Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@256:7c8cc8b56b88, 2021-03-03 (annotated)

Committer:
Lightvalve
Date:
Wed Mar 03 12:23:13 2021 +0000
Revision:
256:7c8cc8b56b88
Parent:
255:aa424a9ca332 
210303

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 252:179a8c8791dc 1 //After RaL
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 251:4b0e0b1ff297 202 {-0.034636590629816055f,-0.08510791510343552f,-0.3801865577697754f,0.03776714578270912f,0.2840934693813324f,-0.1901460736989975f,0.12296205759048462f,0.2284609079360962f,0.14127975702285767f,-0.1274729073047638f,-0.6219204664230347f,-0.3406560719013214f,0.26510030031204224f,0.04862070083618164f,-0.10759569704532623f,0.15142720937728882f},
Lightvalve 252:179a8c8791dc 203 {-0.14657218754291534f,-0.34830769896507263f,-0.044384635984897614f,0.09097779542207718f,0.29299843311309814f,0.20048391819000244f,-0.3669555187225342f,0.577765166759491f,0.26391828060150146f,-0.6116664409637451f,-0.48967164754867554f,0.43264442682266235f,-0.2875143885612488f,0.20838868618011475f,0.4987501800060272f,-0.12150795757770538f},
Lightvalve 252:179a8c8791dc 204 {-0.36621227860450745f,-0.5775251388549805f,0.25328558683395386f,-0.4689198136329651f,0.48624423146247864f,0.1806947886943817f,-0.02977663278579712f,0.46608680486679077f,-0.3409912884235382f,0.09726854413747787f,-0.5142548680305481f,0.39275670051574707f,-0.05826932191848755f,-0.1345062553882599f,0.35789212584495544f,-0.3863421678543091f},
Lightvalve 252:179a8c8791dc 205 {-0.4689311385154724f,-0.5520263910293579f,0.11156318336725235f,-0.4460775554180145f,0.477514386177063f,-0.06286724656820297f,-0.20234209299087524f,-0.023230334743857384f,-0.39478203654289246f,0.22159633040428162f,-0.4476903975009918f,0.38044995069503784f,-0.17981481552124023f,0.2829986810684204f,0.041659221053123474f,0.010006793774664402f},
Lightvalve 252:179a8c8791dc 206 {0.07658018171787262f,-0.13551065325737f,-0.04930756241083145f,-0.18194161355495453f,-0.30434608459472656f,-0.3774596154689789f,0.030568987131118774f,0.45075833797454834f,-0.34993308782577515f,0.00814745482057333f,0.271629273891449f,0.2641938328742981f,0.3928338885307312f,0.3520948886871338f,0.2681606411933899f,0.04452916979789734f},
Lightvalve 252:179a8c8791dc 207 {0.1398475617170334f,-0.30324965715408325f,0.23745456337928772f,0.3544830083847046f,0.28628432750701904f,0.1924915313720703f,0.031466126441955566f,-0.05242495983839035f,-0.003589123487472534f,0.019043268635869026f,0.15009407699108124f,-0.33466243743896484f,-0.30160367488861084f,-0.2585424780845642f,-0.03835311904549599f,-0.620620608329773f},
Lightvalve 252:179a8c8791dc 208 {0.7865412831306458f,0.34918898344039917f,-0.1276814490556717f,-0.7611914873123169f,0.07091358304023743f,-0.3924251198768616f,-0.030166536569595337f,0.13422253727912903f,0.3674931526184082f,-0.10135196149349213f,-0.21664942800998688f,0.23833078145980835f,-0.27123963832855225f,-0.08386284112930298f,-0.01957280933856964f,0.8007774353027344f},
Lightvalve 252:179a8c8791dc 209 {0.6253918409347534f,0.3427291512489319f,0.2446969449520111f,-0.5424080491065979f,-0.4171082675457001f,-0.1339646875858307f,0.08264404535293579f,0.20667369663715363f,-0.16528040170669556f,0.10038857161998749f,0.2882964611053467f,0.19816702604293823f,0.37595224380493164f,-0.2227029651403427f,-0.20252738893032074f,0.4010050594806671f},
Lightvalve 252:179a8c8791dc 210 {-0.10320301353931427f,-0.0669734925031662f,-0.3952587842941284f,0.014424772933125496f,0.06123732402920723f,0.12584073841571808f,-0.15519720315933228f,-0.12384038418531418f,0.20291584730148315f,-0.013697299174964428f,0.34133532643318176f,-0.1940154880285263f,-0.2515442967414856f,-0.23373761773109436f,-0.3340805768966675f,-0.005585795734077692f},
Lightvalve 252:179a8c8791dc 211 {0.21723592281341553f,-0.3871166408061981f,-0.6769354343414307f,0.013060376048088074f,-0.3935699462890625f,-0.13699966669082642f,0.20312511920928955f,-0.24272094666957855f,0.28880298137664795f,0.012722134590148926f,0.6101362109184265f,0.1407831907272339f,-0.4085739254951477f,0.014354228973388672f,0.2012835443019867f,-0.41867175698280334f},
Lightvalve 252:179a8c8791dc 212 {-0.348349392414093f,0.10514415800571442f,-0.29263970255851746f,0.14298589527606964f,-0.4824093282222748f,-0.16298454999923706f,-0.3280268609523773f,-0.14835195243358612f,-0.3790266811847687f,0.12452945858240128f,0.09102929383516312f,-0.017614006996154785f,-0.18276402354240417f,0.21967029571533203f,0.18263429403305054f,0.12917377054691315f},
Lightvalve 252:179a8c8791dc 213 {-0.16717736423015594f,0.3654094338417053f,0.22285446524620056f,-0.2079508751630783f,0.15254132449626923f,-0.428370863199234f,0.12378334999084473f,0.042758338153362274f,-0.23888027667999268f,0.015105051919817924f,-0.03244645148515701f,0.07999944686889648f,-0.19709044694900513f,0.3904615044593811f,0.3818567395210266f,-0.1811094582080841f},
Lightvalve 252:179a8c8791dc 214 {0.44972071051597595f,-0.028732342645525932f,-0.12203003466129303f,-0.16853941977024078f,-0.002657646546140313f,-0.27321964502334595f,-0.39909395575523376f,-0.22719086706638336f,-0.04522088170051575f,0.39755183458328247f,0.26120442152023315f,0.2014879584312439f,0.2502625584602356f,-0.049918800592422485f,-0.2698128819465637f,-0.39346325397491455f},
Lightvalve 252:179a8c8791dc 215 {0.18112419545650482f,-0.0779980793595314f,-0.45121440291404724f,-0.5473600029945374f,-0.5366666913032532f,0.18330438435077667f,0.1997523307800293f,-0.09354571998119354f,-0.12511596083641052f,0.48358815908432007f,-0.172188401222229f,0.41015303134918213f,-0.3052411675453186f,-0.1892547309398651f,0.2224881649017334f,-0.10170229524374008f},
Lightvalve 252:179a8c8791dc 216 {0.10940403491258621f,-0.23863136768341064f,-0.6232994794845581f,0.16091983020305634f,-0.304459810256958f,0.2962200939655304f,0.18491721153259277f,0.01318122074007988f,0.18640142679214478f,0.13724061846733093f,0.24989944696426392f,0.35947704315185547f,-0.332058310508728f,0.40907591581344604f,-0.28181812167167664f,-0.16143277287483215f},
Lightvalve 65:a2d7c63419c2 217 };
Lightvalve 65:a2d7c63419c2 218
Lightvalve 169:645207e160ca 219 const float h2[16][16] = {
Lightvalve 251:4b0e0b1ff297 220 {0.04833245277404785f,0.8406158089637756f,0.3808237612247467f,0.3637321889400482f,0.644477128982544f,0.35276496410369873f,-1.0592999458312988f,-0.44195684790611267f,-2.155895948410034f,0.42358145117759705f,0.21362772583961487f,0.046894848346710205f,0.1278792917728424f,-0.37168267369270325f,0.04797150567173958f,0.41920337080955505f},
Lightvalve 252:179a8c8791dc 221 {-0.0274239182472229f,0.9419358372688293f,-0.34082740545272827f,0.2642888128757477f,0.7276898622512817f,0.002614683471620083f,-1.1622995138168335f,0.30911850929260254f,-0.6000240445137024f,0.026576727628707886f,-0.29539918899536133f,-0.20509253442287445f,-0.1801471710205078f,-0.5503743290901184f,-0.09623444825410843f,0.16039973497390747f},
Lightvalve 252:179a8c8791dc 222 {-0.35354936122894287f,-0.09730152785778046f,-0.24224385619163513f,-0.41592511534690857f,0.07027829438447952f,0.013607672415673733f,0.22128823399543762f,-0.10003288835287094f,-1.014364242553711f,-0.26868098974227905f,0.21410873532295227f,-0.228165864944458f,-0.05225086212158203f,-0.7968334555625916f,0.25415247678756714f,0.2862052619457245f},
Lightvalve 252:179a8c8791dc 223 {-0.11117833852767944f,0.46299421787261963f,0.11902371048927307f,0.35618194937705994f,0.15819178521633148f,-0.5194926261901855f,-0.1352825164794922f,0.4493905305862427f,-0.4192030429840088f,-0.4216589629650116f,-0.4289160966873169f,-0.3305668830871582f,0.43245211243629456f,-0.18652261793613434f,-0.4980774223804474f,0.2913265824317932f},
Lightvalve 252:179a8c8791dc 224 {0.39269885420799255f,-0.17476780712604523f,-0.07237827777862549f,0.09812912344932556f,-0.33486536145210266f,-0.47770196199417114f,0.9116359949111938f,0.20927821099758148f,0.6805155873298645f,-0.08264759182929993f,-0.15345615148544312f,0.3926151692867279f,-0.28366416692733765f,0.9803341031074524f,-0.7951028943061829f,-0.38231852650642395f},
Lightvalve 252:179a8c8791dc 225 {-0.02339586615562439f,-0.21557484567165375f,0.0382651686668396f,-0.10381102561950684f,0.20424866676330566f,0.0569344200193882f,-0.15795065462589264f,-0.2686183750629425f,0.02425282634794712f,0.2855292856693268f,0.3241807520389557f,0.08525893092155457f,-0.07454681396484375f,-0.3016861081123352f,0.30999064445495605f,-0.2047392874956131f},
Lightvalve 252:179a8c8791dc 226 {0.06456553936004639f,-0.29620951414108276f,-0.28450071811676025f,-0.3608437776565552f,0.14704784750938416f,-0.36015424132347107f,-0.315707266330719f,-0.2272750288248062f,-0.16718602180480957f,-0.3622615337371826f,0.3609362542629242f,0.3271537125110626f,-0.1134117841720581f,-0.24684466421604156f,-0.3105827271938324f,-0.29518258571624756f},
Lightvalve 252:179a8c8791dc 227 {0.40061601996421814f,-0.2499115914106369f,-0.42576566338539124f,0.2771916687488556f,0.1725580394268036f,0.24982130527496338f,0.032843999564647675f,-0.13448423147201538f,-0.30728211998939514f,-0.24666368961334229f,0.034479737281799316f,0.11201921105384827f,-0.3116337060928345f,0.20088200271129608f,0.07602878659963608f,-0.32380038499832153f},
Lightvalve 252:179a8c8791dc 228 {0.01738646626472473f,0.42550787329673767f,0.16973963379859924f,-0.19240723550319672f,-0.03196948766708374f,-0.12532320618629456f,-0.1082024872303009f,0.3715610206127167f,-0.23925665020942688f,0.15291878581047058f,0.21075895428657532f,-0.06213498115539551f,0.41508081555366516f,-0.27582913637161255f,0.06960871815681458f,-0.020523756742477417f},
Lightvalve 252:179a8c8791dc 229 {0.2798302471637726f,0.3964071571826935f,0.23923692107200623f,0.1867220103740692f,-0.3472009599208832f,-0.4335924983024597f,-0.35373935103416443f,0.16244973242282867f,-0.7462126612663269f,-0.2594975531101227f,-0.315661758184433f,-0.2793809175491333f,0.27418074011802673f,-0.10312201827764511f,0.4119209051132202f,-0.05471741408109665f},
Lightvalve 252:179a8c8791dc 230 {-0.14383485913276672f,1.081695318222046f,-0.404108464717865f,-0.22689129412174225f,-0.3717469274997711f,-0.41622504591941833f,-0.8190008401870728f,0.5285307168960571f,-3.050868034362793f,-0.16521230340003967f,-0.0948835015296936f,-0.3281487226486206f,-0.32793286442756653f,-1.8892099857330322f,-0.8883360028266907f,-0.44808080792427063f},
Lightvalve 252:179a8c8791dc 231 {-0.3993529975414276f,0.41353103518486023f,0.2625258266925812f,-0.40873271226882935f,0.3280826508998871f,0.10209885239601135f,0.22779449820518494f,0.27592143416404724f,-0.24499990046024323f,0.11430332064628601f,0.1062566339969635f,-0.3577694296836853f,-0.05476459860801697f,0.17576757073402405f,0.21356281638145447f,-0.21355248987674713f},
Lightvalve 252:179a8c8791dc 232 {0.26238974928855896f,0.13264122605323792f,0.17779704928398132f,0.3172527849674225f,-0.07196182012557983f,0.3440147936344147f,-0.20966216921806335f,0.19133642315864563f,-0.40352103114128113f,-0.01865154504776001f,0.4056650698184967f,0.4148031175136566f,-0.3938596844673157f,-0.15683236718177795f,-0.2691075801849365f,-0.31552961468696594f},
Lightvalve 252:179a8c8791dc 233 {0.04255214333534241f,-0.10101297497749329f,-0.20923052728176117f,0.2541695535182953f,0.41217753291130066f,-0.301749050617218f,0.16364464163780212f,-0.16757863759994507f,-0.33475184440612793f,-0.3079894781112671f,-0.15280935168266296f,-0.3279605209827423f,-0.21071602404117584f,-0.09943103790283203f,0.25322189927101135f,-0.047403186559677124f},
Lightvalve 252:179a8c8791dc 234 {-0.3407605290412903f,-1.6339330673217773f,-0.08496147394180298f,0.18828937411308289f,-1.2263431549072266f,-1.4933935403823853f,1.361119031906128f,1.3889564275741577f,1.7450194358825684f,0.3321857750415802f,0.10198095440864563f,0.14103266596794128f,0.07074931263923645f,1.626432180404663f,-1.5846821069717407f,-1.6313681602478027f},
Lightvalve 252:179a8c8791dc 235 {-0.430133581161499f,2.0306808948516846f,0.3826504647731781f,0.4254762828350067f,1.4177906513214111f,0.9060602188110352f,-2.047635793685913f,-0.610949695110321f,-4.190510272979736f,-0.26547297835350037f,0.17560508847236633f,0.4241798222064972f,-0.07467690110206604f,-3.596113681793213f,0.9893742203712463f,1.3326054811477661f},
Lightvalve 65:a2d7c63419c2 236 };
Lightvalve 65:a2d7c63419c2 237
Lightvalve 169:645207e160ca 238 const float h3[16][16] = {
Lightvalve 251:4b0e0b1ff297 239 {0.37046024203300476f,0.04798617959022522f,0.392690509557724f,-0.20555028319358826f,-0.04246211051940918f,-0.37363746762275696f,0.015186339616775513f,-0.061466217041015625f,-0.13781791925430298f,-0.11356508731842041f,0.30632129311561584f,-0.03401225805282593f,0.14026448130607605f,-0.41080594062805176f,-0.021881461143493652f,-0.1677863597869873f},
Lightvalve 252:179a8c8791dc 240 {-0.21526779234409332f,-1.1129813194274902f,-0.12068668007850647f,0.09446603804826736f,-0.015299053862690926f,0.23865419626235962f,-0.16593411564826965f,-1.1282691955566406f,-0.2572314739227295f,0.025441110134124756f,0.08321377635002136f,-0.22488360106945038f,0.10835165530443192f,0.01774216815829277f,-0.05000334233045578f,-0.3466002941131592f},
Lightvalve 252:179a8c8791dc 241 {-0.08673667907714844f,0.23056277632713318f,0.42949649691581726f,-0.3032870888710022f,0.4159357249736786f,0.03299093246459961f,-0.035138070583343506f,0.00458759069442749f,-0.2919609248638153f,0.13052961230278015f,-0.09829097986221313f,-0.24485144019126892f,0.3602481186389923f,0.3898719251155853f,-0.0538104772567749f,0.07017943263053894f},
Lightvalve 252:179a8c8791dc 242 {0.2464427649974823f,0.39936527609825134f,0.21032699942588806f,-0.2072734385728836f,0.19923558831214905f,0.2847035825252533f,-0.22418056428432465f,-0.43023446202278137f,-0.21198244392871857f,0.23950514197349548f,-0.3551802337169647f,0.11705091595649719f,0.18541833758354187f,-0.023748815059661865f,0.1462016999721527f,-0.08909019827842712f},
Lightvalve 252:179a8c8791dc 243 {0.34622398018836975f,-1.2129888534545898f,-0.20742447674274445f,-0.032929010689258575f,0.08672287315130234f,-0.08068259805440903f,0.45541882514953613f,-2.018517017364502f,0.10944971442222595f,0.04921719431877136f,-0.20607680082321167f,0.21179592609405518f,0.4078998863697052f,0.09382607787847519f,-0.6051720380783081f,-0.19378763437271118f},
Lightvalve 252:179a8c8791dc 244 {0.07416597008705139f,-0.1509564220905304f,-0.3286089599132538f,0.2575420141220093f,-0.32409292459487915f,-0.04360950365662575f,-0.05032980069518089f,0.03308649733662605f,-0.14956387877464294f,0.06287035346031189f,-0.18942220509052277f,-0.22120867669582367f,0.36484384536743164f,0.34050697088241577f,0.033385224640369415f,0.028106003999710083f},
Lightvalve 252:179a8c8791dc 245 {-0.24521887302398682f,0.3061828017234802f,-0.09969070553779602f,-0.835078239440918f,-1.1966766119003296f,0.7502152919769287f,-0.6856613159179688f,0.31733009219169617f,0.16320112347602844f,-0.08684051036834717f,-0.3433442711830139f,-0.3093454837799072f,-0.3787883520126343f,-0.6157321929931641f,0.27898073196411133f,-0.3274548649787903f},
Lightvalve 252:179a8c8791dc 246 {-0.037380099296569824f,-0.053829364478588104f,-0.23550507426261902f,-0.32296717166900635f,0.1419943869113922f,0.3212539851665497f,-0.5291021466255188f,-0.3196764588356018f,0.23772326111793518f,-0.15706628561019897f,-0.03474658727645874f,-0.42883461713790894f,-0.43303486704826355f,-0.46498894691467285f,0.23065359890460968f,-0.06882688403129578f},
Lightvalve 252:179a8c8791dc 247 {0.22414228320121765f,0.6167948842048645f,0.17398694157600403f,-1.2930227518081665f,-0.07601547241210938f,1.1093199253082275f,-0.4207235872745514f,0.2633194625377655f,-0.16447538137435913f,0.31832489371299744f,-0.01876583695411682f,0.425087034702301f,-1.1076250076293945f,0.1036156564950943f,-0.3688891530036926f,-0.37546294927597046f},
Lightvalve 252:179a8c8791dc 248 {-0.37478217482566833f,-0.10878506302833557f,-0.33313462138175964f,0.08732470870018005f,-0.4272407591342926f,0.42993465065956116f,-0.3373659551143646f,-0.1347610354423523f,0.27883973717689514f,0.15846404433250427f,0.23034706711769104f,0.2679099142551422f,0.26554760336875916f,-0.39576658606529236f,0.27645888924598694f,0.3027357757091522f},
