Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@231:53de35471dc7, 2020-12-30 (annotated)

Committer:
Lightvalve
Date:
Wed Dec 30 06:53:25 2020 +0000
Revision:
231:53de35471dc7
Parent:
230:eff425844edf
Child:
232:0287991a8615
201230-3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 231:53de35471dc7 1 //201230_3
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 11 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 12 #include <string>
Lightvalve 170:42c938a40313 13 #include <iostream>
Lightvalve 179:d5377766d7ea 14 #include <cmath>
Lightvalve 61:bc8c8270f0ab 15
Lightvalve 61:bc8c8270f0ab 16 using namespace std;
Lightvalve 61:bc8c8270f0ab 17 Timer t;
GiJeongKim 0:51c43836c1d7 18
Lightvalve 31:66738bfecec5 19 ///191008////
Lightvalve 31:66738bfecec5 20
jobuuu 7:e9086c72bb22 21 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 22 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 23 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 24 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 25 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 26 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 27 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 28 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 29
Lightvalve 24:ef6e1092e9e6 30
jobuuu 7:e9086c72bb22 31 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 32 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 33 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 34
jobuuu 7:e9086c72bb22 35 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 36 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 37 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 38 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 39
jobuuu 7:e9086c72bb22 40 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 41 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 42 DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 43 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 44 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 45 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 46 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 50
jobuuu 7:e9086c72bb22 51 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 52 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 53 CANMessage msg;
Lightvalve 11:82d8768d7351 54 void onMsgReceived()
Lightvalve 11:82d8768d7351 55 {
Lightvalve 11:82d8768d7351 56 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 57 }
jobuuu 2:a1c0a37df760 58
jobuuu 7:e9086c72bb22 59 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 60 State pos;
jobuuu 7:e9086c72bb22 61 State vel;
jobuuu 7:e9086c72bb22 62 State Vout;
jobuuu 7:e9086c72bb22 63 State torq;
Lightvalve 207:c70c5a9f17dd 64 State torq_dot;
jobuuu 7:e9086c72bb22 65 State pres_A;
jobuuu 7:e9086c72bb22 66 State pres_B;
jobuuu 7:e9086c72bb22 67 State cur;
Lightvalve 14:8e7590227d22 68 State valve_pos;
Lightvalve 14:8e7590227d22 69
Lightvalve 14:8e7590227d22 70 State INIT_Vout;
Lightvalve 14:8e7590227d22 71 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 72 State INIT_Pos;
Lightvalve 14:8e7590227d22 73 State INIT_torq;
jobuuu 5:a4319f79457b 74
Lightvalve 19:23b7c1ad8683 75 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 76 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 77 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 78 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 79
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 86
Lightvalve 61:bc8c8270f0ab 87
Lightvalve 61:bc8c8270f0ab 88
Lightvalve 61:bc8c8270f0ab 89
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91 // =============================================================================
jobuuu 7:e9086c72bb22 92 // =============================================================================
jobuuu 7:e9086c72bb22 93
Lightvalve 12:6f2531038ea4 94 /*******************************************************************************
Lightvalve 12:6f2531038ea4 95 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 96 ******************************************************************************/
Lightvalve 13:747daba9cf59 97 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 98 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 99 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 100 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 101 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 102 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 103 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 104 };
Lightvalve 12:6f2531038ea4 105
Lightvalve 12:6f2531038ea4 106 /*******************************************************************************
Lightvalve 12:6f2531038ea4 107 * CONTROL MODE
Lightvalve 12:6f2531038ea4 108 ******************************************************************************/
Lightvalve 13:747daba9cf59 109 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 110 //control mode
Lightvalve 12:6f2531038ea4 111 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 112 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 113 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 114
Lightvalve 47:fdcb8bd86fd6 115 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 116 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 117 MODE_RL, //5
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 120 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 121 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 122
Lightvalve 12:6f2531038ea4 123 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 124 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 125
Lightvalve 14:8e7590227d22 126 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 127 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 128 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 171:bfc1fd2629d8 129 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 130
Lightvalve 12:6f2531038ea4 131 //utility
Lightvalve 12:6f2531038ea4 132 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 133 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 134 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 135 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 136 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 137 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 138 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 139
Lightvalve 12:6f2531038ea4 140 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 141 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 142 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 143 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 144 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 145 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 146 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 147 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 148 };
Lightvalve 12:6f2531038ea4 149
Lightvalve 65:a2d7c63419c2 150 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 151 {
Lightvalve 169:645207e160ca 152 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 153 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 154
Lightvalve 169:645207e160ca 155 /** Configure the main internal regulator output voltage
Lightvalve 169:645207e160ca 156 */
Lightvalve 169:645207e160ca 157 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 158 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 169:645207e160ca 159 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 160 */
Lightvalve 169:645207e160ca 161 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 169:645207e160ca 162 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 169:645207e160ca 163 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 164 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 169:645207e160ca 165 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 169:645207e160ca 166 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 169:645207e160ca 167 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 169:645207e160ca 168 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 169 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 170 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 171 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 172 //Error_Handler();
Lightvalve 169:645207e160ca 173 }
Lightvalve 169:645207e160ca 174 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 175 */
Lightvalve 169:645207e160ca 176 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 177 //Error_Handler();
Lightvalve 169:645207e160ca 178 }
Lightvalve 169:645207e160ca 179 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 180 */
Lightvalve 169:645207e160ca 181 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 182 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 183 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 184 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 185 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 186 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 187
Lightvalve 169:645207e160ca 188 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 169:645207e160ca 189 //Error_Handler();
Lightvalve 169:645207e160ca 190 }
Lightvalve 65:a2d7c63419c2 191 }
Lightvalve 65:a2d7c63419c2 192
Lightvalve 99:7bbcb3c0fb06 193 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 194 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 195 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 196 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 197 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 198
Lightvalve 73:f80dc3970c99 199 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 200
Lightvalve 169:645207e160ca 201 const float h1[num_input][16] = {
Lightvalve 230:eff425844edf 202 {-1.9263023138046265f,1.2565475702285767f,0.1310378611087799f,-0.7171328663825989f,-1.6638556718826294f,2.41223406791687f,-0.17743819952011108f,-0.12732535600662231f,0.197967529296875f,-2.4429471492767334f,0.6014160513877869f,-2.65081787109375f,-0.2751281261444092f,0.3872623145580292f,-0.2611466646194458f,-0.20388372242450714f},
Lightvalve 230:eff425844edf 203 {-0.8760362267494202f,0.3863745629787445f,-0.3988758325576782f,-0.5291993021965027f,-0.5694252848625183f,1.2946312427520752f,-0.4116867780685425f,-0.22876569628715515f,0.1517363339662552f,-1.6561946868896484f,-0.45489057898521423f,-1.691250205039978f,0.23222962021827698f,-0.2950204908847809f,-0.21292872726917267f,0.01600177399814129f},
Lightvalve 230:eff425844edf 204 {-0.9007099866867065f,0.6718482375144958f,0.36955419182777405f,-0.7104339003562927f,-0.4226318299770355f,1.0896837711334229f,0.2916664779186249f,-0.01620110124349594f,-0.02159370668232441f,-0.793718695640564f,-0.11682294309139252f,-1.2158480882644653f,-0.009753492660820484f,0.09420771151781082f,0.056768983602523804f,-0.2928417921066284f},
Lightvalve 230:eff425844edf 205 {-0.8114799857139587f,0.8157651424407959f,0.40358296036720276f,0.06533468514680862f,-0.660064697265625f,0.09888201206922531f,-0.11764177680015564f,0.2820272743701935f,0.10149487853050232f,0.5306861996650696f,1.088588833808899f,0.11177092790603638f,-0.17443212866783142f,-0.09849850088357925f,-0.3007376194000244f,-0.02941063791513443f},
Lightvalve 230:eff425844edf 206 {0.6717588305473328f,0.34743309020996094f,-0.005224883556365967f,0.38920730352401733f,-0.006901777349412441f,-1.0295268297195435f,0.13140985369682312f,-0.037608977407217026f,-0.11234983801841736f,1.7851743698120117f,1.2310711145401f,1.5052003860473633f,-0.0765354260802269f,-0.10877707600593567f,-0.39249828457832336f,-0.41519537568092346f},
Lightvalve 230:eff425844edf 207 {3.8788771629333496f,-3.4141626358032227f,0.22110894322395325f,1.4132412672042847f,3.250668525695801f,-3.932023048400879f,0.16770240664482117f,-0.25149860978126526f,-0.6953557133674622f,2.5541324615478516f,-2.3852152824401855f,3.8622140884399414f,-0.27628305554389954f,-0.20555844902992249f,-0.4196912348270416f,-0.5049533843994141f},
Lightvalve 230:eff425844edf 208 {-1.0910837650299072f,1.5310019254684448f,-0.2540779709815979f,-1.699008584022522f,-2.7678186893463135f,0.042158763855695724f,0.06107431650161743f,-0.8498121500015259f,0.947952926158905f,3.5080132484436035f,4.094943046569824f,1.3560343980789185f,-0.18150930106639862f,0.7762811183929443f,-0.15860587358474731f,-0.04692316800355911f},
Lightvalve 230:eff425844edf 209 {0.021252449601888657f,-1.7117400169372559f,-0.2703247666358948f,-0.3658110499382019f,-0.7817240357398987f,0.3258049786090851f,-0.18203827738761902f,-0.5964152812957764f,-0.1708083301782608f,3.059142827987671f,0.6971661448478699f,-1.2719084024429321f,0.3709676265716553f,0.30348724126815796f,0.0436977744102478f,-0.03584130480885506f},
Lightvalve 230:eff425844edf 210 {0.8466247916221619f,-1.7367573976516724f,0.10406997799873352f,-0.3620944023132324f,0.5412198901176453f,0.6309167146682739f,-0.07359349727630615f,-0.4533679187297821f,-0.784812331199646f,1.6026686429977417f,-1.393445611000061f,-0.8037490248680115f,0.22625578939914703f,0.26414215564727783f,-0.31029027700424194f,-0.14219065010547638f},
Lightvalve 230:eff425844edf 211 {0.2616613805294037f,-1.2834594249725342f,0.18748918175697327f,0.006672881077975035f,0.7052662968635559f,0.3891584575176239f,-0.3036908507347107f,-0.04314374551177025f,-0.39671164751052856f,-0.029073715209960938f,-0.9029676914215088f,-0.8100889921188354f,0.37156444787979126f,-0.147613987326622f,0.35390153527259827f,-0.3667701482772827f},
Lightvalve 230:eff425844edf 212 {0.2742692530155182f,-0.18266388773918152f,0.3775894343852997f,0.2890429198741913f,0.2838522493839264f,0.026181545108556747f,-0.20654654502868652f,0.025287557393312454f,-0.5715938806533813f,0.09734179824590683f,-0.40069374442100525f,-0.7974845767021179f,-0.07399006187915802f,0.16150778532028198f,0.2710213363170624f,-0.6254599094390869f},
Lightvalve 230:eff425844edf 213 {-0.4190559983253479f,-0.13637374341487885f,-0.40945154428482056f,0.04590035229921341f,0.3266812860965729f,-0.28913336992263794f,0.15575703978538513f,0.332510769367218f,-0.14208796620368958f,0.4671242833137512f,-0.7784496545791626f,0.04069240391254425f,0.1405734419822693f,0.17514710128307343f,0.10656675696372986f,-0.28767532110214233f},
Lightvalve 230:eff425844edf 214 {-0.1321425586938858f,0.10860586166381836f,0.2015570104122162f,0.3104243874549866f,0.4348571002483368f,-0.03878514841198921f,-0.24415965378284454f,0.010409981943666935f,-0.16880515217781067f,0.0960438922047615f,-0.218440443277359f,-0.2751259207725525f,0.08706702291965485f,0.1684483289718628f,-0.22613362967967987f,-0.5390941500663757f},
Lightvalve 230:eff425844edf 215 {-0.07273829728364944f,-0.0028251938056200743f,0.41918185353279114f,0.21951936185359955f,-0.040497999638319016f,-0.3893090784549713f,-0.32497477531433105f,-0.5081345438957214f,-0.15358509123325348f,-0.06052562594413757f,-0.2989772856235504f,-0.008403073064982891f,-0.3239504396915436f,0.08852782845497131f,0.04871204495429993f,-0.030978143215179443f},
Lightvalve 230:eff425844edf 216 {-0.1294948160648346f,0.2567782402038574f,0.20596781373023987f,0.21820449829101562f,0.14234144985675812f,-0.2349168062210083f,0.042680561542510986f,0.04373318701982498f,0.34865522384643555f,0.06248260661959648f,-0.023645654320716858f,-0.23440442979335785f,0.09878566116094589f,0.16271169483661652f,0.06784489750862122f,0.04550747200846672f},
Lightvalve 230:eff425844edf 217 {-0.35847118496894836f,-0.5122860670089722f,-0.4106670916080475f,0.13450637459754944f,-0.2616882920265198f,-0.7916378378868103f,-0.15809619426727295f,-0.2441980242729187f,0.13642601668834686f,-0.29386720061302185f,-0.7606335282325745f,0.42109808325767517f,-0.28163331747055054f,0.29003897309303284f,-0.08373728394508362f,0.08965898305177689f},
Lightvalve 65:a2d7c63419c2 218 };
