147050023078918f,0.0457797646522522f,-0.3549601435661316f,-0.03321319818496704f,-0.4391511380672455f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.22192376852035522f,0.3545852601528168f,-0.3647043704986572f,0.4194667637348175f,-0.3910166025161743f,-0.2837793529033661f},
Lightvalve 169:645207e160ca 231 {2.3816981315612793f,0.4564768075942993f,0.3954955041408539f,0.11254638433456421f,1.1973353624343872f,1.804193377494812f,-0.8583166599273682f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-1.3897980451583862f,-0.5921090841293335f,-0.14213289320468903f,-0.26851770281791687f,1.597784161567688f,-0.5877130031585693f},
Lightvalve 169:645207e160ca 232 {-0.267646849155426f,-0.20429572463035583f,-0.15798500180244446f,0.3999568819999695f,-0.37393757700920105f,0.35770177841186523f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.10294663906097412f,-0.2837170362472534f,0.41839322447776794f,-0.02792874164879322f,-0.13706544041633606f,0.11999254673719406f},
Lightvalve 169:645207e160ca 233 {0.2282707840204239f,-0.13254989683628082f,-0.2018718123435974f,-0.07019486278295517f,0.07545611262321472f,-0.33204764127731323f,-0.4035329520702362f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.47974857687950134f,-0.8069085478782654f,-0.40297332406044006f,0.23708327114582062f,0.5259239673614502f,-0.3548051416873932f},
Lightvalve 169:645207e160ca 234 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 169:645207e160ca 235 {-0.5818981528282166f,0.014110059477388859f,0.12081471085548401f,-0.2973254919052124f,0.5392167568206787f,0.3773144781589508f,-0.39351940155029297f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-6.493835926055908f,-0.12242847681045532f,-0.2689415514469147f,-0.2518419325351715f,-0.1694900244474411f,-0.652117908000946f},
Lightvalve 65:a2d7c63419c2 236 };
Lightvalve 65:a2d7c63419c2 237
Lightvalve 169:645207e160ca 238 const float h3[16][16] = {
Lightvalve 168:f05a45d5f318 239 {-0.36079341173171997f,-1.5671656131744385f,-0.870830237865448f,-0.4786093831062317f,-0.5575059056282043f,-0.773746132850647f,0.29977259039878845f,0.1743643879890442f,-0.5892294645309448f,-0.19605471193790436f,-0.27379146218299866f,0.06893575936555862f,2.2012624740600586f,-2.7650468349456787f,-1.8527313470840454f,1.5724681615829468f},
Lightvalve 169:645207e160ca 240 {0.047732532024383545f,-0.23476845026016235f,-2.8836917877197266f,-0.42602431774139404f,-2.397148370742798f,1.254254937171936f,-0.3198729455471039f,-0.25123724341392517f,0.013695899397134781f,-0.5729482173919678f,0.09775999933481216f,-0.5587971806526184f,-0.9381403923034668f,-1.532671570777893f,-0.6944977045059204f,1.4258947372436523f},
Lightvalve 169:645207e160ca 241 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 169:645207e160ca 242 {-0.30922991037368774f,-0.16969707608222961f,0.3056027889251709f,-0.380797415971756f,-0.17742466926574707f,0.10660405457019806f,0.20021501183509827f,0.07002416253089905f,-0.25412267446517944f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.13397035002708435f,0.0815882533788681f,0.15073642134666443f,0.10944337397813797f},
Lightvalve 169:645207e160ca 243 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.6999471187591553f,0.16012099385261536f,0.21129152178764343f,-0.08640444278717041f,-0.11053556203842163f,-0.2634495496749878f,-0.31317979097366333f,-0.1530032455921173f,-0.24679358303546906f,0.22959044575691223f,-3.0342295169830322f},
Lightvalve 169:645207e160ca 244 {-0.37449589371681213f,-0.10077743977308273f,-4.51036262512207f,-0.04963836818933487f,-0.8192825317382812f,-0.6951172947883606f,-0.19780586659908295f,-0.09049295634031296f,-0.9114404916763306f,-0.8623005151748657f,-0.4059421718120575f,-0.16295623779296875f,-5.017462730407715f,-1.1079373359680176f,0.34683844447135925f,0.6427209377288818f},
Lightvalve 169:645207e160ca 245 {0.4110594093799591f,0.2715781033039093f,-0.38537508249282837f,0.37246426939964294f,-0.05490662157535553f,-0.009114405140280724f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,-0.13377737998962402f,0.25604528188705444f,0.3126353323459625f,-0.1528691202402115f},
Lightvalve 169:645207e160ca 246 {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve 169:645207e160ca 247 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 169:645207e160ca 248 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve 169:645207e160ca 249 {0.15459725260734558f,0.22762465476989746f,1.5232031345367432f,-0.2233445942401886f,1.524779200553894f,2.6997625827789307f,-0.08742031455039978f,0.05785742402076721f,-0.1277361363172531f,-0.37371426820755005f,-0.03133596479892731f,-0.30447322130203247f,-1.9101834297180176f,0.6954238414764404f,0.46117544174194336f,1.1762653589248657f},
Lightvalve 169:645207e160ca 250 {-0.408692330121994f,0.07260357588529587f,-0.02147701010107994f,0.0922636091709137f,-0.1529182642698288f,-0.05657944083213806f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.6609845757484436f,-0.1087266057729721f,-0.10636871308088303f,-0.0133456289768219f},
Lightvalve 169:645207e160ca 251 {-0.2991822361946106f,0.3794580399990082f,-0.08715943992137909f,-0.05932474136352539f,0.11478022485971451f,0.3007120192050934f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.05380958318710327f,-0.13672849535942078f,0.35829514265060425f,-0.10585878044366837f},
Lightvalve 169:645207e160ca 252 {-0.2675279378890991f,-0.1429223269224167f,-0.9267327189445496f,-0.1256239265203476f,0.49980443716049194f,-0.843601405620575f,-0.33532586693763733f,-0.31893211603164673f,-1.478386402130127f,-1.1926257610321045f,-0.5260127782821655f,-0.8384293913841248f,0.9772797226905823f,0.1813446283340454f,0.17612296342849731f,1.590701699256897f},
Lightvalve 169:645207e160ca 253 {-0.015470266342163086f,-0.4976375699043274f,2.497199058532715f,0.14489558339118958f,0.11334121972322464f,0.3805958926677704f,0.02394937537610531f,-0.16103173792362213f,-0.677362859249115f,-0.8498573303222656f,-0.026575788855552673f,-0.427055299282074f,0.17177484929561615f,1.67837655544281f,0.08538639545440674f,-1.3552721738815308f},
Lightvalve 169:645207e160ca 254 {0.1863725483417511f,0.13157431781291962f,-0.047772910445928574f,-0.49708226323127747f,0.7275430560112f,-0.145163431763649f,0.04860696196556091f,0.17769548296928406f,-0.050254471600055695f,0.19876523315906525f,-0.5504136085510254f,0.19592127203941345f,0.23928996920585632f,-0.12190091609954834f,-0.1250786930322647f,0.041962411254644394f},
Lightvalve 66:a8e6799dbce3 255 };
Lightvalve 65:a2d7c63419c2 256
Lightvalve 168:f05a45d5f318 257 const float hout[16] = { 0.45773375034332275f,0.5733839869499207f,-0.5152473449707031f,-0.035915032029151917f,-0.306951105594635f,0.30648893117904663f,-0.1005084440112114f,-0.08898112922906876f,-0.2034129500389099f,-0.05844772607088089f,-0.07081260532140732f,0.08596939593553543f,0.5426119565963745f,0.5678461194038391f,1.0715678930282593f,-0.25178417563438416f };
Lightvalve 66:a8e6799dbce3 258
Lightvalve 168:f05a45d5f318 259 const float b1[16] = { 0.5956194400787354f,1.4903173446655273f,-1.7145336866378784f,0.2382747083902359f,1.812330722808838f,1.1310549974441528f,-0.058932315558195114f,1.0475828647613525f,0.5750831365585327f,-1.1691874265670776f,0.564017653465271f,0.8430382013320923f,-0.3627738058567047f,-0.8757394552230835f,-1.087764859199524f,1.8534502983093262f };
Lightvalve 87:471334725012 260
Lightvalve 168:f05a45d5f318 261 const float b2[16] = { -0.19254711270332336f,-1.2538373470306396f,-1.4564176797866821f,-0.6360846757888794f,-2.2159981727600098f,-0.5284036993980408f,0.07729385793209076f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.16195619106292725f,0.17741809785366058f,-0.3301374316215515f,1.8553483486175537f,-0.1654871553182602f,0.5861462950706482f };
Lightvalve 65:a2d7c63419c2 262
Lightvalve 168:f05a45d5f318 263 const float b3[16] = { -1.963319182395935f,-0.5293647646903992f,-0.10495924949645996f,-0.23769626021385193f,1.5550658702850342f,1.2147407531738281f,-0.47398853302001953f,-0.9554895758628845f,-0.067354217171669f,-0.006115084979683161f,-0.45877549052238464f,-0.290895938873291f,-1.0047727823257446f,1.1215981245040894f,-1.407442569732666f,-1.6007274389266968f };
Lightvalve 87:471334725012 264
Lightvalve 168:f05a45d5f318 265 const float bout[1] = { -0.10839174687862396f };
Lightvalve 65:a2d7c63419c2 266
Lightvalve 170:42c938a40313 267 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 268 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 269
Lightvalve 170:42c938a40313 270 //Critic Networks
Lightvalve 170:42c938a40313 271 float hc1[num_input_RL][10] = {0.0f};
Lightvalve 170:42c938a40313 272 float bc1[10] = {0.0f};
Lightvalve 170:42c938a40313 273 float hc2[10] = {0.0f};
Lightvalve 170:42c938a40313 274 float bc2 = 0.0f;
Lightvalve 170:42c938a40313 275
Lightvalve 170:42c938a40313 276 //Critic Networks Temporary
Lightvalve 170:42c938a40313 277 float hc1_temp[num_input_RL][10] = {0.0f};
Lightvalve 170:42c938a40313 278 float bc1_temp[10] = {0.0f};
Lightvalve 170:42c938a40313 279 float hc2_temp[10] = {0.0f};
Lightvalve 170:42c938a40313 280 float bc2_temp = 0.0f;
Lightvalve 170:42c938a40313 281
Lightvalve 170:42c938a40313 282 //Actor Networks
Lightvalve 170:42c938a40313 283 float ha1[num_input_RL][10] = {0.0f};
Lightvalve 170:42c938a40313 284 float ba1[10] = {0.0f};
Lightvalve 170:42c938a40313 285 float ha2[10][2] = {0.0f};
Lightvalve 170:42c938a40313 286 float ba2[2] = {0.0f};
Lightvalve 170:42c938a40313 287
Lightvalve 170:42c938a40313 288 //Actor Networks Temporary
Lightvalve 170:42c938a40313 289 float ha1_temp[num_input_RL][10] = {0.0f};
Lightvalve 170:42c938a40313 290 float ba1_temp[10] = {0.0f};
Lightvalve 170:42c938a40313 291 float ha2_temp[10][2] = {0.0f};
Lightvalve 170:42c938a40313 292 float ba2_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 293
Lightvalve 87:471334725012 294 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 295 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 296
Lightvalve 170:42c938a40313 297
Lightvalve 170:42c938a40313 298 float Critic_Network(float *arr)
Lightvalve 170:42c938a40313 299 {
Lightvalve 170:42c938a40313 300 float output1[10] = { 0.0f };
Lightvalve 170:42c938a40313 301 float output = 0.0f;
Lightvalve 170:42c938a40313 302 for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 303 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 304 output1[index2] = output1[index2] + hc1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 305 }
Lightvalve 170:42c938a40313 306 output1[index2] = tanh(output1[index2] + bc1[index2]);
Lightvalve 170:42c938a40313 307 }
Lightvalve 170:42c938a40313 308 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 170:42c938a40313 309 for (int index1 = 0; index1 < 10; index1++) {
Lightvalve 170:42c938a40313 310 output = output + hc2[index1] * output1[index1];
Lightvalve 170:42c938a40313 311 }
Lightvalve 170:42c938a40313 312 output = output + bc2;
Lightvalve 170:42c938a40313 313 }
Lightvalve 170:42c938a40313 314 return output;
Lightvalve 170:42c938a40313 315 }
Lightvalve 170:42c938a40313 316
Lightvalve 170:42c938a40313 317 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 318 {
Lightvalve 170:42c938a40313 319 float output1[10] = { 0.0f };
Lightvalve 170:42c938a40313 320 float output = 0.0f;
Lightvalve 170:42c938a40313 321 for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 322 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 323 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 324 }
Lightvalve 170:42c938a40313 325 output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 170:42c938a40313 326 }
Lightvalve 170:42c938a40313 327 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 170:42c938a40313 328 for (int index1 = 0; index1 < 10; index1++) {
Lightvalve 170:42c938a40313 329 output = output + hc2_temp[index1] * output1[index1];
Lightvalve 170:42c938a40313 330 }
Lightvalve 170:42c938a40313 331 output = output + bc2_temp;
Lightvalve 170:42c938a40313 332 }
Lightvalve 170:42c938a40313 333 return output;
Lightvalve 170:42c938a40313 334 }
Lightvalve 170:42c938a40313 335
Lightvalve 170:42c938a40313 336
Lightvalve 170:42c938a40313 337 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 338 {
Lightvalve 170:42c938a40313 339 float output1[10] = {0.0f};
Lightvalve 170:42c938a40313 340 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 341
Lightvalve 170:42c938a40313 342 for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 343 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 344 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 345 }
Lightvalve 170:42c938a40313 346 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 347 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 348 output1[index2] = 0;
Lightvalve 170:42c938a40313 349 }
Lightvalve 170:42c938a40313 350 }
Lightvalve 170:42c938a40313 351 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 170:42c938a40313 352 for (int index1 = 0; index1 < 10; index1++) {
Lightvalve 170:42c938a40313 353 output[index2] = output[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 354 }
Lightvalve 170:42c938a40313 355 }
Lightvalve 170:42c938a40313 356 mean_before_SP = output[0] + ba2[0];
Lightvalve 170:42c938a40313 357 deviation_before_SP = output[1] + ba2[1];
Lightvalve 170:42c938a40313 358 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 170:42c938a40313 359 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 170:42c938a40313 360 }
Lightvalve 170:42c938a40313 361
Lightvalve 170:42c938a40313 362
Lightvalve 170:42c938a40313 363 //void Actor_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 364 //{
Lightvalve 170:42c938a40313 365 // float output1[10] = {0.0f};
Lightvalve 170:42c938a40313 366 // float output[2] = {0.0f};
Lightvalve 170:42c938a40313 367 //
Lightvalve 170:42c938a40313 368 // for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 369 // for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 370 // output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 371 // }
Lightvalve 170:42c938a40313 372 // output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 170:42c938a40313 373 // if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 374 // output1[index2] = 0;
Lightvalve 170:42c938a40313 375 // }
Lightvalve 170:42c938a40313 376 // }
Lightvalve 170:42c938a40313 377 // for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 170:42c938a40313 378 // for (int index1 = 0; index1 < 10; index1++) {
Lightvalve 170:42c938a40313 379 // output[index2] = output[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 380 // }
Lightvalve 170:42c938a40313 381 // }
Lightvalve 170:42c938a40313 382 // mean_before_SP = output[0] + ba2_temp[0];
Lightvalve 170:42c938a40313 383 // deviation_before_SP = output[1] + ba2_temp[1];
Lightvalve 170:42c938a40313 384 // mean = log(1.0f+exp(mean_before_SP));
Lightvalve 170:42c938a40313 385 // deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 170:42c938a40313 386 //}
Lightvalve 170:42c938a40313 387
Lightvalve 170:42c938a40313 388
Lightvalve 170:42c938a40313 389 void Actor_Network_Old(float *arr)
Lightvalve 170:42c938a40313 390 {
Lightvalve 170:42c938a40313 391 float output1[10] = {0.0f};
Lightvalve 170:42c938a40313 392 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 393
Lightvalve 170:42c938a40313 394 for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 395 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 396 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 397 }
Lightvalve 170:42c938a40313 398 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 399 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 400 output1[index2] = 0;
Lightvalve 170:42c938a40313 401 }
Lightvalve 170:42c938a40313 402 }
Lightvalve 170:42c938a40313 403 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 170:42c938a40313 404 for (int index1 = 0; index1 < 10; index1++) {
Lightvalve 170:42c938a40313 405 output[index2] = output[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 406 }
Lightvalve 170:42c938a40313 407 }
Lightvalve 170:42c938a40313 408 mean_old = output[0] + ba2[0];
Lightvalve 170:42c938a40313 409 deviation_old = output[1] + ba2[1];
Lightvalve 170:42c938a40313 410 mean_old = log(1.0f+exp(mean_old));
Lightvalve 170:42c938a40313 411 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 412 }
Lightvalve 170:42c938a40313 413
Lightvalve 170:42c938a40313 414 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 415 {
Lightvalve 170:42c938a40313 416 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 417 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 418 return grad_mean;