Lightvalve 252:179a8c8791dc 249 {0.01714116334915161f,-0.41286614537239075f,-0.30441972613334656f,0.09042176604270935f,0.305792897939682f,0.25930657982826233f,-0.0077957212924957275f,0.2839451730251312f,0.06527414917945862f,0.30544695258140564f,-0.3269312381744385f,-0.23118992149829865f,-0.36912286281585693f,0.18185165524482727f,0.06934896111488342f,0.20831605792045593f},
Lightvalve 252:179a8c8791dc 250 {-0.16316500306129456f,0.09996911883354187f,-0.11835616827011108f,0.22180476784706116f,0.2730047404766083f,-0.39772462844848633f,0.3122676908969879f,0.025347262620925903f,-0.0864812433719635f,-0.2908649444580078f,0.05068853497505188f,-0.23324716091156006f,-0.27006956934928894f,0.3646886646747589f,-0.22474992275238037f,0.03918728232383728f},
Lightvalve 252:179a8c8791dc 251 {-0.2255314439535141f,0.0861915647983551f,-0.37378355860710144f,0.09740594029426575f,-0.17835164070129395f,-0.28151828050613403f,0.08090576529502869f,0.27042338252067566f,0.10048076510429382f,0.3275263011455536f,0.3301452696323395f,-0.33213010430336f,0.18207183480262756f,0.224577397108078f,-0.2358287274837494f,0.16939416527748108f},
Lightvalve 252:179a8c8791dc 252 {0.18313375115394592f,3.035151958465576f,0.15208670496940613f,-2.073854684829712f,0.9186175465583801f,0.35607829689979553f,-1.5632147789001465f,-0.4666653871536255f,-0.15266752243041992f,-0.3787156641483307f,-0.23417361080646515f,0.41418468952178955f,-2.05690336227417f,-2.3053674697875977f,-0.29849734902381897f,-0.3566729426383972f},
Lightvalve 252:179a8c8791dc 253 {0.19047978520393372f,0.24750559031963348f,-0.1217426061630249f,0.5728633403778076f,-0.08453264087438583f,0.24713492393493652f,0.41920486092567444f,0.4218023419380188f,-0.27937382459640503f,0.06346243619918823f,-0.3896019458770752f,0.36481839418411255f,0.7093786597251892f,-0.09001748263835907f,-0.4630468785762787f,-0.3792039752006531f},
Lightvalve 252:179a8c8791dc 254 {-0.3329339325428009f,-0.4124312996864319f,-0.00382271409034729f,0.05026526004076004f,-0.49761754274368286f,0.3193882703781128f,0.4324275553226471f,-0.7607815861701965f,-0.3335152566432953f,0.10636988282203674f,0.262630432844162f,-0.17788830399513245f,0.3869096338748932f,0.1590534746646881f,-0.16216763854026794f,-0.017990201711654663f},
Lightvalve 66:a8e6799dbce3 255 };
Lightvalve 65:a2d7c63419c2 256
Lightvalve 251:4b0e0b1ff297 257 const float hout[16] = { 0.28352612257003784f,7.027318000793457f,0.20054447650909424f,-1.0949580669403076f,-0.5842559933662415f,0.2186238020658493f,-1.2922117710113525f,2.97406268119812f,0.3234240412712097f,-0.5405333638191223f,-0.04778480529785156f,0.04107429087162018f,-1.542391300201416f,-0.6290411949157715f,0.531202495098114f,-0.49622899293899536f };
Lightvalve 251:4b0e0b1ff297 258
Lightvalve 251:4b0e0b1ff297 259 const float b1[16] = { -0.023235002532601357f,1.8784174919128418f,1.2490769624710083f,1.8262481689453125f,-0.7069734334945679f,0.3653741180896759f,-2.117748498916626f,0.10555768758058548f,-0.2616904079914093f,0.9018311500549316f,1.0800175666809082f,-2.6183178424835205f,-1.0385421514511108f,-0.8662141561508179f,-0.949005663394928f,0.9264617562294006f };
Lightvalve 251:4b0e0b1ff297 260
Lightvalve 251:4b0e0b1ff297 261 const float b2[16] = { -1.3552442789077759f,0.2431674301624298f,0.09128525853157043f,-1.9293867349624634f,0.07398243993520737f,1.9222168922424316f,1.02919340133667f,0.9952839016914368f,1.659902811050415f,-1.3622498512268066f,0.16149760782718658f,-0.7032756209373474f,-0.3943362534046173f,0.033961519598960876f,0.5282865166664124f,1.0235947370529175f };
Lightvalve 251:4b0e0b1ff297 262
Lightvalve 251:4b0e0b1ff297 263 const float b3[16] = { -1.2821701765060425f,0.5424966812133789f,-2.4415693283081055f,-0.10150174796581268f,1.364449381828308f,1.4641811847686768f,0.3352581560611725f,0.6453125476837158f,-0.42281195521354675f,-0.8339861035346985f,-1.7887413501739502f,0.39875528216362f,-1.0230937004089355f,-0.40120580792427063f,-0.31424298882484436f,-0.0870584174990654f };
Lightvalve 251:4b0e0b1ff297 264
Lightvalve 251:4b0e0b1ff297 265 const float bout[1] = { 1.0808764696121216f };
Lightvalve 225:278b48b86f27 266
Lightvalve 225:278b48b86f27 267 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 268
Lightvalve 170:42c938a40313 269 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 270 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 271
Lightvalve 170:42c938a40313 272 //Critic Networks
Lightvalve 173:68c7914679ec 273 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 274 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 275 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 276 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 277 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 278 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 279
Lightvalve 170:42c938a40313 280 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 281 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 282 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 283 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 284 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 285 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 286 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 287
Lightvalve 170:42c938a40313 288 //Actor Networks
Lightvalve 173:68c7914679ec 289 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 290 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 291 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 292 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 293 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 294 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 295
Lightvalve 170:42c938a40313 296 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 297 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 298 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 299 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 300 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 301 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 302 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 303
Lightvalve 87:471334725012 304 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 305 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 306
Lightvalve 179:d5377766d7ea 307 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 308 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 309 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 310 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 311 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 312
Lightvalve 170:42c938a40313 313 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 314 {
Lightvalve 173:68c7914679ec 315 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 316 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 317 float output = 0.0f;
Lightvalve 173:68c7914679ec 318 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 319 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 320 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 321 }
Lightvalve 173:68c7914679ec 322 //ReLU
Lightvalve 173:68c7914679ec 323 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 324 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 325 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 326 output1[index2] = 0;
Lightvalve 173:68c7914679ec 327 }
Lightvalve 173:68c7914679ec 328 //tanh
Lightvalve 173:68c7914679ec 329 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 330 }
Lightvalve 173:68c7914679ec 331 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 332 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 333 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 334 }
Lightvalve 173:68c7914679ec 335 //ReLU
Lightvalve 173:68c7914679ec 336 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 337 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 338 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 339 output2[index2] = 0;
Lightvalve 173:68c7914679ec 340 }
Lightvalve 173:68c7914679ec 341 //tanh
Lightvalve 173:68c7914679ec 342 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 343 }
Lightvalve 170:42c938a40313 344 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 345 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 346 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 347 }
Lightvalve 173:68c7914679ec 348 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 349 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 350 }
Lightvalve 170:42c938a40313 351 return output;
Lightvalve 170:42c938a40313 352 }
Lightvalve 170:42c938a40313 353
Lightvalve 170:42c938a40313 354
Lightvalve 170:42c938a40313 355 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 356 {
Lightvalve 173:68c7914679ec 357 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 358 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 359 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 360
Lightvalve 173:68c7914679ec 361 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 362 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 363 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 364 }
Lightvalve 178:1074553d2f6f 365 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 366 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 367 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 368 output1[index2] = 0;
Lightvalve 173:68c7914679ec 369 }
Lightvalve 173:68c7914679ec 370 }
Lightvalve 173:68c7914679ec 371 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 372 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 373 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 374 }
Lightvalve 178:1074553d2f6f 375 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 376 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 377 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 378 output2[index2] = 0;
Lightvalve 173:68c7914679ec 379 }
Lightvalve 173:68c7914679ec 380 }
Lightvalve 173:68c7914679ec 381 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 382 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 383 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 384 }
Lightvalve 178:1074553d2f6f 385 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 386 }
Lightvalve 178:1074553d2f6f 387
Lightvalve 178:1074553d2f6f 388 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 389 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 390 //Softplus
Lightvalve 173:68c7914679ec 391 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 392 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 393 logging2 = mean;
Lightvalve 179:d5377766d7ea 394 logging4 = deviation;
Lightvalve 173:68c7914679ec 395 }
Lightvalve 173:68c7914679ec 396
Lightvalve 173:68c7914679ec 397
Lightvalve 173:68c7914679ec 398 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 399 {
Lightvalve 173:68c7914679ec 400 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 401 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 402 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 403
Lightvalve 173:68c7914679ec 404 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 405 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 406 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 407 }
Lightvalve 170:42c938a40313 408 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 409 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 410 output1[index2] = 0;
Lightvalve 170:42c938a40313 411 }
Lightvalve 170:42c938a40313 412 }
Lightvalve 173:68c7914679ec 413 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 414 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 415 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 416 }
Lightvalve 173:68c7914679ec 417 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 418 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 419 output2[index2] = 0;
Lightvalve 170:42c938a40313 420 }
Lightvalve 170:42c938a40313 421 }
Lightvalve 170:42c938a40313 422 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 423 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 424 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 425 }
Lightvalve 170:42c938a40313 426 }
Lightvalve 173:68c7914679ec 427 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 428 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 429 //Softplus
Lightvalve 173:68c7914679ec 430 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 431 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 432 }
Lightvalve 170:42c938a40313 433
Lightvalve 170:42c938a40313 434 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 435 {
Lightvalve 170:42c938a40313 436 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 437 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 438 return grad_mean;
Lightvalve 170:42c938a40313 439 }
Lightvalve 170:42c938a40313 440
Lightvalve 170:42c938a40313 441 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 442 {
Lightvalve 170:42c938a40313 443 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 444 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 445 return grad_dev;
Lightvalve 170:42c938a40313 446 }
Lightvalve 170:42c938a40313 447
Lightvalve 173:68c7914679ec 448 float ReLU(float x)
Lightvalve 173:68c7914679ec 449 {
Lightvalve 173:68c7914679ec 450 if (x >= 0) {
Lightvalve 173:68c7914679ec 451 return x;
Lightvalve 173:68c7914679ec 452 } else {
Lightvalve 173:68c7914679ec 453 return 0.0f;
Lightvalve 173:68c7914679ec 454 }
Lightvalve 173:68c7914679ec 455 }
Lightvalve 173:68c7914679ec 456
Lightvalve 170:42c938a40313 457 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 458 {
Lightvalve 173:68c7914679ec 459 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 460 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 461 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 462 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 463 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 464 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 465 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 466 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 467 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 468 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 469 }
Lightvalve 173:68c7914679ec 470 }
Lightvalve 170:42c938a40313 471 }
Lightvalve 177:8e9cf31d63f4 472 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 473 }
Lightvalve 170:42c938a40313 474 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 475 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 476 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 477 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 478 }
Lightvalve 173:68c7914679ec 479 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 480 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 481 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 482 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 483 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 484 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 485 }
Lightvalve 173:68c7914679ec 486 }
Lightvalve 173:68c7914679ec 487 }
Lightvalve 177:8e9cf31d63f4 488 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 489 }
Lightvalve 173:68c7914679ec 490 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 491 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 492 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 493 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 494 }
Lightvalve 173:68c7914679ec 495
Lightvalve 175:2f7289dbd488 496
Lightvalve 173:68c7914679ec 497 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 498 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 499 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 500 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 501 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 502 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 503 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 504 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 505 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 506 }
Lightvalve 173:68c7914679ec 507 }
Lightvalve 177:8e9cf31d63f4 508 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 509 }