Lightvalve 65:a2d7c63419c2 219
Lightvalve 169:645207e160ca 220 const float h2[16][16] = {
Lightvalve 230:eff425844edf 221 {0.3930434584617615f,-0.2760046422481537f,-0.06966331601142883f,0.5573797225952148f,-0.21907491981983185f,3.0837783813476562f,-0.03645731136202812f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.5400919914245605f,-0.3574032187461853f,0.0677378922700882f,-3.8898062705993652f,-0.21618182957172394f,0.11639698594808578f},
Lightvalve 230:eff425844edf 222 {1.1674503087997437f,-0.4660412669181824f,0.057057321071624756f,-0.3536809980869293f,-0.35503754019737244f,-0.9374600052833557f,-0.5618715286254883f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,0.6180537343025208f,-0.75235515832901f,0.1972428262233734f,0.28802400827407837f,-0.5070251822471619f,0.6845030784606934f},
Lightvalve 219:3cb6bd063f56 223 {-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 230:eff425844edf 224 {-0.017540471628308296f,-0.3439796566963196f,-0.2894435524940491f,0.36640626192092896f,0.08946844935417175f,-0.33021655678749084f,-0.5845211148262024f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,-0.053512122482061386f,0.04363805800676346f,-0.5480604767799377f,-0.6265043020248413f,0.0729166567325592f,0.27252864837646484f},
Lightvalve 230:eff425844edf 225 {1.785760521888733f,0.6541135311126709f,-0.25313520431518555f,0.44530224800109863f,0.036378175020217896f,1.108391523361206f,-0.5546870827674866f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.25993049144744873f,-0.7607472538948059f,-0.1258891373872757f,-1.8423455953598022f,-0.4726662039756775f,1.5968234539031982f},
Lightvalve 230:eff425844edf 226 {0.35434088110923767f,0.07735256105661392f,-0.3519742488861084f,0.0787750780582428f,-0.3015052080154419f,-0.020565737038850784f,-0.7396655678749084f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.6316982507705688f,-0.28874123096466064f,-0.35083094239234924f,2.651024341583252f,0.0053144171833992004f,-0.41491958498954773f},
Lightvalve 219:3cb6bd063f56 227 {-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 230:eff425844edf 228 {0.3322710394859314f,0.45431244373321533f,0.33083590865135193f,0.05937234312295914f,-0.14358049631118774f,-0.18344715237617493f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.24461591243743896f,-0.31911081075668335f,-0.31673234701156616f,0.19626884162425995f,-0.04439463093876839f,0.45424115657806396f},
Lightvalve 230:eff425844edf 229 {-0.0497419647872448f,0.3696230351924896f,-0.11379697918891907f,-0.22385191917419434f,0.041274964809417725f,-0.2552245557308197f,-0.4296785295009613f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.22125406563282013f,-0.8607263565063477f,-0.5130627751350403f,-0.3908783495426178f,-0.4568846523761749f,0.15553812682628632f},
Lightvalve 230:eff425844edf 230 {-2.3046605587005615f,0.4630797505378723f,-0.13502129912376404f,-0.24659167230129242f,0.12987366318702698f,0.19449545443058014f,-0.05609512701630592f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,-0.820694088935852f,-0.15950720012187958f,0.030118972063064575f,-1.205933928489685f,-0.11094408482313156f,-1.9438313245773315f},
Lightvalve 230:eff425844edf 231 {1.0933794975280762f,-1.103476643562317f,0.0457797646522522f,-1.0171253681182861f,-0.03321319818496704f,-0.8378584980964661f,-0.1470784991979599f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,2.474815845489502f,-0.09593358635902405f,-0.5490431785583496f,0.4237048923969269f,-0.26588281989097595f,-2.009275197982788f},
Lightvalve 230:eff425844edf 232 {0.9703730940818787f,0.0698828399181366f,0.3954955041408539f,0.11067237704992294f,0.0033026933670043945f,-0.19158247113227844f,-0.5137899518013f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,1.5676788091659546f,-0.6331459879875183f,-0.05686356872320175f,-1.8892524242401123f,0.11558829993009567f,0.7225883603096008f},
Lightvalve 230:eff425844edf 233 {-0.3041229844093323f,-0.2162615954875946f,-0.15798500180244446f,0.3624812960624695f,-0.37393757700920105f,0.36882126331329346f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.11332546174526215f,-0.2837170362472534f,0.41839322447776794f,-0.011782169342041016f,-0.1232791617512703f,0.1023411750793457f},
Lightvalve 230:eff425844edf 234 {-0.46950092911720276f,0.6556989550590515f,-0.2018718123435974f,-0.22713492810726166f,0.07545611262321472f,-0.010944423265755177f,-0.24789650738239288f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,-0.08138655126094818f,-0.5599690675735474f,-0.3073025345802307f,0.14553077518939972f,-0.16881777346134186f,-0.39995503425598145f},
Lightvalve 219:3cb6bd063f56 235 {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 230:eff425844edf 236 {-0.3033992648124695f,0.266085147857666f,0.12081471085548401f,-0.2207726091146469f,0.29976895451545715f,-0.0031300950795412064f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.24841265380382538f,-0.14615972340106964f,-0.19991017878055573f,0.10315173864364624f,0.2499116212129593f,0.09031006693840027f},
Lightvalve 65:a2d7c63419c2 237 };
Lightvalve 65:a2d7c63419c2 238
Lightvalve 169:645207e160ca 239 const float h3[16][16] = {
Lightvalve 230:eff425844edf 240 {-0.36079341173171997f,-1.2573957443237305f,0.040910087525844574f,0.3814731240272522f,-3.4035985469818115f,0.7730768918991089f,0.21111074090003967f,0.14764496684074402f,-0.9359577894210815f,-0.18621651828289032f,-0.27539879083633423f,0.15890952944755554f,-0.5615507364273071f,0.51227205991745f,-4.039036750793457f,1.0741971731185913f},
Lightvalve 230:eff425844edf 241 {0.047732532024383545f,0.3565322756767273f,-0.46046897768974304f,-0.20793941617012024f,-0.6533023715019226f,0.23362523317337036f,-0.3198729455471039f,0.06247803568840027f,1.70857834815979f,-0.0621853806078434f,0.4144817292690277f,-0.3128277659416199f,0.15687963366508484f,0.5943896174430847f,0.22744028270244598f,-1.0002206563949585f},
Lightvalve 219:3cb6bd063f56 242 {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 230:eff425844edf 243 {-0.30922991037368774f,-0.033454444259405136f,0.18039926886558533f,-0.9806683659553528f,-0.41112175583839417f,0.19335953891277313f,0.20021501183509827f,0.07002416253089905f,-0.2918536365032196f,-0.2972436845302582f,0.13192829489707947f,0.2577759921550751f,0.2827956974506378f,0.1766289323568344f,0.09490811824798584f,-0.5227937698364258f},
Lightvalve 219:3cb6bd063f56 244 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve 230:eff425844edf 245 {-0.37449589371681213f,0.625716507434845f,-0.4491010904312134f,-0.5491208434104919f,0.9279378652572632f,1.095594048500061f,-0.260944664478302f,0.07231055200099945f,0.08413174003362656f,-0.5106105208396912f,-0.16709838807582855f,-0.06214549019932747f,0.1851106584072113f,0.11005591601133347f,-0.8136622309684753f,-1.1251161098480225f},
Lightvalve 230:eff425844edf 246 {0.4110594093799591f,0.34814590215682983f,-0.23922504484653473f,0.352090060710907f,0.06119187921285629f,-0.030877234414219856f,-0.08670487999916077f,-0.25336313247680664f,-0.0018264445243403316f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.4247180223464966f,0.14890721440315247f,0.5002304911613464f,-0.07689762860536575f},
Lightvalve 230:eff425844edf 247 {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve 230:eff425844edf 248 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 219:3cb6bd063f56 249 {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 230:eff425844edf 250 {0.15459725260734558f,-1.024733543395996f,1.5995979309082031f,-0.27259764075279236f,1.8531973361968994f,-0.4125732183456421f,-0.1896437257528305f,-0.09550414979457855f,0.8162195086479187f,-0.4692074954509735f,-0.03073452040553093f,-0.4403654634952545f,-0.7513870596885681f,0.2037004828453064f,-0.38985106348991394f,-0.679223895072937f},
Lightvalve 230:eff425844edf 251 {-0.408692330121994f,0.15358807146549225f,-0.005049536935985088f,-0.14826388657093048f,0.04159063100814819f,-0.10734297335147858f,0.03285527229309082f,0.38763079047203064f,-0.2802692949771881f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5361540913581848f,-0.155080184340477f,-0.1125597283244133f,0.22910350561141968f},
Lightvalve 230:eff425844edf 252 {-0.2991822361946106f,0.2917288541793823f,-0.05491119995713234f,0.05698283389210701f,0.11121893674135208f,0.2120652049779892f,-0.11253207921981812f,0.34576353430747986f,-0.009147325530648232f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.1431596428155899f,0.2668173611164093f,-0.11369534581899643f},
Lightvalve 230:eff425844edf 253 {-0.2675279378890991f,0.9632195830345154f,0.08237414062023163f,0.01335200946778059f,0.6503732204437256f,2.186095714569092f,-0.40164005756378174f,-0.47299718856811523f,0.028843145817518234f,-0.7749390006065369f,-0.426748663187027f,-0.805156946182251f,2.5359153747558594f,-2.802044153213501f,0.6656530499458313f,0.1555715948343277f},
Lightvalve 230:eff425844edf 254 {-0.015470266342163086f,-0.12394621968269348f,0.2639738619327545f,0.3263302147388458f,-0.00948211457580328f,-0.15729205310344696f,0.05196094512939453f,-0.008358269929885864f,-0.3483721613883972f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.049904659390449524f,0.1933007687330246f,0.2793170213699341f,-0.6006680727005005f},
Lightvalve 230:eff425844edf 255 {0.1863725483417511f,1.9955533742904663f,-1.5125445127487183f,-2.1903529167175293f,-2.3343093395233154f,-0.6709278225898743f,-0.06171078234910965f,0.022372597828507423f,1.1982965469360352f,0.1121712476015091f,-0.3996275067329407f,-0.07655775547027588f,1.0996713638305664f,-0.4334034025669098f,2.731156349182129f,-0.9261353015899658f},
Lightvalve 66:a8e6799dbce3 256 };
Lightvalve 65:a2d7c63419c2 257
Lightvalve 230:eff425844edf 258 const float hout[16] = { 0.45773375034332275f,0.26064226031303406f,-0.17057237029075623f,-0.5469655990600586f,-0.2567388415336609f,0.3050605058670044f,-0.13290652632713318f,0.031939368695020676f,-0.12028782069683075f,0.024037769064307213f,0.2350914627313614f,0.05371606722474098f,-0.265004962682724f,0.25206753611564636f,0.1956772357225418f,-0.3114655911922455f };
Lightvalve 230:eff425844edf 259
Lightvalve 230:eff425844edf 260 const float b1[16] = { 0.5379201173782349f,1.84296715259552f,-1.7145336866378784f,0.22539174556732178f,1.0134121179580688f,0.266745001077652f,-0.058932315558195114f,0.8392517566680908f,0.23837706446647644f,-3.764920949935913f,0.3289794325828552f,1.4759081602096558f,-0.37845921516418457f,-1.3195053339004517f,-1.087764859199524f,0.8869392275810242f };
Lightvalve 230:eff425844edf 261
Lightvalve 230:eff425844edf 262 const float b2[16] = { -0.13295456767082214f,-0.8680578470230103f,-1.4564176797866821f,-0.7611050009727478f,-0.6939148902893066f,0.37466126680374146f,0.08869245648384094f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.6145949363708496f,0.16012702882289886f,-0.41398656368255615f,1.9892641305923462f,-0.06826551258563995f,1.1559383869171143f };
Lightvalve 230:eff425844edf 263
Lightvalve 230:eff425844edf 264 const float b3[16] = { -1.963319182395935f,-0.6572089791297913f,0.4422910213470459f,-0.13730330765247345f,-1.0939308404922485f,-0.1729484647512436f,-0.544198751449585f,-0.8099983930587769f,-0.5853098034858704f,-0.0038378052413463593f,-0.2999548017978668f,-0.2378028780221939f,-0.24946801364421844f,0.8335348963737488f,0.03452490642666817f,1.6327775716781616f };
Lightvalve 230:eff425844edf 265
Lightvalve 230:eff425844edf 266 const float bout[1] = { -0.2027367651462555f };
Lightvalve 225:278b48b86f27 267
Lightvalve 225:278b48b86f27 268 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 269
Lightvalve 170:42c938a40313 270 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 271 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 272
Lightvalve 170:42c938a40313 273 //Critic Networks
Lightvalve 173:68c7914679ec 274 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 275 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 276 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 277 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 278 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 279 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 280
Lightvalve 170:42c938a40313 281 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 282 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 283 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 284 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 285 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 286 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 287 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 288
Lightvalve 170:42c938a40313 289 //Actor Networks
Lightvalve 173:68c7914679ec 290 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 291 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 292 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 293 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 294 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 295 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 296
Lightvalve 170:42c938a40313 297 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 298 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 299 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 300 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 301 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 302 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 303 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 304
Lightvalve 87:471334725012 305 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 306 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 307
Lightvalve 179:d5377766d7ea 308 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 309 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 310 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 311 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 312 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 313
Lightvalve 170:42c938a40313 314 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 315 {
Lightvalve 173:68c7914679ec 316 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 317 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 318 float output = 0.0f;
Lightvalve 173:68c7914679ec 319 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 320 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 321 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 322 }
Lightvalve 173:68c7914679ec 323 //ReLU
Lightvalve 173:68c7914679ec 324 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 325 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 326 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 327 output1[index2] = 0;
Lightvalve 173:68c7914679ec 328 }
Lightvalve 173:68c7914679ec 329 //tanh
Lightvalve 173:68c7914679ec 330 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 331 }
Lightvalve 173:68c7914679ec 332 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 333 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 334 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 335 }
Lightvalve 173:68c7914679ec 336 //ReLU
Lightvalve 173:68c7914679ec 337 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 338 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 339 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 340 output2[index2] = 0;
Lightvalve 173:68c7914679ec 341 }
Lightvalve 173:68c7914679ec 342 //tanh
Lightvalve 173:68c7914679ec 343 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 344 }
Lightvalve 170:42c938a40313 345 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 346 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 347 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 348 }
Lightvalve 173:68c7914679ec 349 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 350 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 351 }
Lightvalve 170:42c938a40313 352 return output;
Lightvalve 170:42c938a40313 353 }