Lightvalve 170:42c938a40313 419 }
Lightvalve 170:42c938a40313 420
Lightvalve 170:42c938a40313 421 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 422 {
Lightvalve 170:42c938a40313 423 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 424 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 425 return grad_dev;
Lightvalve 170:42c938a40313 426 }
Lightvalve 170:42c938a40313 427
Lightvalve 170:42c938a40313 428 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 429 {
Lightvalve 170:42c938a40313 430 float gradient_rate = 0.01f;
Lightvalve 170:42c938a40313 431
Lightvalve 170:42c938a40313 432 float G_hc1[num_input_RL][10] = {0.0f};
Lightvalve 170:42c938a40313 433 float G_bc1[10] = {0.0f};
Lightvalve 170:42c938a40313 434 for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 435 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 436 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 437 float hx_sum = 0.0f;
Lightvalve 170:42c938a40313 438 float hx_sum_next = 0.0f;
Lightvalve 170:42c938a40313 439 for(int j=0; j<num_input_RL; j++) {
Lightvalve 170:42c938a40313 440 hx_sum = hx_sum + hc1_temp[j][index2]*arr[i][j];
Lightvalve 170:42c938a40313 441 if (i==batch_size-1) hx_sum_next = 0.0f;
Lightvalve 170:42c938a40313 442 else hx_sum_next = hx_sum_next + hc1_temp[j][index2]*arr[i+1][j];
Lightvalve 170:42c938a40313 443 }
Lightvalve 170:42c938a40313 444 if (i==batch_size-1) G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*advantage[i]*(-hc2_temp[index2]*(1.0f-tanh(hx_sum + bc1_temp[index2])*tanh(hx_sum + bc1_temp[index2]))*arr[i][index1]);
Lightvalve 170:42c938a40313 445 else G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*advantage[i]*(hc2_temp[index2]*(1.0f-tanh(hx_sum_next + bc1_temp[index2])*tanh(hx_sum_next + bc1_temp[index2]))*arr[i+1][index1] - hc2_temp[index2]*(1.0f-tanh(hx_sum + bc1_temp[index2])*tanh(hx_sum + bc1_temp[index2]))*arr[i][index1]);
Lightvalve 170:42c938a40313 446 }
Lightvalve 170:42c938a40313 447 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 170:42c938a40313 448 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 449 }
Lightvalve 170:42c938a40313 450 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 451 float hx_sum = 0.0f;
Lightvalve 170:42c938a40313 452 float hx_sum_next = 0.0f;
Lightvalve 170:42c938a40313 453 for(int j=0; j<num_input_RL; j++) {
Lightvalve 170:42c938a40313 454 hx_sum = hx_sum + hc1_temp[j][index2]*arr[i][j];
Lightvalve 170:42c938a40313 455 if (i==batch_size-1) hx_sum_next = 0.0f;
Lightvalve 170:42c938a40313 456 else hx_sum_next = hx_sum_next + hc1_temp[j][index2]*arr[i+1][j];
Lightvalve 170:42c938a40313 457 }
Lightvalve 170:42c938a40313 458 if (i==batch_size-1) G_bc1[index2] = G_bc1[index2] + 2.0f*advantage[i]*(-hc2_temp[index2]*(1.0f-tanh(hx_sum + bc1_temp[index2])*tanh(hx_sum + bc1_temp[index2])));
Lightvalve 170:42c938a40313 459 else G_bc1[index2] = G_bc1[index2] + 2.0f*advantage[i]*(hc2_temp[index2]*(1.0f-tanh(hx_sum_next + bc1_temp[index2])*tanh(hx_sum_next + bc1_temp[index2])) - hc2_temp[index2]*(1.0f-tanh(hx_sum + bc1_temp[index2])*tanh(hx_sum + bc1_temp[index2])));
Lightvalve 170:42c938a40313 460 }
Lightvalve 170:42c938a40313 461 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 170:42c938a40313 462 bc1_temp[index2] = bc1_temp[index2] - gradient_rate * G_bc1[index2];
Lightvalve 170:42c938a40313 463 }
Lightvalve 170:42c938a40313 464
Lightvalve 170:42c938a40313 465 float G_hc2[10] = {0.0f};
Lightvalve 170:42c938a40313 466 float G_bc2 = 0.0f;
Lightvalve 170:42c938a40313 467 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 170:42c938a40313 468 for (int index1 = 0; index1 < 10; index1++) {
Lightvalve 170:42c938a40313 469 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 470 float hx_sum = 0.0f;
Lightvalve 170:42c938a40313 471 float hx_sum_next = 0.0f;
Lightvalve 170:42c938a40313 472 for(int j=0; j<num_input_RL; j++) {
Lightvalve 170:42c938a40313 473 hx_sum = hx_sum + hc1_temp[j][index1]*arr[i][j];
Lightvalve 170:42c938a40313 474 if (i==batch_size-1) hx_sum_next = 0.0f;
Lightvalve 170:42c938a40313 475 else hx_sum_next = hx_sum_next + hc1_temp[j][index1]*arr[i+1][j];
Lightvalve 170:42c938a40313 476 }
Lightvalve 170:42c938a40313 477 if (i==batch_size-1) G_hc2[index1] = G_hc2[index1] - 2.0f*advantage[i]*tanh(hx_sum + bc1_temp[index1]);
Lightvalve 170:42c938a40313 478 else G_hc2[index1] = G_hc2[index1] + 2.0f*advantage[i]*(tanh(hx_sum_next + bc1_temp[index1]) - tanh(hx_sum + bc1_temp[index1]));
Lightvalve 170:42c938a40313 479 }
Lightvalve 170:42c938a40313 480 G_hc2[index1] = G_hc2[index1] / batch_size;
Lightvalve 170:42c938a40313 481 hc2_temp[index1] = hc2_temp[index1] - gradient_rate * G_hc2[index1];
Lightvalve 170:42c938a40313 482 }
Lightvalve 170:42c938a40313 483 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 484 if (i==batch_size-1) G_bc2 = G_bc2 + 2.0f*advantage[i]*(-1.0f);
Lightvalve 170:42c938a40313 485 else G_bc2 = 0.0f;
Lightvalve 170:42c938a40313 486 }
Lightvalve 170:42c938a40313 487 G_bc2 = G_bc2/ batch_size;
Lightvalve 170:42c938a40313 488 bc2_temp = bc2_temp - gradient_rate * G_bc2;
Lightvalve 170:42c938a40313 489 }
Lightvalve 170:42c938a40313 490 }
Lightvalve 170:42c938a40313 491
Lightvalve 170:42c938a40313 492 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 493 {
Lightvalve 170:42c938a40313 494 float gradient_rate = -0.01f;
Lightvalve 170:42c938a40313 495
Lightvalve 170:42c938a40313 496 float G_ha1[num_input_RL][10] = {0.0f};
Lightvalve 170:42c938a40313 497 float G_ba1[10] = {0.0f};
Lightvalve 170:42c938a40313 498 for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 499 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 500 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 501 if((advantage[i] >= 0.0f && ratio[i] >= 1.0f + epsilon) || (advantage[i] < 0.0f && ratio[i] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 502 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 503 } else {
Lightvalve 170:42c938a40313 504 float hx_sum = 0.0f;
Lightvalve 170:42c938a40313 505 for(int j=0; j<num_input_RL; j++) {
Lightvalve 170:42c938a40313 506 hx_sum = hx_sum + ha1_temp[j][index2]*arr[i][j];
Lightvalve 170:42c938a40313 507 }
Lightvalve 170:42c938a40313 508 hx_sum = hx_sum + bc1_temp[index2];
Lightvalve 170:42c938a40313 509 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 510 float d_dev_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 511 if (hx_sum >= 0) {
Lightvalve 170:42c938a40313 512 d_mean_d_ha1 = exp(mean_before_SP_array[i])/(1.0f+exp(mean_before_SP_array[i]))*ha2_temp[index2][0]*arr[i][index1];
Lightvalve 170:42c938a40313 513 d_dev_d_ha1 = exp(deviation_before_SP_array[i])/(1.0f+exp(deviation_before_SP_array[i]))*ha2_temp[index2][1]*arr[i][index1];
Lightvalve 170:42c938a40313 514 } else {
Lightvalve 170:42c938a40313 515 d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 516 d_dev_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 517 }
Lightvalve 170:42c938a40313 518 G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[i]/pi_old[i]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[i],deviation_array[i],action_array[i])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[i],deviation_array[i],action_array[i]));
Lightvalve 170:42c938a40313 519 }
Lightvalve 170:42c938a40313 520 }
Lightvalve 170:42c938a40313 521 G_ha1[index1][index2] = G_ha1[index1][index2] / batch_size;
Lightvalve 170:42c938a40313 522 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 523 }
Lightvalve 170:42c938a40313 524 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 525 if((advantage[i] >= 0.0f && ratio[i] >= 1.0f + epsilon) || (advantage[i] < 0.0f && ratio[i] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 526 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 527 } else {
Lightvalve 170:42c938a40313 528 float hx_sum = 0.0f;
Lightvalve 170:42c938a40313 529 for(int j=0; j<num_input_RL; j++) {
Lightvalve 170:42c938a40313 530 hx_sum = hx_sum + ha1_temp[j][index2]*arr[i][j];
Lightvalve 170:42c938a40313 531 }
Lightvalve 170:42c938a40313 532 hx_sum = hx_sum + bc1_temp[index2];
Lightvalve 170:42c938a40313 533 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 534 float d_dev_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 535 if(hx_sum >=0) {
Lightvalve 170:42c938a40313 536 d_mean_d_ba1 = exp(mean_before_SP_array[i])/(1.0f+exp(mean_before_SP_array[i]))*ha2_temp[index2][0];
Lightvalve 170:42c938a40313 537 d_dev_d_ba1 = exp(deviation_before_SP_array[i])/(1.0f+exp(deviation_before_SP_array[i]))*ha2_temp[index2][1];
Lightvalve 170:42c938a40313 538 } else {
Lightvalve 170:42c938a40313 539 d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 540 d_dev_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 541 }
Lightvalve 170:42c938a40313 542 G_ba1[index2] = G_ba1[index2] + advantage[i]/pi_old[i]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[i],deviation_array[i],action_array[i])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[i],deviation_array[i],action_array[i]));
Lightvalve 170:42c938a40313 543 }
Lightvalve 170:42c938a40313 544 }
Lightvalve 170:42c938a40313 545 G_ba1[index2] = G_ba1[index2] / batch_size;
Lightvalve 170:42c938a40313 546 ba1_temp[index2] = ba1_temp[index2] - gradient_rate * G_ba1[index2];
Lightvalve 170:42c938a40313 547 }
Lightvalve 170:42c938a40313 548
Lightvalve 170:42c938a40313 549 float G_ha2[10][2] = {0.0f};
Lightvalve 170:42c938a40313 550 float G_ba2[2] = {0.0f};
Lightvalve 170:42c938a40313 551 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 170:42c938a40313 552 for (int index1 = 0; index1 < 10; index1++) {
Lightvalve 170:42c938a40313 553 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 554 if((advantage[i] >= 0.0f && ratio[i] >= 1.0f + epsilon) || (advantage[i] < 0.0f && ratio[i] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 555 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 556 } else {
Lightvalve 170:42c938a40313 557 float hx_sum = 0.0f;
Lightvalve 170:42c938a40313 558 for(int j=0; j<num_input_RL; j++) {
Lightvalve 170:42c938a40313 559 hx_sum = hx_sum + ha1_temp[j][index1]*arr[i][j];
Lightvalve 170:42c938a40313 560 }
Lightvalve 170:42c938a40313 561 hx_sum = hx_sum + bc1_temp[index1];
Lightvalve 170:42c938a40313 562 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 563 float d_dev_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 564 if (hx_sum >= 0) {
Lightvalve 170:42c938a40313 565 d_mean_d_ha2 = exp(mean_before_SP_array[i])/(1.0f+exp(mean_before_SP_array[i]))*hx_sum;
Lightvalve 170:42c938a40313 566 d_dev_d_ha2 = exp(deviation_before_SP_array[i])/(1.0f+exp(deviation_before_SP_array[i]))*hx_sum;
Lightvalve 170:42c938a40313 567 } else {
Lightvalve 170:42c938a40313 568 d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 569 d_dev_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 570 }
Lightvalve 170:42c938a40313 571 G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[i]/pi_old[i]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[i],deviation_array[i],action_array[i])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[i],deviation_array[i],action_array[i]));
Lightvalve 170:42c938a40313 572 }
Lightvalve 170:42c938a40313 573 }
Lightvalve 170:42c938a40313 574 G_ha2[index1][index2] = G_ha2[index1][index2] / batch_size;
Lightvalve 170:42c938a40313 575 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 576 }
Lightvalve 170:42c938a40313 577 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 578 if((advantage[i] >= 0.0f && ratio[i] >= 1.0f + epsilon) || (advantage[i] < 0.0f && ratio[i] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 579 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 580 } else {
Lightvalve 170:42c938a40313 581
Lightvalve 170:42c938a40313 582 float d_mean_d_ba2 = 0.0f;
Lightvalve 170:42c938a40313 583 float d_dev_d_ba2 = 0.0f;
Lightvalve 170:42c938a40313 584 d_mean_d_ba2 = exp(mean_before_SP_array[i])/(1.0f+exp(mean_before_SP_array[i]));
Lightvalve 170:42c938a40313 585 d_dev_d_ba2 = exp(deviation_before_SP_array[i])/(1.0f+exp(deviation_before_SP_array[i]));
Lightvalve 170:42c938a40313 586 G_ba1[index2] = G_ba1[index2] + advantage[i]/pi_old[i]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[i],deviation_array[i],action_array[i])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[i],deviation_array[i],action_array[i]));
Lightvalve 170:42c938a40313 587 }
Lightvalve 170:42c938a40313 588 }
Lightvalve 170:42c938a40313 589 G_ba2[index2] = G_ba2[index2] / batch_size;
Lightvalve 170:42c938a40313 590 ba2_temp[index2] = ba2_temp[index2] - gradient_rate * G_ba2[index2];
Lightvalve 170:42c938a40313 591 }
Lightvalve 170:42c938a40313 592 }
Lightvalve 170:42c938a40313 593
Lightvalve 170:42c938a40313 594
Lightvalve 170:42c938a40313 595
Lightvalve 170:42c938a40313 596 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 597 {
Lightvalve 170:42c938a40313 598 //Box muller method
Lightvalve 170:42c938a40313 599 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 600 static int n2_cached = 0;
Lightvalve 170:42c938a40313 601 if (!n2_cached) {
Lightvalve 170:42c938a40313 602 double x, y, r;
Lightvalve 170:42c938a40313 603 do {
Lightvalve 170:42c938a40313 604 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 605 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 606
Lightvalve 170:42c938a40313 607 r = x*x + y*y;
Lightvalve 170:42c938a40313 608 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 609 {
Lightvalve 170:42c938a40313 610 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 611 double n1 = x*d;
Lightvalve 170:42c938a40313 612 n2 = y*d;
Lightvalve 170:42c938a40313 613 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 614 n2_cached = 1;
Lightvalve 170:42c938a40313 615 return result;
Lightvalve 170:42c938a40313 616 }
Lightvalve 170:42c938a40313 617 } else {
Lightvalve 170:42c938a40313 618 n2_cached = 0;
Lightvalve 170:42c938a40313 619 return n2*stddev + mean;
Lightvalve 170:42c938a40313 620 }
Lightvalve 170:42c938a40313 621 }
Lightvalve 170:42c938a40313 622
Lightvalve 170:42c938a40313 623 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 624 {
Lightvalve 170:42c938a40313 625 for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 626 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 627 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 628 }
Lightvalve 170:42c938a40313 629 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 630 hc2[index2] = hc2_temp[index2];
Lightvalve 170:42c938a40313 631 }
Lightvalve 170:42c938a40313 632 bc2 = bc2_temp;
Lightvalve 170:42c938a40313 633 }
Lightvalve 170:42c938a40313 634 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 635 {
Lightvalve 170:42c938a40313 636 for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 637 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 638 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 639 }
Lightvalve 170:42c938a40313 640 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 641 }
Lightvalve 170:42c938a40313 642 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 170:42c938a40313 643 for (int index1 = 0; index1 < 10; index1++) {
Lightvalve 170:42c938a40313 644 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 645 }
Lightvalve 170:42c938a40313 646 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 647 }
Lightvalve 170:42c938a40313 648 }
Lightvalve 170:42c938a40313 649
Lightvalve 170:42c938a40313 650
GiJeongKim 0:51c43836c1d7 651 int main()
GiJeongKim 0:51c43836c1d7 652 {
Lightvalve 66:a8e6799dbce3 653
Lightvalve 65:a2d7c63419c2 654 HAL_Init();
Lightvalve 65:a2d7c63419c2 655 SystemClock_Config();
Lightvalve 169:645207e160ca 656
jobuuu 6:df07d3491e3a 657 /*********************************
jobuuu 1:e04e563be5ce 658 *** Initialization
jobuuu 6:df07d3491e3a 659 *********************************/
Lightvalve 69:3995ffeaa786 660 LED = 0;
Lightvalve 61:bc8c8270f0ab 661 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 662
GiJeongKim 0:51c43836c1d7 663 // i2c init
Lightvalve 8:5d2eebdad025 664 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 665 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 666 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 667 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 668 make_delay();
jobuuu 2:a1c0a37df760 669
GiJeongKim 0:51c43836c1d7 670 // // spi init
Lightvalve 170:42c938a40313 671 eeprom.format(8,3);
Lightvalve 170:42c938a40313 672 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 673 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 674 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 675 make_delay();