Lightvalve 173:68c7914679ec 510 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 511 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 512 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 513 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 514 }
Lightvalve 173:68c7914679ec 515 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 516 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 517 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 518 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 519 }
Lightvalve 177:8e9cf31d63f4 520 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 521 }
Lightvalve 173:68c7914679ec 522 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 523 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 524 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 525 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 526 }
Lightvalve 173:68c7914679ec 527
Lightvalve 173:68c7914679ec 528 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 529 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 530 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 531 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 532 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 533 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 534 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 535 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 536 }
Lightvalve 177:8e9cf31d63f4 537 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 538 }
Lightvalve 173:68c7914679ec 539 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 540 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 541 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 542 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 543 }
Lightvalve 173:68c7914679ec 544 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 545 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 546 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 547 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 548 }
Lightvalve 173:68c7914679ec 549 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 550 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 551 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 552 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 553 }
Lightvalve 173:68c7914679ec 554
Lightvalve 173:68c7914679ec 555 // Simultaneous Update
Lightvalve 173:68c7914679ec 556 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 557 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 558 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 559 }
Lightvalve 179:d5377766d7ea 560 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 561 }
Lightvalve 173:68c7914679ec 562 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 563 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 564 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 565 }
Lightvalve 179:d5377766d7ea 566 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 567 }
Lightvalve 170:42c938a40313 568 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 569 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 570 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 571 }
Lightvalve 179:d5377766d7ea 572 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 573 }
Lightvalve 170:42c938a40313 574 }
Lightvalve 170:42c938a40313 575
Lightvalve 173:68c7914679ec 576 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 577 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 578 {
Lightvalve 218:066030f7951f 579
Lightvalve 173:68c7914679ec 580
Lightvalve 173:68c7914679ec 581 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 582 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 583
Lightvalve 173:68c7914679ec 584 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 585 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 586 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 587 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 588 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 589 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 590 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 591 } else {
Lightvalve 173:68c7914679ec 592 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 593 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 594 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 595 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 596 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 597 }
Lightvalve 171:bfc1fd2629d8 598 }
Lightvalve 170:42c938a40313 599 }
Lightvalve 170:42c938a40313 600 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 601 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 602 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 603 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 604
Lightvalve 173:68c7914679ec 605 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 606 }
Lightvalve 170:42c938a40313 607 }
Lightvalve 176:589ea3edcf3c 608 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 609 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 610 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 611 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 612 }
Lightvalve 173:68c7914679ec 613
Lightvalve 173:68c7914679ec 614 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 615 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 616 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 617 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 618 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 619 } else {
Lightvalve 173:68c7914679ec 620 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 621 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 622 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 623 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 624 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 625 }
Lightvalve 171:bfc1fd2629d8 626 }
Lightvalve 170:42c938a40313 627 }
Lightvalve 170:42c938a40313 628 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 629 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 630 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 631 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 632
Lightvalve 173:68c7914679ec 633 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 634 }
Lightvalve 170:42c938a40313 635 }
Lightvalve 176:589ea3edcf3c 636 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 637 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 638 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 639 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 640 }
Lightvalve 170:42c938a40313 641
Lightvalve 173:68c7914679ec 642 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 643 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 644
Lightvalve 173:68c7914679ec 645 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 646 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 647 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 648 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 649 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 650 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 651 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 652 } else {
Lightvalve 173:68c7914679ec 653 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 654 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 655 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 656 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 657 }
Lightvalve 170:42c938a40313 658 }
Lightvalve 173:68c7914679ec 659
Lightvalve 170:42c938a40313 660 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 661 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 662 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 663 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 664
Lightvalve 173:68c7914679ec 665 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 666 }
Lightvalve 170:42c938a40313 667 }
Lightvalve 176:589ea3edcf3c 668 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 669 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 670 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 671 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 672 }
Lightvalve 173:68c7914679ec 673
Lightvalve 173:68c7914679ec 674 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 675 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 676 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 677 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 678 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 679 } else {
Lightvalve 170:42c938a40313 680
Lightvalve 173:68c7914679ec 681 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 682 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 683 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 684 }
Lightvalve 173:68c7914679ec 685 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 686 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 687 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 688 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 689
Lightvalve 173:68c7914679ec 690 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 691 }
Lightvalve 170:42c938a40313 692 }
Lightvalve 176:589ea3edcf3c 693 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 694 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 695 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 696 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 697 }
Lightvalve 173:68c7914679ec 698
Lightvalve 173:68c7914679ec 699 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 700 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 701
Lightvalve 173:68c7914679ec 702 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 703 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 704 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 705 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 706 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 707 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 708 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 709 } else {
Lightvalve 173:68c7914679ec 710 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 711 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 712 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 713 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 714 }
Lightvalve 173:68c7914679ec 715 }
Lightvalve 173:68c7914679ec 716 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 717 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 718 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 719 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 720
Lightvalve 173:68c7914679ec 721 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 722 }
Lightvalve 173:68c7914679ec 723 }
Lightvalve 176:589ea3edcf3c 724 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 725 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 726 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 727 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 728 }
Lightvalve 173:68c7914679ec 729
Lightvalve 173:68c7914679ec 730 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 731 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 732 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 733 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 734 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 735 } else {
Lightvalve 173:68c7914679ec 736
Lightvalve 177:8e9cf31d63f4 737 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 738 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 739
Lightvalve 173:68c7914679ec 740 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 741 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 742 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 743 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 744
Lightvalve 173:68c7914679ec 745 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 746 }
Lightvalve 173:68c7914679ec 747 }
Lightvalve 176:589ea3edcf3c 748 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 749 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 750 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 751 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 752 }
Lightvalve 177:8e9cf31d63f4 753
Lightvalve 175:2f7289dbd488 754 // Simultaneous Update
Lightvalve 175:2f7289dbd488 755 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 756 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 757 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 758 }
Lightvalve 179:d5377766d7ea 759 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 760 }
Lightvalve 175:2f7289dbd488 761 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 762 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 763 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 764 }
Lightvalve 179:d5377766d7ea 765 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 766 }
Lightvalve 175:2f7289dbd488 767 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 768 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 769 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 770 }
Lightvalve 179:d5377766d7ea 771 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 772 }
Lightvalve 170:42c938a40313 773 }
Lightvalve 170:42c938a40313 774
Lightvalve 170:42c938a40313 775 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 776 {
Lightvalve 170:42c938a40313 777 //Box muller method
Lightvalve 170:42c938a40313 778 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 779 static int n2_cached = 0;
Lightvalve 170:42c938a40313 780 if (!n2_cached) {
Lightvalve 170:42c938a40313 781 double x, y, r;
Lightvalve 170:42c938a40313 782 do {
Lightvalve 170:42c938a40313 783 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 784 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 785
Lightvalve 170:42c938a40313 786 r = x*x + y*y;
Lightvalve 170:42c938a40313 787 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 788 {
Lightvalve 170:42c938a40313 789 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 790 double n1 = x*d;
Lightvalve 170:42c938a40313 791 n2 = y*d;
Lightvalve 170:42c938a40313 792 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 793 n2_cached = 1;
Lightvalve 170:42c938a40313 794 return result;
Lightvalve 170:42c938a40313 795 }
Lightvalve 170:42c938a40313 796 } else {
Lightvalve 170:42c938a40313 797 n2_cached = 0;
Lightvalve 170:42c938a40313 798 return n2*stddev + mean;
Lightvalve 170:42c938a40313 799 }
Lightvalve 170:42c938a40313 800 }
Lightvalve 170:42c938a40313 801
Lightvalve 179:d5377766d7ea 802 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 803 {
Lightvalve 179:d5377766d7ea 804 float add = 0.0f;
Lightvalve 179:d5377766d7ea 805 float result;
Lightvalve 218:066030f7951f 806
Lightvalve 218:066030f7951f 807 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 808 add += x[i];
Lightvalve 179:d5377766d7ea 809 }
Lightvalve 179:d5377766d7ea 810 result = (float) add/size;
Lightvalve 179:d5377766d7ea 811 return result;
Lightvalve 179:d5377766d7ea 812 }
Lightvalve 179:d5377766d7ea 813 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 814 {
Lightvalve 179:d5377766d7ea 815 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 816 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 817
Lightvalve 218:066030f7951f 818 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 819 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 820 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 821 }
Lightvalve 179:d5377766d7ea 822 return resultDeb;
Lightvalve 218:066030f7951f 823 }
Lightvalve 218:066030f7951f 824
Lightvalve 173:68c7914679ec 825
Lightvalve 170:42c938a40313 826 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 827 {
Lightvalve 173:68c7914679ec 828 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 829 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 830 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 831 }
Lightvalve 170:42c938a40313 832 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 833 }