Lightvalve 170:42c938a40313 354
Lightvalve 170:42c938a40313 355
Lightvalve 170:42c938a40313 356 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 357 {
Lightvalve 173:68c7914679ec 358 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 359 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 360 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 361
Lightvalve 173:68c7914679ec 362 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 363 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 364 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 365 }
Lightvalve 178:1074553d2f6f 366 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 367 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 368 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 369 output1[index2] = 0;
Lightvalve 173:68c7914679ec 370 }
Lightvalve 173:68c7914679ec 371 }
Lightvalve 173:68c7914679ec 372 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 373 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 374 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 375 }
Lightvalve 178:1074553d2f6f 376 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 377 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 378 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 379 output2[index2] = 0;
Lightvalve 173:68c7914679ec 380 }
Lightvalve 173:68c7914679ec 381 }
Lightvalve 173:68c7914679ec 382 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 383 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 384 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 385 }
Lightvalve 178:1074553d2f6f 386 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 387 }
Lightvalve 178:1074553d2f6f 388
Lightvalve 178:1074553d2f6f 389 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 390 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 391 //Softplus
Lightvalve 173:68c7914679ec 392 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 393 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 394 logging2 = mean;
Lightvalve 179:d5377766d7ea 395 logging4 = deviation;
Lightvalve 173:68c7914679ec 396 }
Lightvalve 173:68c7914679ec 397
Lightvalve 173:68c7914679ec 398
Lightvalve 173:68c7914679ec 399 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 400 {
Lightvalve 173:68c7914679ec 401 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 402 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 403 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 404
Lightvalve 173:68c7914679ec 405 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 406 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 407 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 408 }
Lightvalve 170:42c938a40313 409 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 410 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 411 output1[index2] = 0;
Lightvalve 170:42c938a40313 412 }
Lightvalve 170:42c938a40313 413 }
Lightvalve 173:68c7914679ec 414 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 415 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 416 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 417 }
Lightvalve 173:68c7914679ec 418 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 419 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 420 output2[index2] = 0;
Lightvalve 170:42c938a40313 421 }
Lightvalve 170:42c938a40313 422 }
Lightvalve 170:42c938a40313 423 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 424 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 425 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 426 }
Lightvalve 170:42c938a40313 427 }
Lightvalve 173:68c7914679ec 428 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 429 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 430 //Softplus
Lightvalve 173:68c7914679ec 431 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 432 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 433 }
Lightvalve 170:42c938a40313 434
Lightvalve 170:42c938a40313 435 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 436 {
Lightvalve 170:42c938a40313 437 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 438 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 439 return grad_mean;
Lightvalve 170:42c938a40313 440 }
Lightvalve 170:42c938a40313 441
Lightvalve 170:42c938a40313 442 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 443 {
Lightvalve 170:42c938a40313 444 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 445 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 446 return grad_dev;
Lightvalve 170:42c938a40313 447 }
Lightvalve 170:42c938a40313 448
Lightvalve 173:68c7914679ec 449 float ReLU(float x)
Lightvalve 173:68c7914679ec 450 {
Lightvalve 173:68c7914679ec 451 if (x >= 0) {
Lightvalve 173:68c7914679ec 452 return x;
Lightvalve 173:68c7914679ec 453 } else {
Lightvalve 173:68c7914679ec 454 return 0.0f;
Lightvalve 173:68c7914679ec 455 }
Lightvalve 173:68c7914679ec 456 }
Lightvalve 173:68c7914679ec 457
Lightvalve 170:42c938a40313 458 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 459 {
Lightvalve 173:68c7914679ec 460 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 461 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 462 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 463 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 464 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 465 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 466 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 467 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 468 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 469 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 470 }
Lightvalve 173:68c7914679ec 471 }
Lightvalve 170:42c938a40313 472 }
Lightvalve 177:8e9cf31d63f4 473 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 474 }
Lightvalve 170:42c938a40313 475 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 476 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 477 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 478 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 479 }
Lightvalve 173:68c7914679ec 480 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 481 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 482 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 483 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 484 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 485 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 486 }
Lightvalve 173:68c7914679ec 487 }
Lightvalve 173:68c7914679ec 488 }
Lightvalve 177:8e9cf31d63f4 489 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 490 }
Lightvalve 173:68c7914679ec 491 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 492 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 493 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 494 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 495 }
Lightvalve 173:68c7914679ec 496
Lightvalve 175:2f7289dbd488 497
Lightvalve 173:68c7914679ec 498 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 499 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 500 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 501 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 502 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 503 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 504 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 505 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 506 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 507 }
Lightvalve 173:68c7914679ec 508 }
Lightvalve 177:8e9cf31d63f4 509 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 510 }
Lightvalve 173:68c7914679ec 511 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 512 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 513 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 514 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 515 }
Lightvalve 173:68c7914679ec 516 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 517 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 518 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 519 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 520 }
Lightvalve 177:8e9cf31d63f4 521 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 522 }
Lightvalve 173:68c7914679ec 523 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 524 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 525 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 526 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 527 }
Lightvalve 173:68c7914679ec 528
Lightvalve 173:68c7914679ec 529 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 530 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 531 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 532 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 533 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 534 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 535 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 536 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 537 }
Lightvalve 177:8e9cf31d63f4 538 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 539 }
Lightvalve 173:68c7914679ec 540 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 541 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 542 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 543 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 544 }
Lightvalve 173:68c7914679ec 545 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 546 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 547 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 548 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 549 }
Lightvalve 173:68c7914679ec 550 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 551 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 552 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 553 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 554 }
Lightvalve 173:68c7914679ec 555
Lightvalve 173:68c7914679ec 556 // Simultaneous Update
Lightvalve 173:68c7914679ec 557 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 558 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 559 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 560 }
Lightvalve 179:d5377766d7ea 561 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 562 }
Lightvalve 173:68c7914679ec 563 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 564 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 565 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 566 }
Lightvalve 179:d5377766d7ea 567 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 568 }
Lightvalve 170:42c938a40313 569 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 570 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 571 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 572 }
Lightvalve 179:d5377766d7ea 573 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 574 }
Lightvalve 170:42c938a40313 575 }
Lightvalve 170:42c938a40313 576
Lightvalve 173:68c7914679ec 577 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 578 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 579 {
Lightvalve 218:066030f7951f 580
Lightvalve 173:68c7914679ec 581
Lightvalve 173:68c7914679ec 582 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 583 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 584
Lightvalve 173:68c7914679ec 585 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 586 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 587 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 588 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 589 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 590 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 591 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 592 } else {
Lightvalve 173:68c7914679ec 593 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 594 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 595 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 596 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 597 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 598 }
Lightvalve 171:bfc1fd2629d8 599 }
Lightvalve 170:42c938a40313 600 }
Lightvalve 170:42c938a40313 601 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 602 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 603 d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1;
Lightvalve 177:8e9cf31d63f4 604 d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1;
Lightvalve 173:68c7914679ec 605
Lightvalve 173:68c7914679ec 606 G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 607 }
Lightvalve 170:42c938a40313 608 }
Lightvalve 176:589ea3edcf3c 609 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 610 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 611 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 612 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 613 }
Lightvalve 173:68c7914679ec 614
Lightvalve 173:68c7914679ec 615 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 616 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 617 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 618 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 619 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 620 } else {
Lightvalve 173:68c7914679ec 621 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 622 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 623 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 624 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 625 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 626 }
Lightvalve 171:bfc1fd2629d8 627 }
Lightvalve 170:42c938a40313 628 }
Lightvalve 170:42c938a40313 629 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 630 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 631 d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1;
Lightvalve 177:8e9cf31d63f4 632 d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1;
Lightvalve 173:68c7914679ec 633
Lightvalve 173:68c7914679ec 634 G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 635 }
Lightvalve 170:42c938a40313 636 }
Lightvalve 176:589ea3edcf3c 637 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 638 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 639 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 640 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 641 }
Lightvalve 170:42c938a40313 642
Lightvalve 173:68c7914679ec 643 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 644 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 645
Lightvalve 173:68c7914679ec 646 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 647 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 648 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 649 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 650 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 651 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 652 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 653 } else {
Lightvalve 173:68c7914679ec 654 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 655 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 656 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 657 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 658 }
Lightvalve 170:42c938a40313 659 }
Lightvalve 173:68c7914679ec 660
Lightvalve 170:42c938a40313 661 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 662 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 663 d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2;
Lightvalve 177:8e9cf31d63f4 664 d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2;
Lightvalve 173:68c7914679ec 665