Lightvalve 21:e5f1a43ea6f9 676
Lightvalve 16:903b5a4433b4 677 //rom
Lightvalve 19:23b7c1ad8683 678 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 679 make_delay();
Lightvalve 13:747daba9cf59 680
GiJeongKim 0:51c43836c1d7 681 // ADC init
jobuuu 5:a4319f79457b 682 Init_ADC();
Lightvalve 11:82d8768d7351 683 make_delay();
jobuuu 2:a1c0a37df760 684
GiJeongKim 0:51c43836c1d7 685 // Pwm init
GiJeongKim 0:51c43836c1d7 686 Init_PWM();
GiJeongKim 0:51c43836c1d7 687 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 688 make_delay();
Lightvalve 13:747daba9cf59 689
Lightvalve 11:82d8768d7351 690 // TMR3 init
Lightvalve 11:82d8768d7351 691 Init_TMR3();
Lightvalve 11:82d8768d7351 692 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 693 make_delay();
Lightvalve 21:e5f1a43ea6f9 694
Lightvalve 50:3c630b5eba9f 695 // TMR2 init
Lightvalve 56:6f50d9d3bfee 696 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 697 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 698 // make_delay();
Lightvalve 21:e5f1a43ea6f9 699
GiJeongKim 0:51c43836c1d7 700 // CAN
jobuuu 2:a1c0a37df760 701 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 702 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 703 make_delay();
Lightvalve 34:bb2ca2fc2a8e 704
Lightvalve 23:59218d4a256d 705 //Timer priority
Lightvalve 23:59218d4a256d 706 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 707 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 708 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 709
Lightvalve 23:59218d4a256d 710 //can.reset();
Lightvalve 19:23b7c1ad8683 711 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 712
GiJeongKim 0:51c43836c1d7 713 // spi _ enc
GiJeongKim 0:51c43836c1d7 714 spi_enc_set_init();
Lightvalve 11:82d8768d7351 715 make_delay();
Lightvalve 13:747daba9cf59 716
Lightvalve 11:82d8768d7351 717 //DAC init
Lightvalve 58:2eade98630e2 718 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 719 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 720 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 721 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 722 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 723 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 724 }
Lightvalve 11:82d8768d7351 725 make_delay();
Lightvalve 13:747daba9cf59 726
Lightvalve 19:23b7c1ad8683 727 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 728 if(i%2==0)
Lightvalve 38:118df027d851 729 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 730 else
Lightvalve 38:118df027d851 731 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 732 }
Lightvalve 169:645207e160ca 733
Lightvalve 170:42c938a40313 734 for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 735 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 736 hc1_temp[index1][index2] = (float) (rand()%100) * 0.01f ;
Lightvalve 170:42c938a40313 737 }
Lightvalve 170:42c938a40313 738 bc1_temp[index2] = (float) (rand()%100) * 0.01f;
Lightvalve 170:42c938a40313 739 hc2_temp[index2] = (float) (rand()%100) * 0.01f;
Lightvalve 170:42c938a40313 740 }
Lightvalve 170:42c938a40313 741 bc2_temp = (float) (rand()%100) * 0.01f;
Lightvalve 170:42c938a40313 742 for (int index2 = 0; index2 < 10; index2++) {
Lightvalve 170:42c938a40313 743 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 744 ha1_temp[index1][index2] = (float) (rand()%100) * 0.01f;
Lightvalve 170:42c938a40313 745 }
Lightvalve 170:42c938a40313 746 ba1_temp[index2] = (float) (rand()%100) * 0.01f;
Lightvalve 170:42c938a40313 747 }
Lightvalve 170:42c938a40313 748 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 170:42c938a40313 749 for (int index1 = 0; index1 < 10; index1++) {
Lightvalve 170:42c938a40313 750 ha2_temp[index1][index2] = (float) (rand()%100) * 0.01f;
Lightvalve 170:42c938a40313 751 }
Lightvalve 170:42c938a40313 752 ba2_temp[index2] = (float) (rand()%100) * 0.01f;
Lightvalve 170:42c938a40313 753 }
Lightvalve 170:42c938a40313 754
Lightvalve 170:42c938a40313 755 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 756 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 757
jobuuu 6:df07d3491e3a 758 /************************************
jobuuu 1:e04e563be5ce 759 *** Program is operating!
jobuuu 6:df07d3491e3a 760 *************************************/
GiJeongKim 0:51c43836c1d7 761 while(1) {
Lightvalve 66:a8e6799dbce3 762 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 763 //if(timer_while==1000) {
Lightvalve 169:645207e160ca 764 //i2c
Lightvalve 169:645207e160ca 765
Lightvalve 169:645207e160ca 766 read_field(i2c_slave_addr1);
Lightvalve 169:645207e160ca 767 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 169:645207e160ca 768 // if(LED==1) {
Lightvalve 169:645207e160ca 769 // LED=0;
Lightvalve 169:645207e160ca 770 // } else
Lightvalve 169:645207e160ca 771 // LED = 1;
Lightvalve 169:645207e160ca 772 timer_while = 0;
Lightvalve 66:a8e6799dbce3 773 //}
Lightvalve 169:645207e160ca 774
Lightvalve 66:a8e6799dbce3 775 timer_while ++;
Lightvalve 169:645207e160ca 776
Lightvalve 170:42c938a40313 777 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 778
Lightvalve 73:f80dc3970c99 779 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 780 LED = 0;
Lightvalve 73:f80dc3970c99 781 }
Lightvalve 169:645207e160ca 782
Lightvalve 73:f80dc3970c99 783 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 784
Lightvalve 162:9dd4f35e9de8 785 int ind = 0;
Lightvalve 162:9dd4f35e9de8 786 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 787 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 788 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 789 }
Lightvalve 162:9dd4f35e9de8 790
Lightvalve 162:9dd4f35e9de8 791 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 792 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 793 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 794 }
Lightvalve 162:9dd4f35e9de8 795 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 796 ind = ind + 1;
Lightvalve 169:645207e160ca 797
Lightvalve 162:9dd4f35e9de8 798 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 799 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 800 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 801 // }
Lightvalve 162:9dd4f35e9de8 802
Lightvalve 162:9dd4f35e9de8 803 for(int i=0; i<numpast_f; i++) {
Lightvalve 162:9dd4f35e9de8 804 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 805 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 806 }
Lightvalve 162:9dd4f35e9de8 807 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 808 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 809 for(int i=0; i<numfuture_f; i++) {
Lightvalve 168:f05a45d5f318 810 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve 168:f05a45d5f318 811 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve 162:9dd4f35e9de8 812 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 813 }
Lightvalve 169:645207e160ca 814
Lightvalve 112:8dcb1600cb90 815 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 816 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 817 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 818 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 819
Lightvalve 112:8dcb1600cb90 820 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 821 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 822 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 823 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 824 }
Lightvalve 66:a8e6799dbce3 825 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 826 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 827 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 828 }
Lightvalve 66:a8e6799dbce3 829 }
Lightvalve 65:a2d7c63419c2 830
Lightvalve 112:8dcb1600cb90 831 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 832 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 833 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 834 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 835 }
Lightvalve 66:a8e6799dbce3 836 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 837 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 838 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 839 }
Lightvalve 66:a8e6799dbce3 840 }
Lightvalve 65:a2d7c63419c2 841
Lightvalve 112:8dcb1600cb90 842 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 843 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 844 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 845 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 846 }
Lightvalve 66:a8e6799dbce3 847 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 848 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 849 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 850 }
Lightvalve 65:a2d7c63419c2 851 }
Lightvalve 66:a8e6799dbce3 852
Lightvalve 66:a8e6799dbce3 853 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 854 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 855 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 856 }
Lightvalve 66:a8e6799dbce3 857 output = output + bout[index2];
Lightvalve 169:645207e160ca 858
Lightvalve 66:a8e6799dbce3 859 }
Lightvalve 73:f80dc3970c99 860 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 861 output_normalized = output;
Lightvalve 68:328e1be06f5d 862 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 863
Lightvalve 66:a8e6799dbce3 864 if(output>=0) {
Lightvalve 66:a8e6799dbce3 865 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 866 } else {
Lightvalve 66:a8e6799dbce3 867 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 868 }
Lightvalve 87:471334725012 869
Lightvalve 169:645207e160ca 870
Lightvalve 69:3995ffeaa786 871 if(LED==1) {
Lightvalve 69:3995ffeaa786 872 LED=0;
Lightvalve 69:3995ffeaa786 873 } else
Lightvalve 69:3995ffeaa786 874 LED = 1;
Lightvalve 169:645207e160ca 875
Lightvalve 65:a2d7c63419c2 876 }
Lightvalve 170:42c938a40313 877
Lightvalve 170:42c938a40313 878
Lightvalve 170:42c938a40313 879 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 880 switch (Update_Case) {
Lightvalve 170:42c938a40313 881 case 0: {
Lightvalve 170:42c938a40313 882 break;
Lightvalve 170:42c938a40313 883 }
Lightvalve 170:42c938a40313 884 case 1: {
Lightvalve 170:42c938a40313 885 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 886 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 887 float loss_sum = 0.0f;
Lightvalve 170:42c938a40313 888 for (int i=batch_size-1; i>=0; i--) {
Lightvalve 170:42c938a40313 889 V[batch_size] = 0.0f;
Lightvalve 170:42c938a40313 890 //Calculate Estimated V
Lightvalve 170:42c938a40313 891 //float temp_array[3] = {state_array[i][0], state_array[i][1], state_array[i][2]};
Lightvalve 170:42c938a40313 892 float temp_array[2] = {state_array[i][0], state_array[i][1]};
Lightvalve 170:42c938a40313 893 V[i] = Critic_Network_Temp(temp_array);
Lightvalve 170:42c938a40313 894 pi[i] = exp(-(action_array[i]-mean_array[i])*(action_array[i]-mean_array[i])/(2.0f*deviation_array[i]*deviation_array[i]))/(sqrt(2.0f*PI)*deviation_array[i]);
Lightvalve 170:42c938a40313 895 Actor_Network_Old(temp_array);
Lightvalve 170:42c938a40313 896 pi_old[i] = exp(-(action_array[i]-mean_old)*(action_array[i]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old);
Lightvalve 170:42c938a40313 897 r[i] = exp(-0.01f * state_array[i][1] * 70.0f * state_array[i][1] * 70.0f);
Lightvalve 170:42c938a40313 898 if(i == batch_size-1) td_target[i] = r[i];
Lightvalve 170:42c938a40313 899 else td_target[i] = r[i] + gamma * V[i+1];
Lightvalve 170:42c938a40313 900 delta[i] = td_target[i] - V[i];
Lightvalve 170:42c938a40313 901 if(i == batch_size-1) advantage[i] = 0.0f;
Lightvalve 170:42c938a40313 902 else advantage[i] = gamma * lmbda * advantage[i+1] + delta[i];
Lightvalve 170:42c938a40313 903 ratio[i] = pi[i]/pi_old[i];
Lightvalve 170:42c938a40313 904 surr1[i] = ratio[i] * advantage[i];
Lightvalve 170:42c938a40313 905 if (ratio[i] > 1.0f + epsilon) {
Lightvalve 170:42c938a40313 906 surr2[i] = (1.0f + epsilon)*advantage[i];
Lightvalve 170:42c938a40313 907 } else if( ratio[i] < 1.0f - epsilon) {
Lightvalve 170:42c938a40313 908 surr2[i] = (1.0f - epsilon)*advantage[i];
Lightvalve 170:42c938a40313 909 } else {
Lightvalve 170:42c938a40313 910 surr2[i] = ratio[i]*advantage[i];
Lightvalve 170:42c938a40313 911 }
Lightvalve 170:42c938a40313 912 loss[i] = -min(surr1[i], surr2[i]);
Lightvalve 170:42c938a40313 913 loss_sum = loss_sum + loss[i];
Lightvalve 170:42c938a40313 914 }
Lightvalve 170:42c938a40313 915 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 916 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 917 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 918 }
Lightvalve 170:42c938a40313 919 logging5 = reward_sum;
Lightvalve 170:42c938a40313 920
Lightvalve 170:42c938a40313 921
Lightvalve 170:42c938a40313 922 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 923 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 924 //Update Networks
Lightvalve 170:42c938a40313 925 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 926 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 927 }
Lightvalve 170:42c938a40313 928 //virt_pos = 10.0f;
Lightvalve 170:42c938a40313 929 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 930 Update_Case = 0;
Lightvalve 170:42c938a40313 931 //logging1 = V[0];
Lightvalve 170:42c938a40313 932
Lightvalve 170:42c938a40313 933 break;
Lightvalve 170:42c938a40313 934 }
Lightvalve 170:42c938a40313 935 case 2: {
Lightvalve 170:42c938a40313 936 //Network apply to next Network
Lightvalve 170:42c938a40313 937 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 938 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 939 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 940 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 941 Update_Case = 0;
Lightvalve 170:42c938a40313 942 break;
Lightvalve 170:42c938a40313 943 }
Lightvalve 169:645207e160ca 944
Lightvalve 170:42c938a40313 945 }
GiJeongKim 0:51c43836c1d7 946 }
jobuuu 1:e04e563be5ce 947 }
jobuuu 1:e04e563be5ce 948
Lightvalve 33:91b17819ec30 949 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 950 {
Lightvalve 14:8e7590227d22 951
Lightvalve 13:747daba9cf59 952 int i = 0;
Lightvalve 48:889798ff9329 953 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 954 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 955 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 956 if(i==0) {
Lightvalve 50:3c630b5eba9f 957 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 958 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 959 } else {
Lightvalve 57:f4819de54e7a 960 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 961 }
Lightvalve 14:8e7590227d22 962 } else {
Lightvalve 50:3c630b5eba9f 963 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 964 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 965 } else {
Lightvalve 57:f4819de54e7a 966 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 967 }
Lightvalve 13:747daba9cf59 968 }
Lightvalve 13:747daba9cf59 969 break;
Lightvalve 13:747daba9cf59 970 }
Lightvalve 13:747daba9cf59 971 }
Lightvalve 14:8e7590227d22 972 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 973 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 974 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 975 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 976 }
Lightvalve 36:a46e63505ed8 977
Lightvalve 57:f4819de54e7a 978 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 979 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 980
Lightvalve 13:747daba9cf59 981 }
jobuuu 6:df07d3491e3a 982
jobuuu 6:df07d3491e3a 983
Lightvalve 30:8d561f16383b 984 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 985 {
Lightvalve 13:747daba9cf59 986 int i = 0;
Lightvalve 13:747daba9cf59 987
Lightvalve 38:118df027d851 988 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 989 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 990 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 991 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 992 }
Lightvalve 38:118df027d851 993
Lightvalve 89:a7b45368ea0f 994 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 995 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 996 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 997 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 998 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 999 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1000