Lightvalve 173:68c7914679ec 834 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 835 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 836 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 837 }
Lightvalve 173:68c7914679ec 838 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 839 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 840 }
Lightvalve 173:68c7914679ec 841 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 842 }
Lightvalve 170:42c938a40313 843 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 844 {
Lightvalve 173:68c7914679ec 845 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 846 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 847 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 848 }
Lightvalve 170:42c938a40313 849 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 850 }
Lightvalve 173:68c7914679ec 851 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 852 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 853 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 854 }
Lightvalve 170:42c938a40313 855 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 856 }
Lightvalve 173:68c7914679ec 857 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 858 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 859 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 860 }
Lightvalve 173:68c7914679ec 861 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 862 }
Lightvalve 170:42c938a40313 863 }
Lightvalve 170:42c938a40313 864
Lightvalve 170:42c938a40313 865
GiJeongKim 0:51c43836c1d7 866 int main()
GiJeongKim 0:51c43836c1d7 867 {
Lightvalve 66:a8e6799dbce3 868
Lightvalve 65:a2d7c63419c2 869 HAL_Init();
Lightvalve 65:a2d7c63419c2 870 SystemClock_Config();
Lightvalve 169:645207e160ca 871
jobuuu 6:df07d3491e3a 872 /*********************************
jobuuu 1:e04e563be5ce 873 *** Initialization
jobuuu 6:df07d3491e3a 874 *********************************/
Lightvalve 69:3995ffeaa786 875 LED = 0;
Lightvalve 61:bc8c8270f0ab 876 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 877
GiJeongKim 0:51c43836c1d7 878 // i2c init
Lightvalve 8:5d2eebdad025 879 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 880 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 881 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 882 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 883 make_delay();
jobuuu 2:a1c0a37df760 884
GiJeongKim 0:51c43836c1d7 885 // // spi init
Lightvalve 254:725d7435dfa3 886 eeprom_cs = 1;
Lightvalve 170:42c938a40313 887 eeprom.format(8,3);
Lightvalve 170:42c938a40313 888 eeprom.frequency(5000000); //5M
Lightvalve 254:725d7435dfa3 889 eeprom_cs = 0;
Lightvalve 255:aa424a9ca332 890 make_delay();
Lightvalve 255:aa424a9ca332 891
Lightvalve 255:aa424a9ca332 892 enc_cs = 1; //sw add
GiJeongKim 0:51c43836c1d7 893 enc.format(8,0);
Lightvalve 256:7c8cc8b56b88 894 enc.frequency(5000000); //10M
Lightvalve 255:aa424a9ca332 895 enc_cs = 0; //sw add
Lightvalve 254:725d7435dfa3 896
Lightvalve 11:82d8768d7351 897 make_delay();
Lightvalve 256:7c8cc8b56b88 898
Lightvalve 256:7c8cc8b56b88 899 // spi _ enc
Lightvalve 256:7c8cc8b56b88 900 spi_enc_set_init();
Lightvalve 256:7c8cc8b56b88 901 make_delay();
Lightvalve 256:7c8cc8b56b88 902
Lightvalve 256:7c8cc8b56b88 903 //Inital BNO setting
Lightvalve 256:7c8cc8b56b88 904 // spi_eeprom_write(RID_BNO, (int16_t) 1);
Lightvalve 254:725d7435dfa3 905 // make_delay();
Lightvalve 254:725d7435dfa3 906
Lightvalve 16:903b5a4433b4 907 //rom
Lightvalve 19:23b7c1ad8683 908 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 909 make_delay();
Lightvalve 13:747daba9cf59 910
GiJeongKim 0:51c43836c1d7 911 // ADC init
jobuuu 5:a4319f79457b 912 Init_ADC();
Lightvalve 11:82d8768d7351 913 make_delay();
jobuuu 2:a1c0a37df760 914
GiJeongKim 0:51c43836c1d7 915 // Pwm init
GiJeongKim 0:51c43836c1d7 916 Init_PWM();
GiJeongKim 0:51c43836c1d7 917 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 918 make_delay();
Lightvalve 256:7c8cc8b56b88 919
Lightvalve 256:7c8cc8b56b88 920 // CAN
Lightvalve 256:7c8cc8b56b88 921 can.attach(&CAN_RX_HANDLER);
Lightvalve 256:7c8cc8b56b88 922 CAN_ID_INIT();
Lightvalve 256:7c8cc8b56b88 923 make_delay();
Lightvalve 256:7c8cc8b56b88 924
Lightvalve 256:7c8cc8b56b88 925 //can.reset();
Lightvalve 256:7c8cc8b56b88 926 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 13:747daba9cf59 927
Lightvalve 11:82d8768d7351 928 // TMR3 init
Lightvalve 11:82d8768d7351 929 Init_TMR3();
Lightvalve 11:82d8768d7351 930 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 931 make_delay();
Lightvalve 21:e5f1a43ea6f9 932
Lightvalve 50:3c630b5eba9f 933 // TMR2 init
Lightvalve 56:6f50d9d3bfee 934 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 935 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 936 // make_delay();
Lightvalve 21:e5f1a43ea6f9 937
Lightvalve 256:7c8cc8b56b88 938 // // CAN
Lightvalve 256:7c8cc8b56b88 939 // can.attach(&CAN_RX_HANDLER);
Lightvalve 256:7c8cc8b56b88 940 // CAN_ID_INIT();
Lightvalve 256:7c8cc8b56b88 941 // make_delay();
Lightvalve 256:7c8cc8b56b88 942
Lightvalve 256:7c8cc8b56b88 943
Lightvalve 34:bb2ca2fc2a8e 944
Lightvalve 23:59218d4a256d 945 //Timer priority
Lightvalve 23:59218d4a256d 946 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 947 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 948 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 949
Lightvalve 256:7c8cc8b56b88 950 // //can.reset();
Lightvalve 256:7c8cc8b56b88 951 // can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 256:7c8cc8b56b88 952
Lightvalve 256:7c8cc8b56b88 953 // // spi _ enc
Lightvalve 256:7c8cc8b56b88 954 // spi_enc_set_init();
Lightvalve 256:7c8cc8b56b88 955 // make_delay();
Lightvalve 13:747daba9cf59 956
Lightvalve 11:82d8768d7351 957 //DAC init
Lightvalve 58:2eade98630e2 958 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 959 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 960 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 961 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 962 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 963 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 964 }
Lightvalve 11:82d8768d7351 965 make_delay();
Lightvalve 13:747daba9cf59 966
Lightvalve 19:23b7c1ad8683 967 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 968 if(i%2==0)
Lightvalve 38:118df027d851 969 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 970 else
Lightvalve 38:118df027d851 971 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 972 }
Lightvalve 169:645207e160ca 973
Lightvalve 173:68c7914679ec 974 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 975 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 976 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 977 }
Lightvalve 179:d5377766d7ea 978 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 979 }
Lightvalve 173:68c7914679ec 980 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 981 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 982 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 983 }
Lightvalve 179:d5377766d7ea 984 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 985 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 986 }
Lightvalve 179:d5377766d7ea 987 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 988
Lightvalve 173:68c7914679ec 989 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 990 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 991 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 992 }
Lightvalve 179:d5377766d7ea 993 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 994 }
Lightvalve 173:68c7914679ec 995 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 996 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 997 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 998 }
Lightvalve 179:d5377766d7ea 999 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 1000 }
Lightvalve 170:42c938a40313 1001 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 1002 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 1003 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 1004 }
Lightvalve 179:d5377766d7ea 1005 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 1006 }
Lightvalve 171:bfc1fd2629d8 1007
Lightvalve 170:42c938a40313 1008 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1009 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 1010
jobuuu 6:df07d3491e3a 1011 /************************************
jobuuu 1:e04e563be5ce 1012 *** Program is operating!
jobuuu 6:df07d3491e3a 1013 *************************************/
GiJeongKim 0:51c43836c1d7 1014 while(1) {
Lightvalve 169:645207e160ca 1015
Lightvalve 171:bfc1fd2629d8 1016 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 1017 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 1018 // 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 1019 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 1020 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 1021 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 1022 // }
Lightvalve 169:645207e160ca 1023
Lightvalve 171:bfc1fd2629d8 1024
Lightvalve 171:bfc1fd2629d8 1025 //i2c
Lightvalve 180:02be1711ee0b 1026 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 1027 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 1028
Lightvalve 177:8e9cf31d63f4 1029 //timer_while ++;
Lightvalve 169:645207e160ca 1030
Lightvalve 170:42c938a40313 1031 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1032
Lightvalve 73:f80dc3970c99 1033 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1034 LED = 0;
Lightvalve 73:f80dc3970c99 1035 }
Lightvalve 169:645207e160ca 1036
Lightvalve 73:f80dc3970c99 1037 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1038
Lightvalve 162:9dd4f35e9de8 1039 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1040 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1041 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1042 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1043 }
Lightvalve 162:9dd4f35e9de8 1044
Lightvalve 162:9dd4f35e9de8 1045 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1046 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1047 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1048 }
Lightvalve 162:9dd4f35e9de8 1049 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1050 ind = ind + 1;
Lightvalve 169:645207e160ca 1051
Lightvalve 162:9dd4f35e9de8 1052 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1053 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1054 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1055 // }
Lightvalve 162:9dd4f35e9de8 1056
Lightvalve 162:9dd4f35e9de8 1057 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1058 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1059 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1060 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1061 }
Lightvalve 208:408f9f15c486 1062 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1063 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1064 ind = ind + 1;
Lightvalve 238:e4bda4d06a7d 1065 for(int i=0; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1066 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1067 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1068 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1069 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1070 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1071 }
Lightvalve 169:645207e160ca 1072
Lightvalve 112:8dcb1600cb90 1073 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1074 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1075 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1076 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1077
Lightvalve 112:8dcb1600cb90 1078 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1079 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1080 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1081 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1082 }
Lightvalve 66:a8e6799dbce3 1083 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1084 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1085 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1086 }
Lightvalve 66:a8e6799dbce3 1087 }
Lightvalve 65:a2d7c63419c2 1088
Lightvalve 112:8dcb1600cb90 1089 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1090 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1091 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1092 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1093 }
Lightvalve 66:a8e6799dbce3 1094 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1095 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1096 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1097 }
Lightvalve 66:a8e6799dbce3 1098 }
Lightvalve 65:a2d7c63419c2 1099
Lightvalve 112:8dcb1600cb90 1100 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1101 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1102 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1103 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1104 }
Lightvalve 66:a8e6799dbce3 1105 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1106 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1107 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1108 }
Lightvalve 65:a2d7c63419c2 1109 }
Lightvalve 66:a8e6799dbce3 1110
Lightvalve 66:a8e6799dbce3 1111 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1112 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1113 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1114 }
Lightvalve 66:a8e6799dbce3 1115 output = output + bout[index2];
Lightvalve 169:645207e160ca 1116
Lightvalve 66:a8e6799dbce3 1117 }
Lightvalve 73:f80dc3970c99 1118 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1119 output_normalized = output;
Lightvalve 68:328e1be06f5d 1120 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1121
Lightvalve 66:a8e6799dbce3 1122 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1123 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1124 } else {
Lightvalve 66:a8e6799dbce3 1125 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1126 }
Lightvalve 87:471334725012 1127
Lightvalve 169:645207e160ca 1128
Lightvalve 69:3995ffeaa786 1129 if(LED==1) {
Lightvalve 69:3995ffeaa786 1130 LED=0;
Lightvalve 69:3995ffeaa786 1131 } else
Lightvalve 69:3995ffeaa786 1132 LED = 1;
Lightvalve 169:645207e160ca 1133
Lightvalve 65:a2d7c63419c2 1134 }
Lightvalve 171:bfc1fd2629d8 1135
Lightvalve 171:bfc1fd2629d8 1136
Lightvalve 170:42c938a40313 1137 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1138 switch (Update_Case) {
Lightvalve 170:42c938a40313 1139 case 0: {
Lightvalve 170:42c938a40313 1140 break;
Lightvalve 170:42c938a40313 1141 }
Lightvalve 170:42c938a40313 1142 case 1: {
Lightvalve 170:42c938a40313 1143 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1144 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1145 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1146 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1147 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1148 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1149 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1150 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1151 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1152 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1153 }
Lightvalve 173:68c7914679ec 1154 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1155 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1156 }
Lightvalve 175:2f7289dbd488 1157 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1158
Lightvalve 175:2f7289dbd488 1159 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 1160 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1161 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 1162 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1163 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1164 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1165 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1166 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1167 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1168 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1169 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1170 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1171 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1172 }