Lightvalve 173:68c7914679ec 666 G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 667 }
Lightvalve 170:42c938a40313 668 }
Lightvalve 176:589ea3edcf3c 669 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 670 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 671 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 672 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 673 }
Lightvalve 173:68c7914679ec 674
Lightvalve 173:68c7914679ec 675 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 676 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 677 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 678 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 679 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 680 } else {
Lightvalve 170:42c938a40313 681
Lightvalve 173:68c7914679ec 682 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 683 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 684 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 685 }
Lightvalve 173:68c7914679ec 686 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 687 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 688 d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2;
Lightvalve 177:8e9cf31d63f4 689 d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2;
Lightvalve 173:68c7914679ec 690
Lightvalve 173:68c7914679ec 691 G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 692 }
Lightvalve 170:42c938a40313 693 }
Lightvalve 176:589ea3edcf3c 694 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 695 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 696 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 697 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 698 }
Lightvalve 173:68c7914679ec 699
Lightvalve 173:68c7914679ec 700 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 701 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 702
Lightvalve 173:68c7914679ec 703 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 704 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 705 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 706 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 707 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 708 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 709 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 710 } else {
Lightvalve 173:68c7914679ec 711 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 712 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 713 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 714 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 715 }
Lightvalve 173:68c7914679ec 716 }
Lightvalve 173:68c7914679ec 717 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 718 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 719 d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3;
Lightvalve 177:8e9cf31d63f4 720 d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3;
Lightvalve 173:68c7914679ec 721
Lightvalve 173:68c7914679ec 722 G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 173:68c7914679ec 723 }
Lightvalve 173:68c7914679ec 724 }
Lightvalve 176:589ea3edcf3c 725 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 726 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 727 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 728 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 729 }
Lightvalve 173:68c7914679ec 730
Lightvalve 173:68c7914679ec 731 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 732 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 733 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 734 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 735 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 736 } else {
Lightvalve 173:68c7914679ec 737
Lightvalve 177:8e9cf31d63f4 738 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 739 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 740
Lightvalve 173:68c7914679ec 741 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 742 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 743 d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3;
Lightvalve 177:8e9cf31d63f4 744 d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3;
Lightvalve 173:68c7914679ec 745
Lightvalve 173:68c7914679ec 746 G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 173:68c7914679ec 747 }
Lightvalve 173:68c7914679ec 748 }
Lightvalve 176:589ea3edcf3c 749 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 750 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 751 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 752 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 753 }
Lightvalve 177:8e9cf31d63f4 754
Lightvalve 175:2f7289dbd488 755 // Simultaneous Update
Lightvalve 175:2f7289dbd488 756 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 757 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 758 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 759 }
Lightvalve 179:d5377766d7ea 760 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 761 }
Lightvalve 175:2f7289dbd488 762 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 763 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 764 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 765 }
Lightvalve 179:d5377766d7ea 766 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 767 }
Lightvalve 175:2f7289dbd488 768 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 769 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 770 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 771 }
Lightvalve 179:d5377766d7ea 772 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 773 }
Lightvalve 170:42c938a40313 774 }
Lightvalve 170:42c938a40313 775
Lightvalve 170:42c938a40313 776 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 777 {
Lightvalve 170:42c938a40313 778 //Box muller method
Lightvalve 170:42c938a40313 779 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 780 static int n2_cached = 0;
Lightvalve 170:42c938a40313 781 if (!n2_cached) {
Lightvalve 170:42c938a40313 782 double x, y, r;
Lightvalve 170:42c938a40313 783 do {
Lightvalve 170:42c938a40313 784 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 785 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 786
Lightvalve 170:42c938a40313 787 r = x*x + y*y;
Lightvalve 170:42c938a40313 788 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 789 {
Lightvalve 170:42c938a40313 790 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 791 double n1 = x*d;
Lightvalve 170:42c938a40313 792 n2 = y*d;
Lightvalve 170:42c938a40313 793 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 794 n2_cached = 1;
Lightvalve 170:42c938a40313 795 return result;
Lightvalve 170:42c938a40313 796 }
Lightvalve 170:42c938a40313 797 } else {
Lightvalve 170:42c938a40313 798 n2_cached = 0;
Lightvalve 170:42c938a40313 799 return n2*stddev + mean;
Lightvalve 170:42c938a40313 800 }
Lightvalve 170:42c938a40313 801 }
Lightvalve 170:42c938a40313 802
Lightvalve 179:d5377766d7ea 803 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 804 {
Lightvalve 179:d5377766d7ea 805 float add = 0.0f;
Lightvalve 179:d5377766d7ea 806 float result;
Lightvalve 218:066030f7951f 807
Lightvalve 218:066030f7951f 808 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 809 add += x[i];
Lightvalve 179:d5377766d7ea 810 }
Lightvalve 179:d5377766d7ea 811 result = (float) add/size;
Lightvalve 179:d5377766d7ea 812 return result;
Lightvalve 179:d5377766d7ea 813 }
Lightvalve 179:d5377766d7ea 814 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 815 {
Lightvalve 179:d5377766d7ea 816 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 817 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 818
Lightvalve 218:066030f7951f 819 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 820 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 821 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 822 }
Lightvalve 179:d5377766d7ea 823 return resultDeb;
Lightvalve 218:066030f7951f 824 }
Lightvalve 218:066030f7951f 825
Lightvalve 173:68c7914679ec 826
Lightvalve 170:42c938a40313 827 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 828 {
Lightvalve 173:68c7914679ec 829 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 830 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 831 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 832 }
Lightvalve 170:42c938a40313 833 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 834 }
Lightvalve 173:68c7914679ec 835 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 836 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 837 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 838 }
Lightvalve 173:68c7914679ec 839 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 840 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 841 }
Lightvalve 173:68c7914679ec 842 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 843 }
Lightvalve 170:42c938a40313 844 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 845 {
Lightvalve 173:68c7914679ec 846 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 847 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 848 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 849 }
Lightvalve 170:42c938a40313 850 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 851 }
Lightvalve 173:68c7914679ec 852 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 853 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 854 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 855 }
Lightvalve 170:42c938a40313 856 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 857 }
Lightvalve 173:68c7914679ec 858 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 859 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 860 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 861 }
Lightvalve 173:68c7914679ec 862 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 863 }
Lightvalve 170:42c938a40313 864 }
Lightvalve 170:42c938a40313 865
Lightvalve 170:42c938a40313 866
GiJeongKim 0:51c43836c1d7 867 int main()
GiJeongKim 0:51c43836c1d7 868 {
Lightvalve 66:a8e6799dbce3 869
Lightvalve 65:a2d7c63419c2 870 HAL_Init();
Lightvalve 65:a2d7c63419c2 871 SystemClock_Config();
Lightvalve 169:645207e160ca 872
jobuuu 6:df07d3491e3a 873 /*********************************
jobuuu 1:e04e563be5ce 874 *** Initialization
jobuuu 6:df07d3491e3a 875 *********************************/
Lightvalve 69:3995ffeaa786 876 LED = 0;
Lightvalve 61:bc8c8270f0ab 877 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 878
GiJeongKim 0:51c43836c1d7 879 // i2c init
Lightvalve 8:5d2eebdad025 880 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 881 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 882 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 883 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 884 make_delay();
jobuuu 2:a1c0a37df760 885
GiJeongKim 0:51c43836c1d7 886 // // spi init
Lightvalve 170:42c938a40313 887 eeprom.format(8,3);
Lightvalve 170:42c938a40313 888 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 889 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 890 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 891 make_delay();
Lightvalve 21:e5f1a43ea6f9 892
Lightvalve 16:903b5a4433b4 893 //rom
Lightvalve 19:23b7c1ad8683 894 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 895 make_delay();
Lightvalve 13:747daba9cf59 896
GiJeongKim 0:51c43836c1d7 897 // ADC init
jobuuu 5:a4319f79457b 898 Init_ADC();
Lightvalve 11:82d8768d7351 899 make_delay();
jobuuu 2:a1c0a37df760 900
GiJeongKim 0:51c43836c1d7 901 // Pwm init
GiJeongKim 0:51c43836c1d7 902 Init_PWM();
GiJeongKim 0:51c43836c1d7 903 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 904 make_delay();
Lightvalve 13:747daba9cf59 905
Lightvalve 11:82d8768d7351 906 // TMR3 init
Lightvalve 11:82d8768d7351 907 Init_TMR3();
Lightvalve 11:82d8768d7351 908 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 909 make_delay();
Lightvalve 21:e5f1a43ea6f9 910
Lightvalve 50:3c630b5eba9f 911 // TMR2 init
Lightvalve 56:6f50d9d3bfee 912 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 913 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 914 // make_delay();
Lightvalve 21:e5f1a43ea6f9 915
GiJeongKim 0:51c43836c1d7 916 // CAN
jobuuu 2:a1c0a37df760 917 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 918 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 919 make_delay();
Lightvalve 34:bb2ca2fc2a8e 920
Lightvalve 23:59218d4a256d 921 //Timer priority
Lightvalve 23:59218d4a256d 922 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 923 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 924 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 925
Lightvalve 23:59218d4a256d 926 //can.reset();
Lightvalve 19:23b7c1ad8683 927 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 928
GiJeongKim 0:51c43836c1d7 929 // spi _ enc
GiJeongKim 0:51c43836c1d7 930 spi_enc_set_init();
Lightvalve 11:82d8768d7351 931 make_delay();
Lightvalve 13:747daba9cf59 932
Lightvalve 11:82d8768d7351 933 //DAC init
Lightvalve 58:2eade98630e2 934 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 935 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 936 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 937 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 938 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 939 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 940 }
Lightvalve 11:82d8768d7351 941 make_delay();
Lightvalve 13:747daba9cf59 942
Lightvalve 19:23b7c1ad8683 943 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 944 if(i%2==0)
Lightvalve 38:118df027d851 945 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 946 else
Lightvalve 38:118df027d851 947 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 948 }
Lightvalve 169:645207e160ca 949
Lightvalve 173:68c7914679ec 950 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 951 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 952 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 953 }
Lightvalve 179:d5377766d7ea 954 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 955 }
Lightvalve 173:68c7914679ec 956 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 957 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 958 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 959 }
Lightvalve 179:d5377766d7ea 960 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 961 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 962 }
Lightvalve 179:d5377766d7ea 963 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 964
Lightvalve 173:68c7914679ec 965 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 966 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 967 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 968 }
Lightvalve 179:d5377766d7ea 969 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 970 }
Lightvalve 173:68c7914679ec 971 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 972 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 973 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 974 }
Lightvalve 179:d5377766d7ea 975 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 976 }
Lightvalve 170:42c938a40313 977 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 978 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 979 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 980 }
Lightvalve 179:d5377766d7ea 981 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 982 }
Lightvalve 171:bfc1fd2629d8 983
Lightvalve 170:42c938a40313 984 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 985 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 986
jobuuu 6:df07d3491e3a 987 /************************************
jobuuu 1:e04e563be5ce 988 *** Program is operating!