Lightvalve 13:747daba9cf59 1001 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 1002
Lightvalve 18:b8adf1582ea3 1003 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1004 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 1005 if(i==0) {
Lightvalve 48:889798ff9329 1006 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 1007 } else {
Lightvalve 48:889798ff9329 1008 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 1009 }
Lightvalve 13:747daba9cf59 1010 break;
Lightvalve 13:747daba9cf59 1011 }
Lightvalve 13:747daba9cf59 1012 }
Lightvalve 59:f308b1656d9c 1013 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1014 }
Lightvalve 13:747daba9cf59 1015
Lightvalve 14:8e7590227d22 1016 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1017 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 1018 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1019 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1020 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1021 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1022 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1023 }; // duty
Lightvalve 67:c2812cf26c38 1024 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 1025 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1026 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1027 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1028 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1029 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1030 }; // mV
Lightvalve 13:747daba9cf59 1031
Lightvalve 30:8d561f16383b 1032 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1033 {
Lightvalve 30:8d561f16383b 1034 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1035 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1036 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1037 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1038 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1039 } else {
Lightvalve 13:747daba9cf59 1040 int idx = 0;
Lightvalve 13:747daba9cf59 1041 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1042 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1043 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1044 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1045 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1046 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1047 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1048 break;
Lightvalve 13:747daba9cf59 1049 }
Lightvalve 13:747daba9cf59 1050 }
Lightvalve 13:747daba9cf59 1051 }
Lightvalve 14:8e7590227d22 1052
Lightvalve 13:747daba9cf59 1053 return PWM_duty;
Lightvalve 13:747daba9cf59 1054 }
jobuuu 6:df07d3491e3a 1055
Lightvalve 57:f4819de54e7a 1056
Lightvalve 57:f4819de54e7a 1057
Lightvalve 57:f4819de54e7a 1058
Lightvalve 57:f4819de54e7a 1059
jobuuu 2:a1c0a37df760 1060 /*******************************************************************************
jobuuu 2:a1c0a37df760 1061 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1062 *******************************************************************************/
jobuuu 2:a1c0a37df760 1063
Lightvalve 51:b46bed7fec80 1064 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1065 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1066 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1067 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1068 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1069 {
Lightvalve 19:23b7c1ad8683 1070 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1071
Lightvalve 21:e5f1a43ea6f9 1072 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1073 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1074 ********************************************************/
Lightvalve 13:747daba9cf59 1075
Lightvalve 57:f4819de54e7a 1076 //Encoder
Lightvalve 57:f4819de54e7a 1077 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1078 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1079 }
Lightvalve 61:bc8c8270f0ab 1080
Lightvalve 61:bc8c8270f0ab 1081 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1082 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1083 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1084 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1085 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1086 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1087 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1088
Lightvalve 67:c2812cf26c38 1089
Lightvalve 67:c2812cf26c38 1090 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1091 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1092 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1093 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1094 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1095
Lightvalve 17:1865016ca2e7 1096
Lightvalve 58:2eade98630e2 1097 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1098 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1099 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1100 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1101 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1102 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1103 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1104 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1105 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1106
Lightvalve 58:2eade98630e2 1107 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1108 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 1109 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1110 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 1111 }
Lightvalve 58:2eade98630e2 1112 }
Lightvalve 61:bc8c8270f0ab 1113
Lightvalve 58:2eade98630e2 1114 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1115 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1116 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1117 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1118 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1119 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1120 // 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 1121 //
Lightvalve 58:2eade98630e2 1122 //
Lightvalve 58:2eade98630e2 1123 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1124 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1125 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1126 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1127 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1128
Lightvalve 17:1865016ca2e7 1129
Lightvalve 21:e5f1a43ea6f9 1130 //Current
Lightvalve 21:e5f1a43ea6f9 1131 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1132 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1133 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1134 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1135 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1136 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1137 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1138
Lightvalve 57:f4819de54e7a 1139 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1140 }
Lightvalve 11:82d8768d7351 1141 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1142 }
Lightvalve 19:23b7c1ad8683 1143
Lightvalve 19:23b7c1ad8683 1144
Lightvalve 18:b8adf1582ea3 1145 int j =0;
Lightvalve 54:647072f5307a 1146 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1147 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1148 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1149 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 1150 int can_rest =0;
Lightvalve 48:889798ff9329 1151
Lightvalve 11:82d8768d7351 1152 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1153 {
Lightvalve 19:23b7c1ad8683 1154 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1155
Lightvalve 57:f4819de54e7a 1156 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1157 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1158 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1159 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1160 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1161 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1162 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1163 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1164 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1165 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1166 }
Lightvalve 50:3c630b5eba9f 1167
Lightvalve 50:3c630b5eba9f 1168 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1169 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1170 cnt_trans++;
Lightvalve 46:2694daea349b 1171 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1172 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1173 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1174 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1175 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1176 cnt_trans++;
Lightvalve 46:2694daea349b 1177 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1178 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1179 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1180 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1181 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1182 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1183 } else {
Lightvalve 58:2eade98630e2 1184 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1185 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1186 }
Lightvalve 45:35fa6884d0c6 1187
Lightvalve 50:3c630b5eba9f 1188
Lightvalve 57:f4819de54e7a 1189 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1190 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1191
Lightvalve 57:f4819de54e7a 1192 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1193 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1194 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1195 } else {
Lightvalve 57:f4819de54e7a 1196 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1197 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1198 }
Lightvalve 56:6f50d9d3bfee 1199
Lightvalve 56:6f50d9d3bfee 1200
Lightvalve 56:6f50d9d3bfee 1201
Lightvalve 57:f4819de54e7a 1202 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1203
Lightvalve 57:f4819de54e7a 1204 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1205 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1206 break;
Lightvalve 13:747daba9cf59 1207 }
Lightvalve 14:8e7590227d22 1208
Lightvalve 14:8e7590227d22 1209 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1210 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1211 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1212 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1213
Lightvalve 14:8e7590227d22 1214 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1215 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1216 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1217
Lightvalve 84:c355d3e52bf1 1218 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1219
Lightvalve 30:8d561f16383b 1220 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1221 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1222
Lightvalve 16:903b5a4433b4 1223 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1224 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1225 }
Lightvalve 13:747daba9cf59 1226 } else {
Lightvalve 58:2eade98630e2 1227 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1228 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1229 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1230 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1231
Lightvalve 170:42c938a40313 1232 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1233 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1234
Lightvalve 30:8d561f16383b 1235 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1236
Lightvalve 13:747daba9cf59 1237 }
Lightvalve 14:8e7590227d22 1238 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1239 break;
Lightvalve 19:23b7c1ad8683 1240 }
Lightvalve 14:8e7590227d22 1241
Lightvalve 50:3c630b5eba9f 1242 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1243 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1244 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1245 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1246 // }
Lightvalve 50:3c630b5eba9f 1247 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1248 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1249 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1250 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1251 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1252 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1253 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1254 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1255 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1256 // }
Lightvalve 50:3c630b5eba9f 1257 //
Lightvalve 50:3c630b5eba9f 1258 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1259 // 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 1260 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1261 //
Lightvalve 50:3c630b5eba9f 1262 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1263 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1264 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1265 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1266 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1267 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1268 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1269 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1270 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1271 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1272 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1273 //
Lightvalve 50:3c630b5eba9f 1274 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1275 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1276 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1277 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1278 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1279 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1280 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1281 //
Lightvalve 50:3c630b5eba9f 1282 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1283 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1284 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1285 // } else {
Lightvalve 50:3c630b5eba9f 1286 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1287 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1288 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1289 // }
Lightvalve 50:3c630b5eba9f 1290 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1291 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1292 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1293 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1294 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1295 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1296 // }
Lightvalve 50:3c630b5eba9f 1297 // } else {
Lightvalve 50:3c630b5eba9f 1298 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1299 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1300 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1301 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1302 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1303 // }
Lightvalve 50:3c630b5eba9f 1304 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1305 //
Lightvalve 50:3c630b5eba9f 1306 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1307 //
Lightvalve 50:3c630b5eba9f 1308 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1309 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1310 //
Lightvalve 50:3c630b5eba9f 1311 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1312 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1313 // }
Lightvalve 50:3c630b5eba9f 1314 // }
Lightvalve 50:3c630b5eba9f 1315 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1316 // break;
Lightvalve 50:3c630b5eba9f 1317 // }
Lightvalve 14:8e7590227d22 1318