Lightvalve 179:d5377766d7ea 1173 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1174 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1175 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1176 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1177 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1178 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1179 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1180 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1181 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1182 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1183 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1184 } else {
Lightvalve 175:2f7289dbd488 1185 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1186 }
Lightvalve 175:2f7289dbd488 1187 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1188 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1189 }
Lightvalve 170:42c938a40313 1190 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1191 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1192 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1193 }
Lightvalve 170:42c938a40313 1194 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1195
Lightvalve 171:bfc1fd2629d8 1196
Lightvalve 170:42c938a40313 1197 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1198 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1199 //Update Networks
Lightvalve 170:42c938a40313 1200 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1201 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1202 }
Lightvalve 170:42c938a40313 1203 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1204 Update_Case = 0;
Lightvalve 170:42c938a40313 1205 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1206
Lightvalve 170:42c938a40313 1207 break;
Lightvalve 170:42c938a40313 1208 }
Lightvalve 170:42c938a40313 1209 case 2: {
Lightvalve 170:42c938a40313 1210 //Network apply to next Network
Lightvalve 170:42c938a40313 1211 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1212 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1213 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1214 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1215 Update_Case = 0;
Lightvalve 170:42c938a40313 1216 break;
Lightvalve 170:42c938a40313 1217 }
Lightvalve 169:645207e160ca 1218
Lightvalve 170:42c938a40313 1219 }
GiJeongKim 0:51c43836c1d7 1220 }
jobuuu 1:e04e563be5ce 1221 }
jobuuu 1:e04e563be5ce 1222
Lightvalve 33:91b17819ec30 1223 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1224 {
Lightvalve 14:8e7590227d22 1225
Lightvalve 13:747daba9cf59 1226 int i = 0;
Lightvalve 48:889798ff9329 1227 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1228 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1229 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 1230 if(i==0) {
Lightvalve 50:3c630b5eba9f 1231 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1232 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1233 } else {
Lightvalve 57:f4819de54e7a 1234 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 1235 }
Lightvalve 14:8e7590227d22 1236 } else {
Lightvalve 50:3c630b5eba9f 1237 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1238 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1239 } else {
Lightvalve 57:f4819de54e7a 1240 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 1241 }
Lightvalve 13:747daba9cf59 1242 }
Lightvalve 13:747daba9cf59 1243 break;
Lightvalve 13:747daba9cf59 1244 }
Lightvalve 13:747daba9cf59 1245 }
Lightvalve 14:8e7590227d22 1246 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1247 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1248 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1249 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1250 }
Lightvalve 36:a46e63505ed8 1251
Lightvalve 57:f4819de54e7a 1252 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1253 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1254
Lightvalve 13:747daba9cf59 1255 }
jobuuu 6:df07d3491e3a 1256
jobuuu 6:df07d3491e3a 1257
Lightvalve 30:8d561f16383b 1258 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1259 {
Lightvalve 13:747daba9cf59 1260 int i = 0;
Lightvalve 13:747daba9cf59 1261
Lightvalve 38:118df027d851 1262 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1263 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1264 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1265 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1266 }
Lightvalve 38:118df027d851 1267
Lightvalve 89:a7b45368ea0f 1268 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1269 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1270 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1271 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1272 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1273 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1274
Lightvalve 13:747daba9cf59 1275 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 1276
Lightvalve 18:b8adf1582ea3 1277 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1278 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 1279 if(i==0) {
Lightvalve 48:889798ff9329 1280 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 1281 } else {
Lightvalve 48:889798ff9329 1282 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 1283 }
Lightvalve 13:747daba9cf59 1284 break;
Lightvalve 13:747daba9cf59 1285 }
Lightvalve 13:747daba9cf59 1286 }
Lightvalve 59:f308b1656d9c 1287 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1288 }
Lightvalve 13:747daba9cf59 1289
Lightvalve 14:8e7590227d22 1290 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1291 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 1292 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1293 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1294 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1295 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1296 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1297 }; // duty
Lightvalve 67:c2812cf26c38 1298 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 1299 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1300 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1301 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1302 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1303 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1304 }; // mV
Lightvalve 13:747daba9cf59 1305
Lightvalve 30:8d561f16383b 1306 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1307 {
Lightvalve 30:8d561f16383b 1308 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1309 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1310 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1311 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1312 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1313 } else {
Lightvalve 13:747daba9cf59 1314 int idx = 0;
Lightvalve 13:747daba9cf59 1315 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1316 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1317 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1318 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1319 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1320 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1321 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1322 break;
Lightvalve 13:747daba9cf59 1323 }
Lightvalve 13:747daba9cf59 1324 }
Lightvalve 13:747daba9cf59 1325 }
Lightvalve 14:8e7590227d22 1326
Lightvalve 13:747daba9cf59 1327 return PWM_duty;
Lightvalve 13:747daba9cf59 1328 }
jobuuu 6:df07d3491e3a 1329
Lightvalve 57:f4819de54e7a 1330
Lightvalve 57:f4819de54e7a 1331
Lightvalve 57:f4819de54e7a 1332
Lightvalve 57:f4819de54e7a 1333
jobuuu 2:a1c0a37df760 1334 /*******************************************************************************
jobuuu 2:a1c0a37df760 1335 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1336 *******************************************************************************/
jobuuu 2:a1c0a37df760 1337
Lightvalve 51:b46bed7fec80 1338 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1339 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1340 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1341 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1342 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1343 {
Lightvalve 19:23b7c1ad8683 1344 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1345
Lightvalve 21:e5f1a43ea6f9 1346 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1347 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1348 ********************************************************/
Lightvalve 13:747daba9cf59 1349
Lightvalve 57:f4819de54e7a 1350 //Encoder
Lightvalve 57:f4819de54e7a 1351 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1352 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1353 }
Lightvalve 61:bc8c8270f0ab 1354
Lightvalve 61:bc8c8270f0ab 1355 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1356 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1357 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1358 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1359 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1360 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 253:0246366e0dcb 1361 torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1362
Lightvalve 67:c2812cf26c38 1363
Lightvalve 67:c2812cf26c38 1364 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1365 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1366 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1367 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1368 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1369
Lightvalve 17:1865016ca2e7 1370
Lightvalve 58:2eade98630e2 1371 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1372 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1373 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1374 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1375 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1376 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1377 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1378 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1379 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1380
Lightvalve 58:2eade98630e2 1381 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1382 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 1383 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1384 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 1385 }
Lightvalve 58:2eade98630e2 1386 }
Lightvalve 61:bc8c8270f0ab 1387
Lightvalve 58:2eade98630e2 1388 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1389 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1390 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1391 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1392 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1393 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1394 // 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 1395 //
Lightvalve 58:2eade98630e2 1396 //
Lightvalve 58:2eade98630e2 1397 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1398 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1399 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1400 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1401 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1402
Lightvalve 17:1865016ca2e7 1403
Lightvalve 21:e5f1a43ea6f9 1404 //Current
Lightvalve 21:e5f1a43ea6f9 1405 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1406 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1407 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1408 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1409 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1410 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1411 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1412
Lightvalve 57:f4819de54e7a 1413 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1414 }
Lightvalve 11:82d8768d7351 1415 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1416 }
Lightvalve 19:23b7c1ad8683 1417
Lightvalve 19:23b7c1ad8683 1418
Lightvalve 18:b8adf1582ea3 1419 int j =0;
Lightvalve 54:647072f5307a 1420 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1421 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1422 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1423 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 1424
Lightvalve 11:82d8768d7351 1425 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1426 {
Lightvalve 19:23b7c1ad8683 1427 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1428
Lightvalve 57:f4819de54e7a 1429 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1430 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1431 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1432 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1433 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1434 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1435 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1436 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1437 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1438 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1439 }
Lightvalve 50:3c630b5eba9f 1440
Lightvalve 50:3c630b5eba9f 1441 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1442 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1443 cnt_trans++;
Lightvalve 46:2694daea349b 1444 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1445 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1446 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1447 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1448 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1449 cnt_trans++;
Lightvalve 46:2694daea349b 1450 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1451 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1452 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1453 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1454 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1455 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1456 } else {
Lightvalve 58:2eade98630e2 1457 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1458 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1459 }
Lightvalve 45:35fa6884d0c6 1460
Lightvalve 50:3c630b5eba9f 1461
Lightvalve 57:f4819de54e7a 1462 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1463 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1464
Lightvalve 57:f4819de54e7a 1465 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1466 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1467 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1468 } else {
Lightvalve 57:f4819de54e7a 1469 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1470 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1471 }
Lightvalve 56:6f50d9d3bfee 1472
Lightvalve 56:6f50d9d3bfee 1473
Lightvalve 56:6f50d9d3bfee 1474
Lightvalve 57:f4819de54e7a 1475 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1476
Lightvalve 57:f4819de54e7a 1477 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1478 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1479 break;
Lightvalve 13:747daba9cf59 1480 }
Lightvalve 14:8e7590227d22 1481
Lightvalve 14:8e7590227d22 1482 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1483 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1484 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1485 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1486
Lightvalve 14:8e7590227d22 1487 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1488 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1489 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1490