jobuuu 6:df07d3491e3a 989 *************************************/
GiJeongKim 0:51c43836c1d7 990 while(1) {
Lightvalve 169:645207e160ca 991
Lightvalve 171:bfc1fd2629d8 992 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 993 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 994 // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5);
Lightvalve 171:bfc1fd2629d8 995 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 996 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 997 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 998 // }
Lightvalve 169:645207e160ca 999
Lightvalve 171:bfc1fd2629d8 1000
Lightvalve 171:bfc1fd2629d8 1001 //i2c
Lightvalve 180:02be1711ee0b 1002 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 1003 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 1004
Lightvalve 177:8e9cf31d63f4 1005 //timer_while ++;
Lightvalve 169:645207e160ca 1006
Lightvalve 170:42c938a40313 1007 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1008
Lightvalve 73:f80dc3970c99 1009 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1010 LED = 0;
Lightvalve 73:f80dc3970c99 1011 }
Lightvalve 169:645207e160ca 1012
Lightvalve 73:f80dc3970c99 1013 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1014
Lightvalve 162:9dd4f35e9de8 1015 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1016 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1017 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1018 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1019 }
Lightvalve 162:9dd4f35e9de8 1020
Lightvalve 162:9dd4f35e9de8 1021 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1022 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1023 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1024 }
Lightvalve 162:9dd4f35e9de8 1025 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1026 ind = ind + 1;
Lightvalve 169:645207e160ca 1027
Lightvalve 162:9dd4f35e9de8 1028 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1029 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1030 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1031 // }
Lightvalve 162:9dd4f35e9de8 1032
Lightvalve 162:9dd4f35e9de8 1033 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1034 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1035 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1036 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1037 }
Lightvalve 208:408f9f15c486 1038 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1039 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1040 ind = ind + 1;
Lightvalve 231:53de35471dc7 1041 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 231:53de35471dc7 1042 ind = ind + 1;
Lightvalve 231:53de35471dc7 1043 for(int i=2; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1044 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1045 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1046 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1047 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1048 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1049 }
Lightvalve 169:645207e160ca 1050
Lightvalve 112:8dcb1600cb90 1051 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1052 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1053 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1054 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1055
Lightvalve 112:8dcb1600cb90 1056 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1057 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1058 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1059 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1060 }
Lightvalve 66:a8e6799dbce3 1061 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1062 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1063 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1064 }
Lightvalve 66:a8e6799dbce3 1065 }
Lightvalve 65:a2d7c63419c2 1066
Lightvalve 112:8dcb1600cb90 1067 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1068 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1069 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1070 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1071 }
Lightvalve 66:a8e6799dbce3 1072 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1073 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1074 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1075 }
Lightvalve 66:a8e6799dbce3 1076 }
Lightvalve 65:a2d7c63419c2 1077
Lightvalve 112:8dcb1600cb90 1078 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1079 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1080 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1081 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1082 }
Lightvalve 66:a8e6799dbce3 1083 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1084 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1085 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1086 }
Lightvalve 65:a2d7c63419c2 1087 }
Lightvalve 66:a8e6799dbce3 1088
Lightvalve 66:a8e6799dbce3 1089 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1090 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1091 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1092 }
Lightvalve 66:a8e6799dbce3 1093 output = output + bout[index2];
Lightvalve 169:645207e160ca 1094
Lightvalve 66:a8e6799dbce3 1095 }
Lightvalve 73:f80dc3970c99 1096 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1097 output_normalized = output;
Lightvalve 68:328e1be06f5d 1098 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1099
Lightvalve 66:a8e6799dbce3 1100 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1101 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1102 } else {
Lightvalve 66:a8e6799dbce3 1103 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1104 }
Lightvalve 87:471334725012 1105
Lightvalve 169:645207e160ca 1106
Lightvalve 69:3995ffeaa786 1107 if(LED==1) {
Lightvalve 69:3995ffeaa786 1108 LED=0;
Lightvalve 69:3995ffeaa786 1109 } else
Lightvalve 69:3995ffeaa786 1110 LED = 1;
Lightvalve 169:645207e160ca 1111
Lightvalve 65:a2d7c63419c2 1112 }
Lightvalve 171:bfc1fd2629d8 1113
Lightvalve 171:bfc1fd2629d8 1114
Lightvalve 170:42c938a40313 1115 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1116 switch (Update_Case) {
Lightvalve 170:42c938a40313 1117 case 0: {
Lightvalve 170:42c938a40313 1118 break;
Lightvalve 170:42c938a40313 1119 }
Lightvalve 170:42c938a40313 1120 case 1: {
Lightvalve 170:42c938a40313 1121 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1122 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1123 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1124 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1125 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1126 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1127 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1128 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1129 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1130 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1131 }
Lightvalve 173:68c7914679ec 1132 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1133 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1134 }
Lightvalve 175:2f7289dbd488 1135 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1136
Lightvalve 175:2f7289dbd488 1137 pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]);
Lightvalve 170:42c938a40313 1138 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1139 pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old);
Lightvalve 179:d5377766d7ea 1140 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1141 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1142 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1143 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1144 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1145 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1146 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1147 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1148 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1149 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1150 }
Lightvalve 179:d5377766d7ea 1151 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1152 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1153 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1154 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1155 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1156 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1157 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1158 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1159 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1160 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1161 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1162 } else {
Lightvalve 175:2f7289dbd488 1163 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1164 }
Lightvalve 175:2f7289dbd488 1165 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1166 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1167 }
Lightvalve 170:42c938a40313 1168 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1169 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1170 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1171 }
Lightvalve 170:42c938a40313 1172 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1173
Lightvalve 171:bfc1fd2629d8 1174
Lightvalve 170:42c938a40313 1175 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1176 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1177 //Update Networks
Lightvalve 170:42c938a40313 1178 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1179 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1180 }
Lightvalve 170:42c938a40313 1181 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1182 Update_Case = 0;
Lightvalve 170:42c938a40313 1183 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1184
Lightvalve 170:42c938a40313 1185 break;
Lightvalve 170:42c938a40313 1186 }
Lightvalve 170:42c938a40313 1187 case 2: {
Lightvalve 170:42c938a40313 1188 //Network apply to next Network
Lightvalve 170:42c938a40313 1189 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1190 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1191 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1192 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1193 Update_Case = 0;
Lightvalve 170:42c938a40313 1194 break;
Lightvalve 170:42c938a40313 1195 }
Lightvalve 169:645207e160ca 1196
Lightvalve 170:42c938a40313 1197 }
GiJeongKim 0:51c43836c1d7 1198 }
jobuuu 1:e04e563be5ce 1199 }
jobuuu 1:e04e563be5ce 1200
Lightvalve 33:91b17819ec30 1201 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1202 {
Lightvalve 14:8e7590227d22 1203
Lightvalve 13:747daba9cf59 1204 int i = 0;
Lightvalve 48:889798ff9329 1205 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1206 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1207 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 1208 if(i==0) {
Lightvalve 50:3c630b5eba9f 1209 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1210 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1211 } else {
Lightvalve 57:f4819de54e7a 1212 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 1213 }
Lightvalve 14:8e7590227d22 1214 } else {
Lightvalve 50:3c630b5eba9f 1215 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1216 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1217 } else {
Lightvalve 57:f4819de54e7a 1218 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 1219 }
Lightvalve 13:747daba9cf59 1220 }
Lightvalve 13:747daba9cf59 1221 break;
Lightvalve 13:747daba9cf59 1222 }
Lightvalve 13:747daba9cf59 1223 }
Lightvalve 14:8e7590227d22 1224 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1225 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1226 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1227 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1228 }
Lightvalve 36:a46e63505ed8 1229
Lightvalve 57:f4819de54e7a 1230 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1231 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1232
Lightvalve 13:747daba9cf59 1233 }
jobuuu 6:df07d3491e3a 1234
jobuuu 6:df07d3491e3a 1235
Lightvalve 30:8d561f16383b 1236 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1237 {
Lightvalve 13:747daba9cf59 1238 int i = 0;
Lightvalve 13:747daba9cf59 1239
Lightvalve 38:118df027d851 1240 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1241 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1242 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1243 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1244 }
Lightvalve 38:118df027d851 1245
Lightvalve 89:a7b45368ea0f 1246 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1247 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1248 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1249 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1250 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1251 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1252
Lightvalve 13:747daba9cf59 1253 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 1254
Lightvalve 18:b8adf1582ea3 1255 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1256 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 1257 if(i==0) {
Lightvalve 48:889798ff9329 1258 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 1259 } else {
Lightvalve 48:889798ff9329 1260 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 1261 }
Lightvalve 13:747daba9cf59 1262 break;
Lightvalve 13:747daba9cf59 1263 }
Lightvalve 13:747daba9cf59 1264 }
Lightvalve 59:f308b1656d9c 1265 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1266 }
Lightvalve 13:747daba9cf59 1267
Lightvalve 14:8e7590227d22 1268 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1269 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 1270 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1271 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1272 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1273 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1274 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1275 }; // duty
Lightvalve 67:c2812cf26c38 1276 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 1277 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1278 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1279 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1280 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1281 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1282 }; // mV
Lightvalve 13:747daba9cf59 1283
Lightvalve 30:8d561f16383b 1284 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1285 {
Lightvalve 30:8d561f16383b 1286 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1287 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1288 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1289 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1290 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1291 } else {
Lightvalve 13:747daba9cf59 1292 int idx = 0;
Lightvalve 13:747daba9cf59 1293 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1294 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1295 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1296 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1297 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1298 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1299 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1300 break;
Lightvalve 13:747daba9cf59 1301 }
Lightvalve 13:747daba9cf59 1302 }
Lightvalve 13:747daba9cf59 1303 }
Lightvalve 14:8e7590227d22 1304
Lightvalve 13:747daba9cf59 1305 return PWM_duty;
Lightvalve 13:747daba9cf59 1306 }
jobuuu 6:df07d3491e3a 1307
Lightvalve 57:f4819de54e7a 1308
Lightvalve 57:f4819de54e7a 1309
Lightvalve 57:f4819de54e7a 1310
Lightvalve 57:f4819de54e7a 1311
jobuuu 2:a1c0a37df760 1312 /*******************************************************************************
jobuuu 2:a1c0a37df760 1313 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1314 *******************************************************************************/
jobuuu 2:a1c0a37df760 1315
Lightvalve 51:b46bed7fec80 1316 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1317 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1318 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1319 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1320 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1321 {
Lightvalve 19:23b7c1ad8683 1322 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1323
Lightvalve 21:e5f1a43ea6f9 1324 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1325 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1326 ********************************************************/
Lightvalve 13:747daba9cf59 1327
Lightvalve 57:f4819de54e7a 1328 //Encoder
Lightvalve 57:f4819de54e7a 1329 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1330 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1331 }
Lightvalve 61:bc8c8270f0ab 1332
Lightvalve 61:bc8c8270f0ab 1333 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1334 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1335 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1336 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1337 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1338 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1339 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1340
Lightvalve 67:c2812cf26c38 1341
Lightvalve 67:c2812cf26c38 1342 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1343 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1344 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1345 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1346 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1347
Lightvalve 17:1865016ca2e7 1348
Lightvalve 58:2eade98630e2 1349 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1350 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1351 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1352 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1353 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1354 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1355 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1356 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1357 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1358
Lightvalve 58:2eade98630e2 1359 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1360 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 1361 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1362 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 1363 }
Lightvalve 58:2eade98630e2 1364 }
Lightvalve 61:bc8c8270f0ab 1365
Lightvalve 58:2eade98630e2 1366 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1367 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1368 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1369 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1370 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1371 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1372 // 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 1373 //
Lightvalve 58:2eade98630e2 1374 //
Lightvalve 58:2eade98630e2 1375 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1376 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1377 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1378 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1379 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1380
Lightvalve 17:1865016ca2e7 1381
Lightvalve 21:e5f1a43ea6f9 1382 //Current
Lightvalve 21:e5f1a43ea6f9 1383 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1384 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1385 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1386 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1387 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1388 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1389 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1390
Lightvalve 57:f4819de54e7a 1391 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1392 }
Lightvalve 11:82d8768d7351 1393 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1394 }
Lightvalve 19:23b7c1ad8683 1395
Lightvalve 19:23b7c1ad8683 1396
Lightvalve 18:b8adf1582ea3 1397 int j =0;
Lightvalve 54:647072f5307a 1398 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1399 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1400 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1401 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 1402 int can_rest =0;
Lightvalve 48:889798ff9329 1403
Lightvalve 11:82d8768d7351 1404 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1405 {
Lightvalve 19:23b7c1ad8683 1406 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1407
Lightvalve 57:f4819de54e7a 1408 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1409 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1410 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1411 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1412 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1413 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1414 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1415 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1416 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1417 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1418 }
Lightvalve 50:3c630b5eba9f 1419
Lightvalve 50:3c630b5eba9f 1420 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1421 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1422 cnt_trans++;
Lightvalve 46:2694daea349b 1423 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1424 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1425 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1426 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1427 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1428 cnt_trans++;
Lightvalve 46:2694daea349b 1429 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1430 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1431 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1432 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1433 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1434 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1435 } else {
Lightvalve 58:2eade98630e2 1436 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1437 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1438 }
Lightvalve 45:35fa6884d0c6 1439
Lightvalve 50:3c630b5eba9f 1440
Lightvalve 57:f4819de54e7a 1441 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1442 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1443
Lightvalve 57:f4819de54e7a 1444 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1445 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1446 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1447 } else {
Lightvalve 57:f4819de54e7a 1448 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1449 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1450 }
Lightvalve 56:6f50d9d3bfee 1451
Lightvalve 56:6f50d9d3bfee 1452
Lightvalve 56:6f50d9d3bfee 1453
Lightvalve 57:f4819de54e7a 1454 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1455
Lightvalve 57:f4819de54e7a 1456 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1457 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1458 break;
Lightvalve 13:747daba9cf59 1459 }
Lightvalve 14:8e7590227d22 1460
Lightvalve 14:8e7590227d22 1461 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1462 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1463 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1464 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1465
Lightvalve 14:8e7590227d22 1466 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1467 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1468 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1469