Lightvalve 14:8e7590227d22 1319 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1320 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1321 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1322 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1323 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1324 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1325 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1326 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1327 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1328 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1329 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1330 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1331 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1332 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1333 }
Lightvalve 29:69f3f5445d6d 1334 cnt_findhome++;
Lightvalve 14:8e7590227d22 1335
Lightvalve 29:69f3f5445d6d 1336 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1337 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1338 } else {
Lightvalve 29:69f3f5445d6d 1339 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1340 }
Lightvalve 19:23b7c1ad8683 1341
Lightvalve 57:f4819de54e7a 1342 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1343 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1344 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1345 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1346
Lightvalve 59:f308b1656d9c 1347 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1348 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1349 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1350 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1351 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1352
Lightvalve 59:f308b1656d9c 1353 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1354 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1355
Lightvalve 34:bb2ca2fc2a8e 1356
Lightvalve 29:69f3f5445d6d 1357 } else {
Lightvalve 29:69f3f5445d6d 1358 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1359 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1360 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1361 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1362 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1363 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1364 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1365 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1366 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1367 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1368 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1369
Lightvalve 67:c2812cf26c38 1370
Lightvalve 67:c2812cf26c38 1371 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1372 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1373 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1374 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1375 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1376 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1377 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1378
Lightvalve 169:645207e160ca 1379
Lightvalve 29:69f3f5445d6d 1380 }
Lightvalve 29:69f3f5445d6d 1381 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1382 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1383 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 1384 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1385 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1386
Lightvalve 29:69f3f5445d6d 1387 // input for position control
Lightvalve 169:645207e160ca 1388
Lightvalve 67:c2812cf26c38 1389 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1390 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1391
Lightvalve 67:c2812cf26c38 1392 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1393 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1394 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1395 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1396
Lightvalve 67:c2812cf26c38 1397 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1398
Lightvalve 67:c2812cf26c38 1399 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1400 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1401 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1402
Lightvalve 67:c2812cf26c38 1403 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1404 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1405 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1406
Lightvalve 69:3995ffeaa786 1407 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1408 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 1409 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1410 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1411 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 1412 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1413 }
Lightvalve 67:c2812cf26c38 1414 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 1415 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1416
Lightvalve 67:c2812cf26c38 1417 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1418
Lightvalve 67:c2812cf26c38 1419
Lightvalve 67:c2812cf26c38 1420
Lightvalve 67:c2812cf26c38 1421 } else {
Lightvalve 67:c2812cf26c38 1422 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1423 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 1424
Lightvalve 67:c2812cf26c38 1425 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1426 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1427 } else {
Lightvalve 67:c2812cf26c38 1428 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1429 }
Lightvalve 67:c2812cf26c38 1430
Lightvalve 67:c2812cf26c38 1431 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1432
Lightvalve 67:c2812cf26c38 1433 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1434
Lightvalve 67:c2812cf26c38 1435 }
Lightvalve 67:c2812cf26c38 1436
Lightvalve 67:c2812cf26c38 1437
Lightvalve 169:645207e160ca 1438
Lightvalve 169:645207e160ca 1439
Lightvalve 59:f308b1656d9c 1440 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1441 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1442 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1443 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1444 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1445
Lightvalve 29:69f3f5445d6d 1446 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1447 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1448 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1449 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1450 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1451 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1452 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1453 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1454 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1455 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1456 }
Lightvalve 13:747daba9cf59 1457 }
Lightvalve 19:23b7c1ad8683 1458
Lightvalve 13:747daba9cf59 1459 break;
Lightvalve 13:747daba9cf59 1460 }
Lightvalve 14:8e7590227d22 1461
Lightvalve 50:3c630b5eba9f 1462 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1463 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1464 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1465 // else {
Lightvalve 50:3c630b5eba9f 1466 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1467 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1468 // }
Lightvalve 50:3c630b5eba9f 1469 // }
Lightvalve 50:3c630b5eba9f 1470 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1471 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1472 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1473 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1474 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1475 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1476 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1477 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1478 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1479 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1480 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1481 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1482 // }
Lightvalve 50:3c630b5eba9f 1483 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1484 // }
Lightvalve 50:3c630b5eba9f 1485 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1486 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1487 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1488 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1489 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1490 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1491 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1492 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1493 // 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 1494 // // 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 1495 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1496 // }
Lightvalve 50:3c630b5eba9f 1497 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1498 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1499 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1500 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1501 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1502 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1503 // 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 1504 // // 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 1505 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1506 // }
Lightvalve 50:3c630b5eba9f 1507 // }
Lightvalve 50:3c630b5eba9f 1508 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1509 //
Lightvalve 50:3c630b5eba9f 1510 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1511 //
Lightvalve 50:3c630b5eba9f 1512 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1513 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1514 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1515 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1516 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1517 // }
Lightvalve 50:3c630b5eba9f 1518 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1519 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1520 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1521 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1522 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1523 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1524 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1525 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1526 // }
Lightvalve 50:3c630b5eba9f 1527 //
Lightvalve 50:3c630b5eba9f 1528 // }
Lightvalve 50:3c630b5eba9f 1529 // break;
Lightvalve 50:3c630b5eba9f 1530 // }
Lightvalve 50:3c630b5eba9f 1531 //
Lightvalve 50:3c630b5eba9f 1532 // }
Lightvalve 14:8e7590227d22 1533 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1534 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1535 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1536 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1537 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1538
Lightvalve 14:8e7590227d22 1539 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1540 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1541 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1542 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1543 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1544
Lightvalve 38:118df027d851 1545 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1546 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1547 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1548
Lightvalve 30:8d561f16383b 1549 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1550 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1551 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1552 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1553
Lightvalve 30:8d561f16383b 1554 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1555 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1556 }
Lightvalve 13:747daba9cf59 1557 } else {
Lightvalve 57:f4819de54e7a 1558 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1559 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1560 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1561 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1562 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1563 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1564
Lightvalve 170:42c938a40313 1565 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1566 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1567 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1568
Lightvalve 30:8d561f16383b 1569 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1570 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1571 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1572 }
Lightvalve 14:8e7590227d22 1573 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1574 break;
Lightvalve 13:747daba9cf59 1575 }
Lightvalve 14:8e7590227d22 1576
Lightvalve 50:3c630b5eba9f 1577 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1578 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1579 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1580 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1581 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1582 // }
Lightvalve 50:3c630b5eba9f 1583 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1584 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1585 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1586 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1587 // }
Lightvalve 50:3c630b5eba9f 1588 // } else {
Lightvalve 50:3c630b5eba9f 1589 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1590 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1591 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1592 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1593 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1594 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1595 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1596 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1597 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1598 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1599 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1600 //
Lightvalve 50:3c630b5eba9f 1601 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1602 //
Lightvalve 50:3c630b5eba9f 1603 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1604 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1605 // }
Lightvalve 50:3c630b5eba9f 1606 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1607 // break;
Lightvalve 50:3c630b5eba9f 1608 // }
Lightvalve 19:23b7c1ad8683 1609
Lightvalve 50:3c630b5eba9f 1610 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1611 // 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 1612 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1613 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1614 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1615 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1616 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1617 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1618 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1619 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1620 // }
Lightvalve 50:3c630b5eba9f 1621 // break;
Lightvalve 50:3c630b5eba9f 1622 // }
Lightvalve 14:8e7590227d22 1623
Lightvalve 14:8e7590227d22 1624 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1625 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1626 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1627
Lightvalve 14:8e7590227d22 1628 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1629 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1630 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1631 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1632 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1633 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1634 data_num = 0;
Lightvalve 14:8e7590227d22 1635 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1636 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1637 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1638 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1639 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1640 } else {
Lightvalve 13:747daba9cf59 1641 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1642 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1643 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1644 }
Lightvalve 14:8e7590227d22 1645