Lightvalve 253:0246366e0dcb 1491 TORQUE_VREF -= 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1492
Lightvalve 30:8d561f16383b 1493 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1494 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1495
Lightvalve 16:903b5a4433b4 1496 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1497 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1498 }
Lightvalve 13:747daba9cf59 1499 } else {
Lightvalve 58:2eade98630e2 1500 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1501 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1502 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1503 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1504
Lightvalve 170:42c938a40313 1505 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1506 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1507
Lightvalve 30:8d561f16383b 1508 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1509
Lightvalve 13:747daba9cf59 1510 }
Lightvalve 14:8e7590227d22 1511 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1512 break;
Lightvalve 19:23b7c1ad8683 1513 }
Lightvalve 14:8e7590227d22 1514
Lightvalve 50:3c630b5eba9f 1515 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1516 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1517 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1518 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1519 // }
Lightvalve 50:3c630b5eba9f 1520 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1521 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1522 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1523 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1524 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1525 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1526 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1527 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1528 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1529 // }
Lightvalve 50:3c630b5eba9f 1530 //
Lightvalve 50:3c630b5eba9f 1531 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1532 // 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 1533 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1534 //
Lightvalve 50:3c630b5eba9f 1535 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1536 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1537 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1538 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1539 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1540 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1541 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1542 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1543 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1544 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1545 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1546 //
Lightvalve 50:3c630b5eba9f 1547 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1548 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1549 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1550 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1551 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1552 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1553 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1554 //
Lightvalve 50:3c630b5eba9f 1555 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1556 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1557 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1558 // } else {
Lightvalve 50:3c630b5eba9f 1559 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1560 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1561 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1562 // }
Lightvalve 50:3c630b5eba9f 1563 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1564 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1565 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1566 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1567 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1568 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1569 // }
Lightvalve 50:3c630b5eba9f 1570 // } else {
Lightvalve 50:3c630b5eba9f 1571 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1572 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1573 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1574 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1575 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1576 // }
Lightvalve 50:3c630b5eba9f 1577 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1578 //
Lightvalve 50:3c630b5eba9f 1579 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1580 //
Lightvalve 50:3c630b5eba9f 1581 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1582 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1583 //
Lightvalve 50:3c630b5eba9f 1584 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1585 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1586 // }
Lightvalve 50:3c630b5eba9f 1587 // }
Lightvalve 50:3c630b5eba9f 1588 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1589 // break;
Lightvalve 50:3c630b5eba9f 1590 // }
Lightvalve 14:8e7590227d22 1591
Lightvalve 14:8e7590227d22 1592 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1593 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1594 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1595 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1596 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1597 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1598 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1599 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1600 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1601 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1602 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1603 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1604 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1605 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1606 }
Lightvalve 29:69f3f5445d6d 1607 cnt_findhome++;
Lightvalve 14:8e7590227d22 1608
Lightvalve 29:69f3f5445d6d 1609 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1610 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1611 } else {
Lightvalve 29:69f3f5445d6d 1612 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1613 }
Lightvalve 19:23b7c1ad8683 1614
Lightvalve 57:f4819de54e7a 1615 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1616 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1617 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1618 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1619
Lightvalve 59:f308b1656d9c 1620 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1621 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1622 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1623 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1624 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1625
Lightvalve 59:f308b1656d9c 1626 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1627 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1628
Lightvalve 34:bb2ca2fc2a8e 1629
Lightvalve 29:69f3f5445d6d 1630 } else {
Lightvalve 29:69f3f5445d6d 1631 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1632 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1633 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1634 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1635 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1636 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1637 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1638 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1639 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1640 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1641 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1642
Lightvalve 67:c2812cf26c38 1643
Lightvalve 67:c2812cf26c38 1644 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1645 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1646 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1647 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1648 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1649 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1650 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1651
Lightvalve 169:645207e160ca 1652
Lightvalve 29:69f3f5445d6d 1653 }
Lightvalve 29:69f3f5445d6d 1654 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1655 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1656 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 1657 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1658 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1659
Lightvalve 29:69f3f5445d6d 1660 // input for position control
Lightvalve 169:645207e160ca 1661
Lightvalve 67:c2812cf26c38 1662 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1663 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1664
Lightvalve 67:c2812cf26c38 1665 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1666 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1667 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1668 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1669
Lightvalve 67:c2812cf26c38 1670 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1671
Lightvalve 67:c2812cf26c38 1672 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1673 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1674 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1675
Lightvalve 67:c2812cf26c38 1676 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1677 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1678 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1679
Lightvalve 69:3995ffeaa786 1680 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1681 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 1682 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1683 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1684 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 1685 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1686 }
Lightvalve 67:c2812cf26c38 1687 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 1688 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1689
Lightvalve 67:c2812cf26c38 1690 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1691
Lightvalve 67:c2812cf26c38 1692
Lightvalve 67:c2812cf26c38 1693
Lightvalve 67:c2812cf26c38 1694 } else {
Lightvalve 67:c2812cf26c38 1695 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1696 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 1697
Lightvalve 67:c2812cf26c38 1698 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1699 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1700 } else {
Lightvalve 67:c2812cf26c38 1701 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1702 }
Lightvalve 67:c2812cf26c38 1703
Lightvalve 67:c2812cf26c38 1704 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1705
Lightvalve 67:c2812cf26c38 1706 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1707
Lightvalve 67:c2812cf26c38 1708 }
Lightvalve 67:c2812cf26c38 1709
Lightvalve 67:c2812cf26c38 1710
Lightvalve 169:645207e160ca 1711
Lightvalve 169:645207e160ca 1712
Lightvalve 59:f308b1656d9c 1713 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1714 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1715 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1716 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1717 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1718
Lightvalve 29:69f3f5445d6d 1719 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1720 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1721 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1722 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1723 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1724 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1725 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1726 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1727 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1728 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1729 }
Lightvalve 13:747daba9cf59 1730 }
Lightvalve 19:23b7c1ad8683 1731
Lightvalve 13:747daba9cf59 1732 break;
Lightvalve 13:747daba9cf59 1733 }
Lightvalve 14:8e7590227d22 1734
Lightvalve 50:3c630b5eba9f 1735 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1736 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1737 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1738 // else {
Lightvalve 50:3c630b5eba9f 1739 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1740 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1741 // }
Lightvalve 50:3c630b5eba9f 1742 // }
Lightvalve 50:3c630b5eba9f 1743 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1744 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1745 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1746 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1747 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1748 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1749 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1750 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1751 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1752 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1753 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1754 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1755 // }
Lightvalve 50:3c630b5eba9f 1756 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1757 // }
Lightvalve 50:3c630b5eba9f 1758 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1759 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1760 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1761 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1762 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1763 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1764 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1765 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1766 // 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 1767 // // 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 1768 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1769 // }
Lightvalve 50:3c630b5eba9f 1770 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1771 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1772 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1773 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1774 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1775 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1776 // 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 1777 // // 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 1778 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1779 // }
Lightvalve 50:3c630b5eba9f 1780 // }
Lightvalve 50:3c630b5eba9f 1781 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1782 //
Lightvalve 50:3c630b5eba9f 1783 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1784 //
Lightvalve 50:3c630b5eba9f 1785 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1786 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1787 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1788 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1789 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1790 // }
Lightvalve 50:3c630b5eba9f 1791 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1792 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1793 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1794 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1795 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1796 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1797 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1798 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1799 // }
Lightvalve 50:3c630b5eba9f 1800 //
Lightvalve 50:3c630b5eba9f 1801 // }