Lightvalve 84:c355d3e52bf1 1470 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1471
Lightvalve 30:8d561f16383b 1472 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1473 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1474
Lightvalve 16:903b5a4433b4 1475 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1476 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1477 }
Lightvalve 13:747daba9cf59 1478 } else {
Lightvalve 58:2eade98630e2 1479 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1480 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1481 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1482 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1483
Lightvalve 170:42c938a40313 1484 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1485 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1486
Lightvalve 30:8d561f16383b 1487 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1488
Lightvalve 13:747daba9cf59 1489 }
Lightvalve 14:8e7590227d22 1490 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1491 break;
Lightvalve 19:23b7c1ad8683 1492 }
Lightvalve 14:8e7590227d22 1493
Lightvalve 50:3c630b5eba9f 1494 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1495 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1496 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1497 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1498 // }
Lightvalve 50:3c630b5eba9f 1499 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1500 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1501 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1502 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1503 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1504 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1505 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1506 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1507 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1508 // }
Lightvalve 50:3c630b5eba9f 1509 //
Lightvalve 50:3c630b5eba9f 1510 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1511 // 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 1512 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1513 //
Lightvalve 50:3c630b5eba9f 1514 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1515 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1516 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1517 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1518 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1519 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1520 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1521 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1522 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1523 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1524 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1525 //
Lightvalve 50:3c630b5eba9f 1526 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1527 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1528 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1529 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1530 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1531 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1532 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1533 //
Lightvalve 50:3c630b5eba9f 1534 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1535 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1536 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1537 // } else {
Lightvalve 50:3c630b5eba9f 1538 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1539 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1540 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1541 // }
Lightvalve 50:3c630b5eba9f 1542 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1543 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1544 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1545 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1546 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1547 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1548 // }
Lightvalve 50:3c630b5eba9f 1549 // } else {
Lightvalve 50:3c630b5eba9f 1550 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1551 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1552 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1553 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1554 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1555 // }
Lightvalve 50:3c630b5eba9f 1556 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1557 //
Lightvalve 50:3c630b5eba9f 1558 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1559 //
Lightvalve 50:3c630b5eba9f 1560 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1561 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1562 //
Lightvalve 50:3c630b5eba9f 1563 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1564 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1565 // }
Lightvalve 50:3c630b5eba9f 1566 // }
Lightvalve 50:3c630b5eba9f 1567 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1568 // break;
Lightvalve 50:3c630b5eba9f 1569 // }
Lightvalve 14:8e7590227d22 1570
Lightvalve 14:8e7590227d22 1571 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1572 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1573 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1574 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1575 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1576 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1577 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1578 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1579 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1580 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1581 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1582 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1583 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1584 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1585 }
Lightvalve 29:69f3f5445d6d 1586 cnt_findhome++;
Lightvalve 14:8e7590227d22 1587
Lightvalve 29:69f3f5445d6d 1588 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1589 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1590 } else {
Lightvalve 29:69f3f5445d6d 1591 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1592 }
Lightvalve 19:23b7c1ad8683 1593
Lightvalve 57:f4819de54e7a 1594 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1595 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1596 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1597 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1598
Lightvalve 59:f308b1656d9c 1599 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1600 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1601 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1602 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1603 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1604
Lightvalve 59:f308b1656d9c 1605 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1606 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1607
Lightvalve 34:bb2ca2fc2a8e 1608
Lightvalve 29:69f3f5445d6d 1609 } else {
Lightvalve 29:69f3f5445d6d 1610 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1611 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1612 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1613 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1614 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1615 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1616 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1617 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1618 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1619 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1620 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1621
Lightvalve 67:c2812cf26c38 1622
Lightvalve 67:c2812cf26c38 1623 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1624 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1625 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1626 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1627 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1628 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1629 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1630
Lightvalve 169:645207e160ca 1631
Lightvalve 29:69f3f5445d6d 1632 }
Lightvalve 29:69f3f5445d6d 1633 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1634 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1635 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 1636 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1637 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1638
Lightvalve 29:69f3f5445d6d 1639 // input for position control
Lightvalve 169:645207e160ca 1640
Lightvalve 67:c2812cf26c38 1641 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1642 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1643
Lightvalve 67:c2812cf26c38 1644 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1645 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1646 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1647 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1648
Lightvalve 67:c2812cf26c38 1649 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1650
Lightvalve 67:c2812cf26c38 1651 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1652 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1653 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1654
Lightvalve 67:c2812cf26c38 1655 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1656 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1657 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1658
Lightvalve 69:3995ffeaa786 1659 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1660 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 1661 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1662 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1663 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 1664 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1665 }
Lightvalve 67:c2812cf26c38 1666 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 1667 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1668
Lightvalve 67:c2812cf26c38 1669 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1670
Lightvalve 67:c2812cf26c38 1671
Lightvalve 67:c2812cf26c38 1672
Lightvalve 67:c2812cf26c38 1673 } else {
Lightvalve 67:c2812cf26c38 1674 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1675 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 1676
Lightvalve 67:c2812cf26c38 1677 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1678 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1679 } else {
Lightvalve 67:c2812cf26c38 1680 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1681 }
Lightvalve 67:c2812cf26c38 1682
Lightvalve 67:c2812cf26c38 1683 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1684
Lightvalve 67:c2812cf26c38 1685 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1686
Lightvalve 67:c2812cf26c38 1687 }
Lightvalve 67:c2812cf26c38 1688
Lightvalve 67:c2812cf26c38 1689
Lightvalve 169:645207e160ca 1690
Lightvalve 169:645207e160ca 1691
Lightvalve 59:f308b1656d9c 1692 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1693 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1694 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1695 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1696 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1697
Lightvalve 29:69f3f5445d6d 1698 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1699 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1700 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1701 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1702 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1703 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1704 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1705 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1706 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1707 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1708 }
Lightvalve 13:747daba9cf59 1709 }
Lightvalve 19:23b7c1ad8683 1710
Lightvalve 13:747daba9cf59 1711 break;
Lightvalve 13:747daba9cf59 1712 }
Lightvalve 14:8e7590227d22 1713
Lightvalve 50:3c630b5eba9f 1714 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1715 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1716 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1717 // else {
Lightvalve 50:3c630b5eba9f 1718 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1719 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1720 // }
Lightvalve 50:3c630b5eba9f 1721 // }
Lightvalve 50:3c630b5eba9f 1722 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1723 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1724 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1725 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1726 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1727 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1728 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1729 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1730 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1731 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1732 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1733 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1734 // }
Lightvalve 50:3c630b5eba9f 1735 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1736 // }
Lightvalve 50:3c630b5eba9f 1737 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1738 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1739 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1740 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1741 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1742 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1743 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1744 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1745 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (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 1746 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1747 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1748 // }
Lightvalve 50:3c630b5eba9f 1749 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1750 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1751 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1752 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1753 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1754 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1755 // 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 1756 // // 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 1757 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1758 // }
Lightvalve 50:3c630b5eba9f 1759 // }
Lightvalve 50:3c630b5eba9f 1760 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1761 //
Lightvalve 50:3c630b5eba9f 1762 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1763 //
Lightvalve 50:3c630b5eba9f 1764 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1765 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1766 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1767 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1768 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1769 // }
Lightvalve 50:3c630b5eba9f 1770 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1771 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1772 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1773 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1774 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1775 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1776 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1777 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1778 // }
Lightvalve 50:3c630b5eba9f 1779 //
Lightvalve 50:3c630b5eba9f 1780 // }
Lightvalve 50:3c630b5eba9f 1781 // break;
Lightvalve 50:3c630b5eba9f 1782 // }
Lightvalve 50:3c630b5eba9f 1783 //
Lightvalve 50:3c630b5eba9f 1784 // }
Lightvalve 14:8e7590227d22 1785 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1786 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1787 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1788 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1789 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1790
Lightvalve 14:8e7590227d22 1791 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1792 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1793 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1794 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1795 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1796
Lightvalve 38:118df027d851 1797 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1798 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1799 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1800
Lightvalve 30:8d561f16383b 1801 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1802 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1803 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1804 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1805
Lightvalve 30:8d561f16383b 1806 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1807 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1808 }
Lightvalve 13:747daba9cf59 1809 } else {
Lightvalve 57:f4819de54e7a 1810 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1811 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1812 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1813 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1814 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1815 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1816
Lightvalve 170:42c938a40313 1817 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1818 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1819 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1820
Lightvalve 30:8d561f16383b 1821 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1822 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1823 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1824 }
Lightvalve 14:8e7590227d22 1825 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1826 break;
Lightvalve 13:747daba9cf59 1827 }
Lightvalve 14:8e7590227d22 1828
Lightvalve 50:3c630b5eba9f 1829 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1830 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1831 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1832 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1833 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1834 // }
Lightvalve 50:3c630b5eba9f 1835 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1836 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1837 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1838 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1839 // }
Lightvalve 50:3c630b5eba9f 1840 // } else {
Lightvalve 50:3c630b5eba9f 1841 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1842 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1843 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1844 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1845 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1846 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1847 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1848 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1849 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1850 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1851 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1852 //
Lightvalve 50:3c630b5eba9f 1853 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1854 //
Lightvalve 50:3c630b5eba9f 1855 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1856 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1857 // }
Lightvalve 50:3c630b5eba9f 1858 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1859 // break;
Lightvalve 50:3c630b5eba9f 1860 // }
Lightvalve 19:23b7c1ad8683 1861
Lightvalve 50:3c630b5eba9f 1862 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1863 // 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 1864 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1865 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1866 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1867 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1868 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1869 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1870 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1871 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1872 // }
Lightvalve 50:3c630b5eba9f 1873 // break;
Lightvalve 50:3c630b5eba9f 1874 // }
Lightvalve 14:8e7590227d22 1875
Lightvalve 14:8e7590227d22 1876 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1877 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1878 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1879
Lightvalve 14:8e7590227d22 1880 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1881 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1882 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1883 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1884 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1885 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1886 data_num = 0;
Lightvalve 14:8e7590227d22 1887 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1888 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1889 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1890 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1891 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1892 } else {
Lightvalve 13:747daba9cf59 1893 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1894 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1895 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1896 }
Lightvalve 14:8e7590227d22 1897
Lightvalve 17:1865016ca2e7 1898 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1899 int i;
Lightvalve 13:747daba9cf59 1900 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1901 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1902 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1903 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1904 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1905 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1906 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1907 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1908 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1909 }
Lightvalve 13:747daba9cf59 1910 }
Lightvalve 170:42c938a40313 1911 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1912 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1913 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1914 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1915 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1916 }
Lightvalve 13:747daba9cf59 1917 ID_index = 0;
Lightvalve 57:f4819de54e7a 1918 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1919 }
Lightvalve 14:8e7590227d22 1920
Lightvalve 14:8e7590227d22 1921
Lightvalve 13:747daba9cf59 1922 break;
Lightvalve 13:747daba9cf59 1923 }
Lightvalve 14:8e7590227d22 1924