Lightvalve 17:1865016ca2e7 1646 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1647 int i;
Lightvalve 13:747daba9cf59 1648 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1649 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1650 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1651 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1652 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1653 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1654 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1655 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1656 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1657 }
Lightvalve 13:747daba9cf59 1658 }
Lightvalve 170:42c938a40313 1659 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1660 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1661 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1662 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1663 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1664 }
Lightvalve 13:747daba9cf59 1665 ID_index = 0;
Lightvalve 57:f4819de54e7a 1666 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1667 }
Lightvalve 14:8e7590227d22 1668
Lightvalve 14:8e7590227d22 1669
Lightvalve 13:747daba9cf59 1670 break;
Lightvalve 13:747daba9cf59 1671 }
Lightvalve 14:8e7590227d22 1672
Lightvalve 14:8e7590227d22 1673 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1674 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1675 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1676 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1677 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1678 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1679 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1680 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1681 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1682 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1683 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1684 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1685 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1686 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1687 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1688 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 1689 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1690 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 1691 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1692 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1693 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1694 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 1695 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1696 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1697 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1698 data_num = 0;
Lightvalve 14:8e7590227d22 1699
Lightvalve 30:8d561f16383b 1700 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1701 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1702 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1703
Lightvalve 30:8d561f16383b 1704 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1705 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1706 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1707
Lightvalve 30:8d561f16383b 1708 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1709 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1710 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1711 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1712
Lightvalve 60:64181f1d3e60 1713 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1714 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1715 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1716 DZ_case = -1;
Lightvalve 14:8e7590227d22 1717 } else {
Lightvalve 13:747daba9cf59 1718 DZ_case = 0;
Lightvalve 13:747daba9cf59 1719 }
Lightvalve 61:bc8c8270f0ab 1720
Lightvalve 60:64181f1d3e60 1721 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1722
Lightvalve 13:747daba9cf59 1723 first_check = 1;
Lightvalve 13:747daba9cf59 1724 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1725 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1726 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1727 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1728 DZ_index = 1;
Lightvalve 14:8e7590227d22 1729
Lightvalve 13:747daba9cf59 1730 }
Lightvalve 19:23b7c1ad8683 1731 } else {
Lightvalve 14:8e7590227d22 1732 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1733 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1734 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 1735 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1736 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1737 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1738 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1739 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1740 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1741 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1742 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1743 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1744 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1745 }
Lightvalve 14:8e7590227d22 1746 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1747
Lightvalve 30:8d561f16383b 1748 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1749 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1750 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1751
Lightvalve 14:8e7590227d22 1752 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1753 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1754 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1755 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1756 } else {
Lightvalve 13:747daba9cf59 1757 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1758 }
Lightvalve 14:8e7590227d22 1759
Lightvalve 13:747daba9cf59 1760 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1761 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1762 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1763 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1764 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1765 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1766 DZ_index = 1;
Lightvalve 13:747daba9cf59 1767 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1768 }
Lightvalve 13:747daba9cf59 1769 }
Lightvalve 14:8e7590227d22 1770 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1771 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1772 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 1773 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1774 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1775 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1776 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1777 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1778 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1779 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1780 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1781 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1782 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1783 }
Lightvalve 14:8e7590227d22 1784 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1785
Lightvalve 30:8d561f16383b 1786 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1787 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1788 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1789 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1790 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1791
Lightvalve 14:8e7590227d22 1792 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1793 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1794 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1795 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1796 } else {
Lightvalve 60:64181f1d3e60 1797 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1798 }
Lightvalve 14:8e7590227d22 1799
Lightvalve 13:747daba9cf59 1800 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1801 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1802 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1803 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1804 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1805 first_check = 0;
Lightvalve 33:91b17819ec30 1806 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1807 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1808
Lightvalve 170:42c938a40313 1809 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1810 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 1811 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1812 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 1813
Lightvalve 60:64181f1d3e60 1814 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1815 DZ_index = 1;
Lightvalve 13:747daba9cf59 1816 }
Lightvalve 13:747daba9cf59 1817 }
Lightvalve 14:8e7590227d22 1818 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1819 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1820 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 1821 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1822 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1823 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1824 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1825 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1826 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1827 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1828 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1829 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1830 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1831 }
Lightvalve 14:8e7590227d22 1832 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1833
Lightvalve 30:8d561f16383b 1834 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1835 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1836 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1837
Lightvalve 14:8e7590227d22 1838 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1839 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1840 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1841 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1842 } else {
Lightvalve 13:747daba9cf59 1843 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1844 }
Lightvalve 13:747daba9cf59 1845 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1846 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1847 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1848 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1849 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1850 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1851 DZ_index = 1;
Lightvalve 13:747daba9cf59 1852 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1853 }
Lightvalve 13:747daba9cf59 1854 }
Lightvalve 14:8e7590227d22 1855 } else {
Lightvalve 30:8d561f16383b 1856 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1857 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 1858 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1859 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1860 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1861 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1862 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1863 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1864 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1865 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1866 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1867 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1868 }
Lightvalve 14:8e7590227d22 1869 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1870
Lightvalve 30:8d561f16383b 1871 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1872 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1873 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1874 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1875 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1876
Lightvalve 60:64181f1d3e60 1877 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1878 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1879 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1880 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1881 } else {
Lightvalve 13:747daba9cf59 1882 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1883 }
Lightvalve 14:8e7590227d22 1884
Lightvalve 13:747daba9cf59 1885 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1886 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1887 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1888 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1889 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1890 first_check = 0;
Lightvalve 33:91b17819ec30 1891 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1892 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1893
Lightvalve 170:42c938a40313 1894 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1895 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 1896 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1897 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 1898
Lightvalve 57:f4819de54e7a 1899 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1900 DZ_index = 1;
Lightvalve 13:747daba9cf59 1901 }
Lightvalve 13:747daba9cf59 1902 }
Lightvalve 13:747daba9cf59 1903 }
Lightvalve 14:8e7590227d22 1904 }
Lightvalve 13:747daba9cf59 1905 break;
Lightvalve 13:747daba9cf59 1906 }
Lightvalve 14:8e7590227d22 1907
Lightvalve 14:8e7590227d22 1908 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1909 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1910 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1911 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1912 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1913 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1914 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1915 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1916 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1917 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1918 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1919 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1920 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1921 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1922 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1923 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1924 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1925 first_check = 1;
Lightvalve 13:747daba9cf59 1926 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1927 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1928 ID_index = 0;
Lightvalve 13:747daba9cf59 1929 max_check = 0;
Lightvalve 13:747daba9cf59 1930 min_check = 0;
Lightvalve 13:747daba9cf59 1931 }
Lightvalve 14:8e7590227d22 1932 } else {
Lightvalve 30:8d561f16383b 1933 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1934 //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 1935 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1936 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1937 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1938 data_num = 0;
Lightvalve 57:f4819de54e7a 1939 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1940
Lightvalve 14:8e7590227d22 1941 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1942 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1943 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1944 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1945 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1946 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1947 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1948 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1949 one_period_end = 1;
Lightvalve 13:747daba9cf59 1950 }
Lightvalve 30:8d561f16383b 1951 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1952 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1953 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1954 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1955 }
Lightvalve 14:8e7590227d22 1956
Lightvalve 14:8e7590227d22 1957 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1958 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1959 max_check = 1;
Lightvalve 14:8e7590227d22 1960 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1961 min_check = 1;