Lightvalve 50:3c630b5eba9f 1802 // break;
Lightvalve 50:3c630b5eba9f 1803 // }
Lightvalve 50:3c630b5eba9f 1804 //
Lightvalve 50:3c630b5eba9f 1805 // }
Lightvalve 14:8e7590227d22 1806 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1807 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1808 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1809 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1810 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1811
Lightvalve 14:8e7590227d22 1812 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1813 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1814 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1815 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1816 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1817
Lightvalve 38:118df027d851 1818 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1819 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1820 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1821
Lightvalve 30:8d561f16383b 1822 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1823 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1824 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1825 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1826
Lightvalve 30:8d561f16383b 1827 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1828 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1829 }
Lightvalve 13:747daba9cf59 1830 } else {
Lightvalve 57:f4819de54e7a 1831 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1832 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1833 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1834 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1835 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1836 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1837
Lightvalve 170:42c938a40313 1838 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1839 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1840 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1841
Lightvalve 30:8d561f16383b 1842 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1843 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1844 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1845 }
Lightvalve 14:8e7590227d22 1846 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1847 break;
Lightvalve 13:747daba9cf59 1848 }
Lightvalve 14:8e7590227d22 1849
Lightvalve 50:3c630b5eba9f 1850 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1851 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1852 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1853 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1854 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1855 // }
Lightvalve 50:3c630b5eba9f 1856 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1857 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1858 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1859 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1860 // }
Lightvalve 50:3c630b5eba9f 1861 // } else {
Lightvalve 50:3c630b5eba9f 1862 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1863 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1864 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1865 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1866 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1867 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1868 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1869 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1870 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1871 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1872 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1873 //
Lightvalve 50:3c630b5eba9f 1874 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1875 //
Lightvalve 50:3c630b5eba9f 1876 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1877 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1878 // }
Lightvalve 50:3c630b5eba9f 1879 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1880 // break;
Lightvalve 50:3c630b5eba9f 1881 // }
Lightvalve 19:23b7c1ad8683 1882
Lightvalve 50:3c630b5eba9f 1883 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1884 // 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 1885 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1886 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1887 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1888 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1889 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1890 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1891 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1892 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1893 // }
Lightvalve 50:3c630b5eba9f 1894 // break;
Lightvalve 50:3c630b5eba9f 1895 // }
Lightvalve 14:8e7590227d22 1896
Lightvalve 14:8e7590227d22 1897 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1898 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1899 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1900
Lightvalve 14:8e7590227d22 1901 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1902 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1903 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1904 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1905 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1906 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1907 data_num = 0;
Lightvalve 14:8e7590227d22 1908 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1909 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1910 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1911 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1912 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1913 } else {
Lightvalve 13:747daba9cf59 1914 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1915 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1916 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1917 }
Lightvalve 14:8e7590227d22 1918
Lightvalve 17:1865016ca2e7 1919 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1920 int i;
Lightvalve 13:747daba9cf59 1921 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1922 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1923 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1924 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1925 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1926 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1927 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1928 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1929 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1930 }
Lightvalve 13:747daba9cf59 1931 }
Lightvalve 170:42c938a40313 1932 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1933 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1934 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1935 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1936 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1937 }
Lightvalve 13:747daba9cf59 1938 ID_index = 0;
Lightvalve 57:f4819de54e7a 1939 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1940 }
Lightvalve 14:8e7590227d22 1941
Lightvalve 14:8e7590227d22 1942
Lightvalve 13:747daba9cf59 1943 break;
Lightvalve 13:747daba9cf59 1944 }
Lightvalve 14:8e7590227d22 1945
Lightvalve 14:8e7590227d22 1946 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1947 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1948 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1949 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1950 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1951 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1952 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1953 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1954 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1955 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1956 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1957 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1958 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1959 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1960 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1961 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 1962 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1963 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 1964 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1965 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1966 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1967 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 1968 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1969 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1970 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1971 data_num = 0;
Lightvalve 14:8e7590227d22 1972
Lightvalve 30:8d561f16383b 1973 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1974 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1975 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1976
Lightvalve 30:8d561f16383b 1977 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1978 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1979 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1980
Lightvalve 30:8d561f16383b 1981 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1982 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1983 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1984 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1985
Lightvalve 60:64181f1d3e60 1986 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1987 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1988 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1989 DZ_case = -1;
Lightvalve 14:8e7590227d22 1990 } else {
Lightvalve 13:747daba9cf59 1991 DZ_case = 0;
Lightvalve 13:747daba9cf59 1992 }
Lightvalve 61:bc8c8270f0ab 1993
Lightvalve 60:64181f1d3e60 1994 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1995
Lightvalve 13:747daba9cf59 1996 first_check = 1;
Lightvalve 13:747daba9cf59 1997 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1998 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1999 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 2000 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 2001 DZ_index = 1;
Lightvalve 14:8e7590227d22 2002
Lightvalve 13:747daba9cf59 2003 }
Lightvalve 19:23b7c1ad8683 2004 } else {
Lightvalve 14:8e7590227d22 2005 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 2006 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2007 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 2008 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2009 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2010 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2011 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2012 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2013 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2014 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2015 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2016 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2017 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2018 }
Lightvalve 14:8e7590227d22 2019 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2020
Lightvalve 30:8d561f16383b 2021 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2022 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2023 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2024
Lightvalve 14:8e7590227d22 2025 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2026 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2027 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2028 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2029 } else {
Lightvalve 13:747daba9cf59 2030 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2031 }
Lightvalve 14:8e7590227d22 2032
Lightvalve 13:747daba9cf59 2033 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2034 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2035 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2036 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2037 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2038 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2039 DZ_index = 1;
Lightvalve 13:747daba9cf59 2040 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2041 }
Lightvalve 13:747daba9cf59 2042 }
Lightvalve 14:8e7590227d22 2043 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2044 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2045 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 2046 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2047 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2048 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2049 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2050 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2051 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2052 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2053 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2054 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2055 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2056 }
Lightvalve 14:8e7590227d22 2057 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2058
Lightvalve 30:8d561f16383b 2059 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2060 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2061 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2062 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2063 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2064
Lightvalve 14:8e7590227d22 2065 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2066 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2067 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2068 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2069 } else {
Lightvalve 60:64181f1d3e60 2070 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2071 }
Lightvalve 14:8e7590227d22 2072
Lightvalve 13:747daba9cf59 2073 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2074 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2075 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2076 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2077 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2078 first_check = 0;
Lightvalve 33:91b17819ec30 2079 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2080 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2081
Lightvalve 170:42c938a40313 2082 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2083 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2084 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2085 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2086
Lightvalve 60:64181f1d3e60 2087 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2088 DZ_index = 1;
Lightvalve 13:747daba9cf59 2089 }
Lightvalve 13:747daba9cf59 2090 }
Lightvalve 14:8e7590227d22 2091 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2092 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2093 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 2094 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2095 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2096 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2097 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2098 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2099 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2100 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2101 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2102 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2103 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2104 }
Lightvalve 14:8e7590227d22 2105 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2106
Lightvalve 30:8d561f16383b 2107 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2108 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2109 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2110