Lightvalve 14:8e7590227d22 1925 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1926 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1927 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1928 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1929 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1930 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1931 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1932 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1933 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1934 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1935 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1936 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1937 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1938 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1939 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1940 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 1941 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1942 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 1943 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1944 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1945 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1946 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 1947 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1948 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1949 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1950 data_num = 0;
Lightvalve 14:8e7590227d22 1951
Lightvalve 30:8d561f16383b 1952 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1953 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1954 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1955
Lightvalve 30:8d561f16383b 1956 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1957 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1958 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1959
Lightvalve 30:8d561f16383b 1960 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1961 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1962 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1963 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1964
Lightvalve 60:64181f1d3e60 1965 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1966 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1967 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1968 DZ_case = -1;
Lightvalve 14:8e7590227d22 1969 } else {
Lightvalve 13:747daba9cf59 1970 DZ_case = 0;
Lightvalve 13:747daba9cf59 1971 }
Lightvalve 61:bc8c8270f0ab 1972
Lightvalve 60:64181f1d3e60 1973 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1974
Lightvalve 13:747daba9cf59 1975 first_check = 1;
Lightvalve 13:747daba9cf59 1976 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1977 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1978 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1979 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1980 DZ_index = 1;
Lightvalve 14:8e7590227d22 1981
Lightvalve 13:747daba9cf59 1982 }
Lightvalve 19:23b7c1ad8683 1983 } else {
Lightvalve 14:8e7590227d22 1984 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1985 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1986 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 1987 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1988 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1989 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1990 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1991 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1992 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1993 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1994 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1995 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1996 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1997 }
Lightvalve 14:8e7590227d22 1998 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1999
Lightvalve 30:8d561f16383b 2000 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2001 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2002 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2003
Lightvalve 14:8e7590227d22 2004 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2005 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2006 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2007 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2008 } else {
Lightvalve 13:747daba9cf59 2009 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2010 }
Lightvalve 14:8e7590227d22 2011
Lightvalve 13:747daba9cf59 2012 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2013 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2014 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2015 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2016 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2017 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2018 DZ_index = 1;
Lightvalve 13:747daba9cf59 2019 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2020 }
Lightvalve 13:747daba9cf59 2021 }
Lightvalve 14:8e7590227d22 2022 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2023 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2024 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 2025 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2026 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2027 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2028 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2029 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2030 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2031 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2032 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2033 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2034 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2035 }
Lightvalve 14:8e7590227d22 2036 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2037
Lightvalve 30:8d561f16383b 2038 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2039 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2040 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2041 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2042 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2043
Lightvalve 14:8e7590227d22 2044 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2045 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2046 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2047 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2048 } else {
Lightvalve 60:64181f1d3e60 2049 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2050 }
Lightvalve 14:8e7590227d22 2051
Lightvalve 13:747daba9cf59 2052 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2053 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2054 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2055 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2056 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2057 first_check = 0;
Lightvalve 33:91b17819ec30 2058 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2059 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2060
Lightvalve 170:42c938a40313 2061 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2062 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2063 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2064 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2065
Lightvalve 60:64181f1d3e60 2066 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2067 DZ_index = 1;
Lightvalve 13:747daba9cf59 2068 }
Lightvalve 13:747daba9cf59 2069 }
Lightvalve 14:8e7590227d22 2070 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2071 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2072 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 2073 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2074 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2075 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2076 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2077 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2078 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2079 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2080 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2081 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2082 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2083 }
Lightvalve 14:8e7590227d22 2084 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2085
Lightvalve 30:8d561f16383b 2086 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2087 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2088 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2089
Lightvalve 14:8e7590227d22 2090 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2091 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2092 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2093 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2094 } else {
Lightvalve 13:747daba9cf59 2095 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2096 }
Lightvalve 13:747daba9cf59 2097 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2098 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2099 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2100 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2101 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2102 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2103 DZ_index = 1;
Lightvalve 13:747daba9cf59 2104 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2105 }
Lightvalve 13:747daba9cf59 2106 }
Lightvalve 14:8e7590227d22 2107 } else {
Lightvalve 30:8d561f16383b 2108 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2109 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 2110 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2111 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2112 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2113 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2114 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2115 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2116 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2117 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2118 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2119 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2120 }
Lightvalve 14:8e7590227d22 2121 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2122
Lightvalve 30:8d561f16383b 2123 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2124 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2125 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2126 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2127 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2128
Lightvalve 60:64181f1d3e60 2129 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2130 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2131 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2132 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2133 } else {
Lightvalve 13:747daba9cf59 2134 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2135 }
Lightvalve 14:8e7590227d22 2136
Lightvalve 13:747daba9cf59 2137 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2138 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2139 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2140 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2141 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2142 first_check = 0;
Lightvalve 33:91b17819ec30 2143 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2144 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2145
Lightvalve 170:42c938a40313 2146 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2147 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2148 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2149 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2150
Lightvalve 57:f4819de54e7a 2151 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2152 DZ_index = 1;
Lightvalve 13:747daba9cf59 2153 }
Lightvalve 13:747daba9cf59 2154 }
Lightvalve 13:747daba9cf59 2155 }
Lightvalve 14:8e7590227d22 2156 }
Lightvalve 13:747daba9cf59 2157 break;
Lightvalve 13:747daba9cf59 2158 }
Lightvalve 14:8e7590227d22 2159
Lightvalve 14:8e7590227d22 2160 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2161 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2162 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2163 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2164 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2165 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2166 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2167 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2168 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2169 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2170 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2171 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2172 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2173 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2174 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2175 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2176 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2177 first_check = 1;
Lightvalve 13:747daba9cf59 2178 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2179 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2180 ID_index = 0;
Lightvalve 13:747daba9cf59 2181 max_check = 0;
Lightvalve 13:747daba9cf59 2182 min_check = 0;
Lightvalve 13:747daba9cf59 2183 }
Lightvalve 14:8e7590227d22 2184 } else {
Lightvalve 30:8d561f16383b 2185 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2186 //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 2187 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2188 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2189 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2190 data_num = 0;
Lightvalve 57:f4819de54e7a 2191 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2192
Lightvalve 14:8e7590227d22 2193 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2194 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2195 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2196 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2197 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2198 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2199 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2200 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2201 one_period_end = 1;
Lightvalve 13:747daba9cf59 2202 }
Lightvalve 30:8d561f16383b 2203 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2204 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2205 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2206 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2207 }
Lightvalve 14:8e7590227d22 2208
Lightvalve 14:8e7590227d22 2209 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2210 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2211 max_check = 1;
Lightvalve 14:8e7590227d22 2212 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2213 min_check = 1;
Lightvalve 13:747daba9cf59 2214 }
Lightvalve 13:747daba9cf59 2215 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2216
Lightvalve 13:747daba9cf59 2217 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2218 one_period_end = 0;
Lightvalve 13:747daba9cf59 2219 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2220 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2221 }
Lightvalve 14:8e7590227d22 2222
Lightvalve 14:8e7590227d22 2223 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2224
Lightvalve 13:747daba9cf59 2225 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2226 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2227 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2228 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2229 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2230 }
Lightvalve 13:747daba9cf59 2231 ID_index = 0;
Lightvalve 13:747daba9cf59 2232 first_check = 0;
Lightvalve 13:747daba9cf59 2233 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2234 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2235 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2236 }
Lightvalve 13:747daba9cf59 2237 }
Lightvalve 13:747daba9cf59 2238 break;
Lightvalve 13:747daba9cf59 2239 }
Lightvalve 58:2eade98630e2 2240
Lightvalve 57:f4819de54e7a 2241 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2242 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2243 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2244 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2245 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2246 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2247 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2248 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2249 }
Lightvalve 57:f4819de54e7a 2250 break;
Lightvalve 57:f4819de54e7a 2251 }
Lightvalve 58:2eade98630e2 2252
Lightvalve 169:645207e160ca 2253 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2254 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2255 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2256 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2257 } else {
Lightvalve 169:645207e160ca 2258 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2259 }
Lightvalve 169:645207e160ca 2260 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2261 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2262 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2263 } else {
Lightvalve 169:645207e160ca 2264 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2265 }
Lightvalve 58:2eade98630e2 2266
Lightvalve 169:645207e160ca 2267 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2268 cnt_freq_test++;
Lightvalve 169:645207e160ca 2269 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2270 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2271 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2272 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2273 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2274 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2275 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2276 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2277 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2278 }
Lightvalve 169:645207e160ca 2279 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2280 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2281
Lightvalve 169:645207e160ca 2282 }
Lightvalve 169:645207e160ca 2283 break;
Lightvalve 169:645207e160ca 2284 }
Lightvalve 169:645207e160ca 2285 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2286 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2287 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2288 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2289 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2290 // }
Lightvalve 169:645207e160ca 2291 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2292 // }
Lightvalve 169:645207e160ca 2293
Lightvalve 169:645207e160ca 2294 break;
Lightvalve 169:645207e160ca 2295 }
Lightvalve 169:645207e160ca 2296 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2297 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2298 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2299 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2300 break;
Lightvalve 169:645207e160ca 2301 }
Lightvalve 170:42c938a40313 2302
Lightvalve 169:645207e160ca 2303 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2304 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2305 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2306 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2307 } else {
Lightvalve 169:645207e160ca 2308 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2309 }
Lightvalve 169:645207e160ca 2310 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2311 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2312 } else {
Lightvalve 169:645207e160ca 2313 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2314 }
Lightvalve 169:645207e160ca 2315 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2316 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2317 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2318 } else {
Lightvalve 169:645207e160ca 2319 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2320 }
Lightvalve 169:645207e160ca 2321
Lightvalve 169:645207e160ca 2322 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2323 cnt_step_test++;
Lightvalve 170:42c938a40313 2324 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2325 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2326 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2327 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2328 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2329 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2330 }
Lightvalve 169:645207e160ca 2331 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2332 // {
Lightvalve 169:645207e160ca 2333 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2334 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2335 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2336 // }
Lightvalve 170:42c938a40313 2337
Lightvalve 169:645207e160ca 2338 break;
Lightvalve 169:645207e160ca 2339 }
Lightvalve 57:f4819de54e7a 2340
Lightvalve 57:f4819de54e7a 2341 default:
Lightvalve 57:f4819de54e7a 2342 break;
Lightvalve 57:f4819de54e7a 2343 }
Lightvalve 57:f4819de54e7a 2344
Lightvalve 57:f4819de54e7a 2345 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2346
Lightvalve 57:f4819de54e7a 2347 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2348 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2349 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2350 break;
Lightvalve 57:f4819de54e7a 2351 }
Lightvalve 57:f4819de54e7a 2352
Lightvalve 57:f4819de54e7a 2353 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2354 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2355 ////For Test LIMC//////////////////////////////////////////
Lightvalve 230:eff425844edf 2356 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 230:eff425844edf 2357 for(int i=0; i<9; i++){
Lightvalve 230:eff425844edf 2358 valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 230:eff425844edf 2359 }
Lightvalve 230:eff425844edf 2360 valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 230:eff425844edf 2361 VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2362 ////////////////////////////////////////////////////////////
Lightvalve 225:278b48b86f27 2363
Lightvalve 59:f308b1656d9c 2364 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2365 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2366 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2367 } else {
Lightvalve 67:c2812cf26c38 2368 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2369 }
Lightvalve 57:f4819de54e7a 2370 break;
Lightvalve 57:f4819de54e7a 2371 }
Lightvalve 57:f4819de54e7a 2372
Lightvalve 57:f4819de54e7a 2373 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2374
Lightvalve 57:f4819de54e7a 2375 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2376 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2377 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2378 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2379
Lightvalve 67:c2812cf26c38 2380 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2381 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2382 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2383 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2384
Lightvalve 139:15621998925b 2385 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2386 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2387
Lightvalve 57:f4819de54e7a 2388 // torque feedback
Lightvalve 67:c2812cf26c38 2389 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2390 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2391
Lightvalve 57:f4819de54e7a 2392 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2393
Lightvalve 57:f4819de54e7a 2394 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2395 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2396 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2397
Lightvalve 57:f4819de54e7a 2398 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2399 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2400 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2401