Lightvalve 13:747daba9cf59 1962 }
Lightvalve 13:747daba9cf59 1963 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1964
Lightvalve 13:747daba9cf59 1965 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1966 one_period_end = 0;
Lightvalve 13:747daba9cf59 1967 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1968 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1969 }
Lightvalve 14:8e7590227d22 1970
Lightvalve 14:8e7590227d22 1971 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1972
Lightvalve 13:747daba9cf59 1973 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 1974 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1975 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 1976 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 1977 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 1978 }
Lightvalve 13:747daba9cf59 1979 ID_index = 0;
Lightvalve 13:747daba9cf59 1980 first_check = 0;
Lightvalve 13:747daba9cf59 1981 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1982 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1983 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1984 }
Lightvalve 13:747daba9cf59 1985 }
Lightvalve 13:747daba9cf59 1986 break;
Lightvalve 13:747daba9cf59 1987 }
Lightvalve 58:2eade98630e2 1988
Lightvalve 57:f4819de54e7a 1989 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 1990 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 1991 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1992 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1993 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1994 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1995 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1996 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1997 }
Lightvalve 57:f4819de54e7a 1998 break;
Lightvalve 57:f4819de54e7a 1999 }
Lightvalve 58:2eade98630e2 2000
Lightvalve 169:645207e160ca 2001 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2002 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2003 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2004 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2005 } else {
Lightvalve 169:645207e160ca 2006 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2007 }
Lightvalve 169:645207e160ca 2008 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2009 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2010 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2011 } else {
Lightvalve 169:645207e160ca 2012 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2013 }
Lightvalve 58:2eade98630e2 2014
Lightvalve 169:645207e160ca 2015 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2016 cnt_freq_test++;
Lightvalve 169:645207e160ca 2017 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2018 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2019 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2020 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2021 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2022 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2023 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2024 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2025 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2026 }
Lightvalve 169:645207e160ca 2027 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2028 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2029
Lightvalve 169:645207e160ca 2030 }
Lightvalve 169:645207e160ca 2031 break;
Lightvalve 169:645207e160ca 2032 }
Lightvalve 169:645207e160ca 2033 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2034 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2035 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2036 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2037 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2038 // }
Lightvalve 169:645207e160ca 2039 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2040 // }
Lightvalve 169:645207e160ca 2041
Lightvalve 169:645207e160ca 2042 break;
Lightvalve 169:645207e160ca 2043 }
Lightvalve 169:645207e160ca 2044 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2045 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2046 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2047 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2048 break;
Lightvalve 169:645207e160ca 2049 }
Lightvalve 170:42c938a40313 2050
Lightvalve 169:645207e160ca 2051 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2052 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2053 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2054 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2055 } else {
Lightvalve 169:645207e160ca 2056 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2057 }
Lightvalve 169:645207e160ca 2058 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2059 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2060 } else {
Lightvalve 169:645207e160ca 2061 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2062 }
Lightvalve 169:645207e160ca 2063 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2064 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2065 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2066 } else {
Lightvalve 169:645207e160ca 2067 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2068 }
Lightvalve 169:645207e160ca 2069
Lightvalve 169:645207e160ca 2070 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2071 cnt_step_test++;
Lightvalve 170:42c938a40313 2072 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2073 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2074 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2075 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2076 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2077 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2078 }
Lightvalve 169:645207e160ca 2079 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2080 // {
Lightvalve 169:645207e160ca 2081 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2082 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2083 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2084 // }
Lightvalve 170:42c938a40313 2085
Lightvalve 169:645207e160ca 2086 break;
Lightvalve 169:645207e160ca 2087 }
Lightvalve 57:f4819de54e7a 2088
Lightvalve 57:f4819de54e7a 2089 default:
Lightvalve 57:f4819de54e7a 2090 break;
Lightvalve 57:f4819de54e7a 2091 }
Lightvalve 57:f4819de54e7a 2092
Lightvalve 57:f4819de54e7a 2093 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2094
Lightvalve 57:f4819de54e7a 2095 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2096 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2097 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2098 break;
Lightvalve 57:f4819de54e7a 2099 }
Lightvalve 57:f4819de54e7a 2100
Lightvalve 57:f4819de54e7a 2101 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2102 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 2103 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 2104 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2105 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2106 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2107 } else {
Lightvalve 67:c2812cf26c38 2108 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2109 }
Lightvalve 57:f4819de54e7a 2110 break;
Lightvalve 57:f4819de54e7a 2111 }
Lightvalve 57:f4819de54e7a 2112
Lightvalve 57:f4819de54e7a 2113 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2114
Lightvalve 57:f4819de54e7a 2115 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2116 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2117 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2118 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2119
Lightvalve 67:c2812cf26c38 2120 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2121 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2122 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2123 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2124
Lightvalve 139:15621998925b 2125 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2126 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2127
Lightvalve 57:f4819de54e7a 2128 // torque feedback
Lightvalve 67:c2812cf26c38 2129 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2130 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2131
Lightvalve 57:f4819de54e7a 2132 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2133
Lightvalve 57:f4819de54e7a 2134 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2135 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2136 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2137
Lightvalve 57:f4819de54e7a 2138 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2139 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2140 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2141
Lightvalve 69:3995ffeaa786 2142 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2143 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 2144 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2145 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2146 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 2147 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2148 }
Lightvalve 57:f4819de54e7a 2149 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 2150 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2151
Lightvalve 57:f4819de54e7a 2152 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2153 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2154 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2155 // 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 2156 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2157 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2158 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2159 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 2160 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2161 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2162 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2163 }
Lightvalve 57:f4819de54e7a 2164 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 2165 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2166 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2167 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2168 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2169
Lightvalve 57:f4819de54e7a 2170 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2171
Lightvalve 67:c2812cf26c38 2172 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2173 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2174 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2175 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2176 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2177 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2178 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2179 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2180 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2181 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2182 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2183 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2184 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2185 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2186 }
Lightvalve 67:c2812cf26c38 2187 }
Lightvalve 57:f4819de54e7a 2188
Lightvalve 57:f4819de54e7a 2189 } else {
Lightvalve 57:f4819de54e7a 2190 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2191 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2192 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2193
Lightvalve 57:f4819de54e7a 2194 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 2195 + 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 2196
Lightvalve 72:3436ce769b1e 2197 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 2198
Lightvalve 72:3436ce769b1e 2199 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2200
Lightvalve 169:645207e160ca 2201
Lightvalve 72:3436ce769b1e 2202 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2203 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2204 } else {
Lightvalve 72:3436ce769b1e 2205 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2206 }
Lightvalve 57:f4819de54e7a 2207
Lightvalve 57:f4819de54e7a 2208 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2209 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2210 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2211 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2212 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2213 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2214 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2215 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2216 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2217 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2218 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2219 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2220 }
Lightvalve 57:f4819de54e7a 2221 }
Lightvalve 61:bc8c8270f0ab 2222
Lightvalve 57:f4819de54e7a 2223 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2224
Lightvalve 67:c2812cf26c38 2225 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2226 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2227
Lightvalve 57:f4819de54e7a 2228 }
Lightvalve 169:645207e160ca 2229
Lightvalve 72:3436ce769b1e 2230 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2231
Lightvalve 133:22ab22818e01 2232
Lightvalve 57:f4819de54e7a 2233 break;
Lightvalve 57:f4819de54e7a 2234 }
Lightvalve 58:2eade98630e2 2235
Lightvalve 57:f4819de54e7a 2236 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2237 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2238 break;
Lightvalve 57:f4819de54e7a 2239 }
Lightvalve 169:645207e160ca 2240
Lightvalve 138:a843f32ced33 2241 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2242
Lightvalve 169:645207e160ca 2243
Lightvalve 139:15621998925b 2244 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 2245 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 169:645207e160ca 2246
Lightvalve 139:15621998925b 2247 // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 2248 // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 170:42c938a40313 2249 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2250
Lightvalve 169:645207e160ca 2251
Lightvalve 170:42c938a40313 2252 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 169:645207e160ca 2253
Lightvalve 138:a843f32ced33 2254 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2255 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2256 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2257 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2258 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2259 } else {
Lightvalve 138:a843f32ced33 2260 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2261 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2262 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2263 } else {
Lightvalve 138:a843f32ced33 2264 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2265 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2266 }
Lightvalve 138:a843f32ced33 2267 }
Lightvalve 138:a843f32ced33 2268 float tau = 0.01f;
Lightvalve 142:43026242815a 2269 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 2270
Lightvalve 138:a843f32ced33 2271 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2272 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2273 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2274 } else {
Lightvalve 138:a843f32ced33 2275 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2276 }
Lightvalve 138:a843f32ced33 2277 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2278 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2279
Lightvalve 139:15621998925b 2280 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2281
Lightvalve 138:a843f32ced33 2282 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2283 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2284 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2285
Lightvalve 138:a843f32ced33 2286 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2287 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2288
Lightvalve 142:43026242815a 2289 float k3 = 20000.0f; //2000
Lightvalve 142:43026242815a 2290 float k4 = 10.0f;
Lightvalve 142:43026242815a 2291 float rho3 = 3.2f;
Lightvalve 142:43026242815a 2292 float rho4 = 25000000.0f;
Lightvalve 139:15621998925b 2293 float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2294 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2295 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2296
Lightvalve 139:15621998925b 2297 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2298 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2299 } else {
Lightvalve 139:15621998925b 2300 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2301 }
Lightvalve 169:645207e160ca 2302
Lightvalve 169:645207e160ca 2303
Lightvalve 138:a843f32ced33 2304 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2305 x_4_des_old = x_4_des;
Lightvalve 169:645207e160ca 2306
Lightvalve 139:15621998925b 2307 V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
Lightvalve 169:645207e160ca 2308
Lightvalve 142:43026242815a 2309 float rho_gamma = 50000.0f;//5000
Lightvalve 139:15621998925b 2310 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 138:a843f32ced33 2311 gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 169:645207e160ca 2312 break;
Lightvalve 138:a843f32ced33 2313 }
Lightvalve 170:42c938a40313 2314
Lightvalve 170:42c938a40313 2315 case MODE_RL: {
Lightvalve 170:42c938a40313 2316 //t.reset();
Lightvalve 170:42c938a40313 2317 //t.start();
Lightvalve 170:42c938a40313 2318
Lightvalve 170:42c938a40313 2319 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2320 // else LED = 0;
Lightvalve 170:42c938a40313 2321
Lightvalve 170:42c938a40313 2322 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2323 //Gather Data on each loop
Lightvalve 170:42c938a40313 2324 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2325 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2326 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2327 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2328 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2329 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2330 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2331 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2332 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2333 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2334 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2335 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2336 mean_before_SP_array[RL_timer] = mean_before_SP;
Lightvalve 170:42c938a40313 2337 deviation_before_SP_array[RL_timer] = deviation_before_SP;
Lightvalve 170:42c938a40313 2338 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2339
Lightvalve 170:42c938a40313 2340
Lightvalve 170:42c938a40313 2341 virt_pos = virt_pos + (action_array[RL_timer] - 3.0f) * 1000.0f * 0.0002f;
Lightvalve 170:42c938a40313 2342 if (virt_pos > 70.0f ) {
Lightvalve 170:42c938a40313 2343 virt_pos = 70.0f;
Lightvalve 170:42c938a40313 2344 } else if(virt_pos < -70.0f) {
Lightvalve 170:42c938a40313 2345 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2346 }
Lightvalve 170:42c938a40313 2347
Lightvalve 170:42c938a40313 2348 RL_timer++;
Lightvalve 170:42c938a40313 2349
Lightvalve 170:42c938a40313 2350
Lightvalve 170:42c938a40313 2351 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2352 RL_timer = 0;
Lightvalve 170:42c938a40313 2353 batch++;
Lightvalve 170:42c938a40313 2354 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2355 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2356 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2357 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2358 }
Lightvalve 170:42c938a40313 2359 Update_Case = 1;
Lightvalve 170:42c938a40313 2360 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2361 logging1 = virt_pos;
Lightvalve 170:42c938a40313 2362 //virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2363
Lightvalve 170:42c938a40313 2364 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2365 batch = 0;
Lightvalve 170:42c938a40313 2366 RL_timer = 0;
Lightvalve 170:42c938a40313 2367 Update_Case = 2;
Lightvalve 170:42c938a40313 2368 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2369 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2370 }
Lightvalve 170:42c938a40313 2371 }
Lightvalve 170:42c938a40313 2372 }
Lightvalve 170:42c938a40313 2373
Lightvalve 170:42c938a40313 2374 else {
Lightvalve 170:42c938a40313 2375
Lightvalve 170:42c938a40313 2376 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2377 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2378 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2379 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2380 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2381 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2382 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2383 //logging1 = action;
Lightvalve 170:42c938a40313 2384 logging2 = mean;
Lightvalve 170:42c938a40313 2385 logging4 = deviation;
Lightvalve 170:42c938a40313 2386 virt_pos = virt_pos + (action-3.0f) * 1000.0f * 0.0002f;
Lightvalve 170:42c938a40313 2387 if (virt_pos > 70.0f) {
Lightvalve 170:42c938a40313 2388 virt_pos = 70.0f;
Lightvalve 170:42c938a40313 2389 } else if(virt_pos < -70.0f) {
Lightvalve 170:42c938a40313 2390 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2391 }
Lightvalve 170:42c938a40313 2392
Lightvalve 170:42c938a40313 2393 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2394 }
Lightvalve 170:42c938a40313 2395
Lightvalve 170:42c938a40313 2396 //t.stop();
Lightvalve 170:42c938a40313 2397 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2398
Lightvalve 170:42c938a40313 2399 break;
Lightvalve 170:42c938a40313 2400 }
Lightvalve 14:8e7590227d22 2401
Lightvalve 12:6f2531038ea4 2402 default:
Lightvalve 12:6f2531038ea4 2403 break;
Lightvalve 12:6f2531038ea4 2404 }
Lightvalve 14:8e7590227d22 2405
Lightvalve 57:f4819de54e7a 2406
Lightvalve 57:f4819de54e7a 2407 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2408
Lightvalve 57:f4819de54e7a 2409 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2410 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2411 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2412 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2413 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2414 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2415
Lightvalve 57:f4819de54e7a 2416 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2417 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2418
Lightvalve 57:f4819de54e7a 2419
Lightvalve 57:f4819de54e7a 2420 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2421 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2422 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2423 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2424 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2425 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2426
Lightvalve 57:f4819de54e7a 2427 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2428 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2429 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2430 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2431 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2432 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2433 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2434 }
Lightvalve 57:f4819de54e7a 2435
Lightvalve 57:f4819de54e7a 2436 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2437
Lightvalve 67:c2812cf26c38 2438 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2439 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2440 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2441 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2442 // 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 2443 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2444 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2445
Lightvalve 57:f4819de54e7a 2446 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2447 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2448 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2449 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2450 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2451 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2452 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2453 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2454 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2455 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2456 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2457 }
Lightvalve 57:f4819de54e7a 2458 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2459 } else {
Lightvalve 57:f4819de54e7a 2460 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2461 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2462 }
Lightvalve 57:f4819de54e7a 2463
Lightvalve 57:f4819de54e7a 2464 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2465 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2466 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2467 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2468 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2469 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2470 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2471
Lightvalve 57:f4819de54e7a 2472 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2473
Lightvalve 57:f4819de54e7a 2474 } else {
Lightvalve 57:f4819de54e7a 2475 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2476 }
Lightvalve 57:f4819de54e7a 2477
Lightvalve 57:f4819de54e7a 2478 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2479 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2480 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2481
Lightvalve 57:f4819de54e7a 2482 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2483 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2484 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2485 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2486 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2487 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2488 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2489 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2490
Lightvalve 89:a7b45368ea0f 2491 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2492 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2493 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2494 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2495
Lightvalve 135:79885a39c161 2496 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2497 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2498 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2499 }
Lightvalve 169:645207e160ca 2500
Lightvalve 67:c2812cf26c38 2501 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2502 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2503 // else V_out = V_out;
Lightvalve 169:645207e160ca 2504
jobuuu 7:e9086c72bb22 2505 /*******************************************************
jobuuu 7:e9086c72bb22 2506 *** PWM
jobuuu 7:e9086c72bb22 2507 ********************************************************/
Lightvalve 169:645207e160ca 2508 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2509 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2510 }
Lightvalve 169:645207e160ca 2511
Lightvalve 49:e7bcfc244d40 2512 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2513 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2514 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2515 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2516 }
Lightvalve 49:e7bcfc244d40 2517 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2518
Lightvalve 19:23b7c1ad8683 2519 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2520 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2521 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2522
Lightvalve 30:8d561f16383b 2523 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2524 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2525 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2526 } else {
jobuuu 2:a1c0a37df760 2527 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2528 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2529 }
Lightvalve 13:747daba9cf59 2530
jobuuu 1:e04e563be5ce 2531 //pwm
Lightvalve 30:8d561f16383b 2532 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2533 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2534
Lightvalve 61:bc8c8270f0ab 2535
Lightvalve 57:f4819de54e7a 2536 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 2537
Lightvalve 54:647072f5307a 2538 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2539 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2540 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2541 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2542 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2543 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2544 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 2545 }
Lightvalve 57:f4819de54e7a 2546 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2547 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2548 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 2549 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2550 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 2551 }
Lightvalve 52:8ea76864368a 2552 }
Lightvalve 52:8ea76864368a 2553 }
Lightvalve 56:6f50d9d3bfee 2554 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 2555 //valve position
Lightvalve 169:645207e160ca 2556 double t_value = 0.0f;
Lightvalve 97:d71c57e3515e 2557 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 2558 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 2559 } else {
Lightvalve 97:d71c57e3515e 2560 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 2561 }
Lightvalve 67:c2812cf26c38 2562 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 54:647072f5307a 2563 }
Lightvalve 58:2eade98630e2 2564
Lightvalve 58:2eade98630e2 2565
Lightvalve 131:d08121ac87ba 2566 if (flag_data_request[2] == LOW) {
Lightvalve 169:645207e160ca 2567 double t_value = 0.0f;
Lightvalve 89:a7b45368ea0f 2568 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2569 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2570 } else {
Lightvalve 131:d08121ac87ba 2571 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2572 }
Lightvalve 169:645207e160ca 2573 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2574 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2575 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2576 } else {
Lightvalve 169:645207e160ca 2577 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2578 }
Lightvalve 169:645207e160ca 2579
Lightvalve 169:645207e160ca 2580
Lightvalve 169:645207e160ca 2581 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2582 }
Lightvalve 58:2eade98630e2 2583
Lightvalve 57:f4819de54e7a 2584 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 2585 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2586 ;
Lightvalve 57:f4819de54e7a 2587 }
Lightvalve 58:2eade98630e2 2588
Lightvalve 169:645207e160ca 2589 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2590 //PWM
Lightvalve 73:f80dc3970c99 2591 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 139:15621998925b 2592 CAN_TX_PWM((int16_t) gamma_hat); //1500
Lightvalve 54:647072f5307a 2593 }
Lightvalve 57:f4819de54e7a 2594 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 2595 // ;
Lightvalve 57:f4819de54e7a 2596 // }
Lightvalve 56:6f50d9d3bfee 2597 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2598 //valve position
Lightvalve 73:f80dc3970c99 2599 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 2600 }
Lightvalve 20:806196fda269 2601
Lightvalve 54:647072f5307a 2602 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 2603 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 2604 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 2605 // }
Lightvalve 54:647072f5307a 2606 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 2607 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 2608 //}
Lightvalve 52:8ea76864368a 2609
Lightvalve 54:647072f5307a 2610 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2611 }
Lightvalve 54:647072f5307a 2612 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 2613
Lightvalve 20:806196fda269 2614 }
Lightvalve 52:8ea76864368a 2615 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2616
Lightvalve 58:2eade98630e2 2617 }