Lightvalve 69:3995ffeaa786 2402 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2403 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2404 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2405 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2406 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 2407 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2408 }
Lightvalve 57:f4819de54e7a 2409 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 2410 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2411
Lightvalve 57:f4819de54e7a 2412 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2413 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2414 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2415 // 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 2416 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2417 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2418 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2419 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 2420 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2421 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2422 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2423 }
Lightvalve 57:f4819de54e7a 2424 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 2425 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2426 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2427 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2428 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2429
Lightvalve 57:f4819de54e7a 2430 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2431
Lightvalve 67:c2812cf26c38 2432 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2433 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2434 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2435 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2436 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2437 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2438 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2439 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2440 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2441 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2442 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2443 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2444 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2445 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2446 }
Lightvalve 67:c2812cf26c38 2447 }
Lightvalve 57:f4819de54e7a 2448
Lightvalve 57:f4819de54e7a 2449 } else {
Lightvalve 57:f4819de54e7a 2450 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2451 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2452 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2453
Lightvalve 209:ebc69d6ee6f1 2454 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 2455
Lightvalve 72:3436ce769b1e 2456 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 2457
Lightvalve 72:3436ce769b1e 2458 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2459
Lightvalve 169:645207e160ca 2460
Lightvalve 72:3436ce769b1e 2461 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2462 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2463 } else {
Lightvalve 72:3436ce769b1e 2464 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2465 }
Lightvalve 57:f4819de54e7a 2466
Lightvalve 57:f4819de54e7a 2467 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2468 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2469 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2470 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2471 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2472 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2473 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2474 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2475 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2476 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2477 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2478 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2479 }
Lightvalve 57:f4819de54e7a 2480 }
Lightvalve 61:bc8c8270f0ab 2481
Lightvalve 57:f4819de54e7a 2482 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2483
Lightvalve 67:c2812cf26c38 2484 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2485 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2486
Lightvalve 57:f4819de54e7a 2487 }
Lightvalve 169:645207e160ca 2488
Lightvalve 72:3436ce769b1e 2489 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2490
Lightvalve 133:22ab22818e01 2491
Lightvalve 57:f4819de54e7a 2492 break;
Lightvalve 57:f4819de54e7a 2493 }
Lightvalve 58:2eade98630e2 2494
Lightvalve 57:f4819de54e7a 2495 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2496 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2497 break;
Lightvalve 57:f4819de54e7a 2498 }
Lightvalve 169:645207e160ca 2499
Lightvalve 138:a843f32ced33 2500 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2501
Lightvalve 169:645207e160ca 2502
Lightvalve 139:15621998925b 2503 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 2504 float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 218:066030f7951f 2505
Lightvalve 170:42c938a40313 2506 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2507
Lightvalve 218:066030f7951f 2508 //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 218:066030f7951f 2509 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2510
Lightvalve 138:a843f32ced33 2511 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2512 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2513 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2514 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2515 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2516 } else {
Lightvalve 138:a843f32ced33 2517 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2518 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2519 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2520 } else {
Lightvalve 138:a843f32ced33 2521 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2522 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2523 }
Lightvalve 138:a843f32ced33 2524 }
Lightvalve 138:a843f32ced33 2525 float tau = 0.01f;
Lightvalve 142:43026242815a 2526 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 2527
Lightvalve 138:a843f32ced33 2528 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2529 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2530 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2531 } else {
Lightvalve 138:a843f32ced33 2532 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2533 }
Lightvalve 138:a843f32ced33 2534 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2535 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2536
Lightvalve 139:15621998925b 2537 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2538
Lightvalve 138:a843f32ced33 2539 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2540 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2541 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2542
Lightvalve 138:a843f32ced33 2543 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2544 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2545
Lightvalve 212:ec41f1449ef9 2546 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2547 float k4 = 10.0f;
Lightvalve 142:43026242815a 2548 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2549 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2550 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2551 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2552 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2553
Lightvalve 139:15621998925b 2554 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2555 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2556 } else {
Lightvalve 139:15621998925b 2557 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2558 }
Lightvalve 169:645207e160ca 2559
Lightvalve 138:a843f32ced33 2560 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2561 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2562 float V_input = 0.0f;
Lightvalve 139:15621998925b 2563 V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
Lightvalve 212:ec41f1449ef9 2564 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2565 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2566 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2567
Lightvalve 218:066030f7951f 2568 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2569 // float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des));
Lightvalve 218:066030f7951f 2570 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2571 //
Lightvalve 218:066030f7951f 2572 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2573 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2574
Lightvalve 218:066030f7951f 2575 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2576 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2577 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2578
Lightvalve 218:066030f7951f 2579 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2580 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2581
Lightvalve 169:645207e160ca 2582 break;
Lightvalve 138:a843f32ced33 2583 }
Lightvalve 171:bfc1fd2629d8 2584
Lightvalve 170:42c938a40313 2585 case MODE_RL: {
Lightvalve 170:42c938a40313 2586 //t.reset();
Lightvalve 170:42c938a40313 2587 //t.start();
Lightvalve 170:42c938a40313 2588
Lightvalve 170:42c938a40313 2589 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2590 // else LED = 0;
Lightvalve 170:42c938a40313 2591
Lightvalve 170:42c938a40313 2592 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2593 //Gather Data on each loop
Lightvalve 170:42c938a40313 2594 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2595 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2596 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2597 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2598 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2599 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2600 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2601 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2602 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2603 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2604 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2605 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2606 }
Lightvalve 173:68c7914679ec 2607 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2608 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2609 }
Lightvalve 173:68c7914679ec 2610 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2611 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2612 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2613 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2614 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2615
Lightvalve 179:d5377766d7ea 2616 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2617 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2618 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2619 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2620 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2621 }
Lightvalve 171:bfc1fd2629d8 2622
Lightvalve 170:42c938a40313 2623 RL_timer++;
Lightvalve 170:42c938a40313 2624
Lightvalve 170:42c938a40313 2625
Lightvalve 170:42c938a40313 2626 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2627 RL_timer = 0;
Lightvalve 170:42c938a40313 2628 batch++;
Lightvalve 170:42c938a40313 2629 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2630 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2631 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2632 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2633 }
Lightvalve 170:42c938a40313 2634 Update_Case = 1;
Lightvalve 170:42c938a40313 2635 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2636 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2637
Lightvalve 170:42c938a40313 2638 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2639 batch = 0;
Lightvalve 170:42c938a40313 2640 RL_timer = 0;
Lightvalve 170:42c938a40313 2641 Update_Case = 2;
Lightvalve 170:42c938a40313 2642 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2643 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2644 }
Lightvalve 170:42c938a40313 2645 }
Lightvalve 170:42c938a40313 2646 }
Lightvalve 170:42c938a40313 2647
Lightvalve 170:42c938a40313 2648 else {
Lightvalve 170:42c938a40313 2649 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2650 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2651 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2652 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2653 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2654 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2655 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2656 //logging1 = action;
Lightvalve 179:d5377766d7ea 2657 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2658 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2659 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2660 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2661 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2662 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2663 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2664 }
Lightvalve 170:42c938a40313 2665
Lightvalve 170:42c938a40313 2666 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2667 }
Lightvalve 170:42c938a40313 2668
Lightvalve 170:42c938a40313 2669 //t.stop();
Lightvalve 170:42c938a40313 2670 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2671
Lightvalve 170:42c938a40313 2672 break;
Lightvalve 170:42c938a40313 2673 }
Lightvalve 14:8e7590227d22 2674
Lightvalve 12:6f2531038ea4 2675 default:
Lightvalve 12:6f2531038ea4 2676 break;
Lightvalve 12:6f2531038ea4 2677 }
Lightvalve 14:8e7590227d22 2678
Lightvalve 57:f4819de54e7a 2679
Lightvalve 57:f4819de54e7a 2680 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2681
Lightvalve 57:f4819de54e7a 2682 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2683 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2684 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2685 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2686 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2687 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2688
Lightvalve 57:f4819de54e7a 2689 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2690 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2691
Lightvalve 57:f4819de54e7a 2692
Lightvalve 57:f4819de54e7a 2693 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2694 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2695 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2696 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2697 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2698 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2699
Lightvalve 57:f4819de54e7a 2700 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2701 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2702 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2703 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2704 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2705 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2706 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2707 }
Lightvalve 57:f4819de54e7a 2708
Lightvalve 57:f4819de54e7a 2709 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2710
Lightvalve 67:c2812cf26c38 2711 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2712 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2713 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2714 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2715 // 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 2716 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2717 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2718
Lightvalve 57:f4819de54e7a 2719 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2720 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2721 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2722 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2723 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2724 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2725 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2726 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2727 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2728 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2729 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2730 }
Lightvalve 57:f4819de54e7a 2731 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2732 } else {
Lightvalve 57:f4819de54e7a 2733 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2734 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2735 }
Lightvalve 57:f4819de54e7a 2736
Lightvalve 57:f4819de54e7a 2737 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2738 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2739 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2740 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2741 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2742 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2743 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2744
Lightvalve 57:f4819de54e7a 2745 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2746
Lightvalve 57:f4819de54e7a 2747 } else {
Lightvalve 57:f4819de54e7a 2748 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2749 }
Lightvalve 57:f4819de54e7a 2750
Lightvalve 57:f4819de54e7a 2751 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2752 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2753 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2754
Lightvalve 57:f4819de54e7a 2755 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2756 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2757 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2758 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2759 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2760 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2761 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2762 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2763
Lightvalve 89:a7b45368ea0f 2764 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2765 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2766 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2767 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2768
Lightvalve 135:79885a39c161 2769 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2770 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2771 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2772 }
Lightvalve 169:645207e160ca 2773
Lightvalve 67:c2812cf26c38 2774 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2775 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2776 // else V_out = V_out;
Lightvalve 169:645207e160ca 2777
jobuuu 7:e9086c72bb22 2778 /*******************************************************
jobuuu 7:e9086c72bb22 2779 *** PWM
jobuuu 7:e9086c72bb22 2780 ********************************************************/
Lightvalve 169:645207e160ca 2781 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2782 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2783 }
Lightvalve 169:645207e160ca 2784
Lightvalve 49:e7bcfc244d40 2785 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2786 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2787 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2788 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2789 }
Lightvalve 49:e7bcfc244d40 2790 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2791
Lightvalve 19:23b7c1ad8683 2792 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2793 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2794 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2795
Lightvalve 30:8d561f16383b 2796 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2797 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2798 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2799 } else {
jobuuu 2:a1c0a37df760 2800 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2801 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2802 }
Lightvalve 13:747daba9cf59 2803
jobuuu 1:e04e563be5ce 2804 //pwm
Lightvalve 30:8d561f16383b 2805 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2806 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2807
Lightvalve 61:bc8c8270f0ab 2808
Lightvalve 57:f4819de54e7a 2809 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 2810
Lightvalve 54:647072f5307a 2811 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2812 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2813 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2814 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2815 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2816 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2817 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 2818 }
Lightvalve 57:f4819de54e7a 2819 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2820 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2821 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 2822 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2823 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 2824 }
Lightvalve 52:8ea76864368a 2825 }
Lightvalve 52:8ea76864368a 2826 }
Lightvalve 56:6f50d9d3bfee 2827 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2828 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2829 }
Lightvalve 58:2eade98630e2 2830
Lightvalve 58:2eade98630e2 2831
Lightvalve 171:bfc1fd2629d8 2832 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2833 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2834 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2835 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2836 } else {
Lightvalve 131:d08121ac87ba 2837 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2838 }
Lightvalve 169:645207e160ca 2839 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2840 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2841 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2842 } else {
Lightvalve 169:645207e160ca 2843 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2844 }
Lightvalve 169:645207e160ca 2845
Lightvalve 169:645207e160ca 2846
Lightvalve 169:645207e160ca 2847 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2848 }
Lightvalve 58:2eade98630e2 2849
Lightvalve 57:f4819de54e7a 2850 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 2851 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2852 ;
Lightvalve 57:f4819de54e7a 2853 }
Lightvalve 58:2eade98630e2 2854
Lightvalve 169:645207e160ca 2855 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2856 //PWM
Lightvalve 209:ebc69d6ee6f1 2857 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 209:ebc69d6ee6f1 2858 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2859 }
Lightvalve 179:d5377766d7ea 2860
Lightvalve 56:6f50d9d3bfee 2861 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2862 //valve position
Lightvalve 212:ec41f1449ef9 2863 //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
Lightvalve 218:066030f7951f 2864 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 54:647072f5307a 2865 }
Lightvalve 20:806196fda269 2866
Lightvalve 54:647072f5307a 2867 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 2868 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 2869 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 2870 // }
Lightvalve 54:647072f5307a 2871 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 2872 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 2873 //}
Lightvalve 52:8ea76864368a 2874
Lightvalve 54:647072f5307a 2875 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2876 }
Lightvalve 54:647072f5307a 2877 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 2878
Lightvalve 20:806196fda269 2879 }
Lightvalve 52:8ea76864368a 2880 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2881
Lightvalve 58:2eade98630e2 2882 }