Lightvalve 14:8e7590227d22 2111 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2112 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2113 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2114 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2115 } else {
Lightvalve 13:747daba9cf59 2116 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2117 }
Lightvalve 13:747daba9cf59 2118 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2119 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2120 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2121 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2122 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2123 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2124 DZ_index = 1;
Lightvalve 13:747daba9cf59 2125 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2126 }
Lightvalve 13:747daba9cf59 2127 }
Lightvalve 14:8e7590227d22 2128 } else {
Lightvalve 30:8d561f16383b 2129 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2130 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 2131 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2132 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2133 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2134 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2135 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2136 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2137 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2138 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2139 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2140 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2141 }
Lightvalve 14:8e7590227d22 2142 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2143
Lightvalve 30:8d561f16383b 2144 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2145 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2146 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2147 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2148 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2149
Lightvalve 60:64181f1d3e60 2150 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2151 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2152 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2153 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2154 } else {
Lightvalve 13:747daba9cf59 2155 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2156 }
Lightvalve 14:8e7590227d22 2157
Lightvalve 13:747daba9cf59 2158 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2159 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2160 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2161 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2162 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2163 first_check = 0;
Lightvalve 33:91b17819ec30 2164 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2165 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2166
Lightvalve 170:42c938a40313 2167 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2168 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2169 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2170 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2171
Lightvalve 57:f4819de54e7a 2172 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2173 DZ_index = 1;
Lightvalve 13:747daba9cf59 2174 }
Lightvalve 13:747daba9cf59 2175 }
Lightvalve 13:747daba9cf59 2176 }
Lightvalve 14:8e7590227d22 2177 }
Lightvalve 13:747daba9cf59 2178 break;
Lightvalve 13:747daba9cf59 2179 }
Lightvalve 14:8e7590227d22 2180
Lightvalve 14:8e7590227d22 2181 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2182 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2183 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2184 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2185 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2186 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2187 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2188 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2189 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2190 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2191 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2192 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2193 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2194 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2195 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2196 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2197 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2198 first_check = 1;
Lightvalve 13:747daba9cf59 2199 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2200 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2201 ID_index = 0;
Lightvalve 13:747daba9cf59 2202 max_check = 0;
Lightvalve 13:747daba9cf59 2203 min_check = 0;
Lightvalve 13:747daba9cf59 2204 }
Lightvalve 14:8e7590227d22 2205 } else {
Lightvalve 30:8d561f16383b 2206 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2207 //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 2208 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2209 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2210 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2211 data_num = 0;
Lightvalve 57:f4819de54e7a 2212 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2213
Lightvalve 14:8e7590227d22 2214 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2215 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2216 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2217 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2218 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2219 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2220 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2221 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2222 one_period_end = 1;
Lightvalve 13:747daba9cf59 2223 }
Lightvalve 30:8d561f16383b 2224 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2225 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2226 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2227 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2228 }
Lightvalve 14:8e7590227d22 2229
Lightvalve 14:8e7590227d22 2230 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2231 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2232 max_check = 1;
Lightvalve 14:8e7590227d22 2233 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2234 min_check = 1;
Lightvalve 13:747daba9cf59 2235 }
Lightvalve 13:747daba9cf59 2236 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2237
Lightvalve 13:747daba9cf59 2238 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2239 one_period_end = 0;
Lightvalve 13:747daba9cf59 2240 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2241 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2242 }
Lightvalve 14:8e7590227d22 2243
Lightvalve 14:8e7590227d22 2244 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2245
Lightvalve 13:747daba9cf59 2246 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2247 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2248 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2249 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2250 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2251 }
Lightvalve 13:747daba9cf59 2252 ID_index = 0;
Lightvalve 13:747daba9cf59 2253 first_check = 0;
Lightvalve 13:747daba9cf59 2254 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2255 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2256 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2257 }
Lightvalve 13:747daba9cf59 2258 }
Lightvalve 13:747daba9cf59 2259 break;
Lightvalve 13:747daba9cf59 2260 }
Lightvalve 58:2eade98630e2 2261
Lightvalve 57:f4819de54e7a 2262 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2263 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2264 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2265 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2266 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2267 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2268 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2269 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2270 }
Lightvalve 57:f4819de54e7a 2271 break;
Lightvalve 57:f4819de54e7a 2272 }
Lightvalve 58:2eade98630e2 2273
Lightvalve 169:645207e160ca 2274 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2275 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2276 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2277 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2278 } else {
Lightvalve 169:645207e160ca 2279 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2280 }
Lightvalve 169:645207e160ca 2281 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2282 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2283 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2284 } else {
Lightvalve 169:645207e160ca 2285 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2286 }
Lightvalve 58:2eade98630e2 2287
Lightvalve 169:645207e160ca 2288 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2289 cnt_freq_test++;
Lightvalve 169:645207e160ca 2290 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2291 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2292 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2293 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2294 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2295 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2296 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2297 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2298 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2299 }
Lightvalve 169:645207e160ca 2300 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2301 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2302
Lightvalve 169:645207e160ca 2303 }
Lightvalve 169:645207e160ca 2304 break;
Lightvalve 169:645207e160ca 2305 }
Lightvalve 169:645207e160ca 2306 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2307 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2308 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2309 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2310 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2311 // }
Lightvalve 169:645207e160ca 2312 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2313 // }
Lightvalve 169:645207e160ca 2314
Lightvalve 169:645207e160ca 2315 break;
Lightvalve 169:645207e160ca 2316 }
Lightvalve 169:645207e160ca 2317 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2318 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2319 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2320 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2321 break;
Lightvalve 169:645207e160ca 2322 }
Lightvalve 170:42c938a40313 2323
Lightvalve 169:645207e160ca 2324 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2325 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2326 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2327 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2328 } else {
Lightvalve 169:645207e160ca 2329 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2330 }
Lightvalve 169:645207e160ca 2331 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2332 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2333 } else {
Lightvalve 169:645207e160ca 2334 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2335 }
Lightvalve 169:645207e160ca 2336 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2337 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2338 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2339 } else {
Lightvalve 169:645207e160ca 2340 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2341 }
Lightvalve 169:645207e160ca 2342
Lightvalve 169:645207e160ca 2343 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2344 cnt_step_test++;
Lightvalve 170:42c938a40313 2345 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2346 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2347 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2348 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2349 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2350 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2351 }
Lightvalve 169:645207e160ca 2352 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2353 // {
Lightvalve 169:645207e160ca 2354 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2355 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2356 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2357 // }
Lightvalve 170:42c938a40313 2358
Lightvalve 169:645207e160ca 2359 break;
Lightvalve 169:645207e160ca 2360 }
Lightvalve 57:f4819de54e7a 2361
Lightvalve 57:f4819de54e7a 2362 default:
Lightvalve 57:f4819de54e7a 2363 break;
Lightvalve 57:f4819de54e7a 2364 }
Lightvalve 57:f4819de54e7a 2365
Lightvalve 57:f4819de54e7a 2366 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2367
Lightvalve 57:f4819de54e7a 2368 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2369 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2370 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2371 break;
Lightvalve 57:f4819de54e7a 2372 }
Lightvalve 57:f4819de54e7a 2373
Lightvalve 57:f4819de54e7a 2374 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2375 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2376 ////For Test LIMC//////////////////////////////////////////
Lightvalve 233:0a37cdd59651 2377 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 233:0a37cdd59651 2378 // for(int i=0; i<9; i++){
Lightvalve 233:0a37cdd59651 2379 // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 233:0a37cdd59651 2380 // }
Lightvalve 233:0a37cdd59651 2381 // valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 233:0a37cdd59651 2382 // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2383 ////////////////////////////////////////////////////////////
Lightvalve 252:179a8c8791dc 2384
Lightvalve 59:f308b1656d9c 2385 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2386 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2387 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2388 } else {
Lightvalve 67:c2812cf26c38 2389 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2390 }
Lightvalve 57:f4819de54e7a 2391 break;
Lightvalve 57:f4819de54e7a 2392 }
Lightvalve 57:f4819de54e7a 2393
Lightvalve 57:f4819de54e7a 2394 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2395
Lightvalve 57:f4819de54e7a 2396 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2397 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 256:7c8cc8b56b88 2398 vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2399 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2400
Lightvalve 67:c2812cf26c38 2401 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2402 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2403 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2404 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 256:7c8cc8b56b88 2405 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 256:7c8cc8b56b88 2406 // torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2407
Lightvalve 57:f4819de54e7a 2408 // torque feedback
Lightvalve 67:c2812cf26c38 2409 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2410 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2411
Lightvalve 57:f4819de54e7a 2412 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2413
Lightvalve 57:f4819de54e7a 2414 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2415 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2416 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2417
Lightvalve 57:f4819de54e7a 2418 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2419 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2420 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2421
Lightvalve 69:3995ffeaa786 2422 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 252:179a8c8791dc 2423 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) D_GAIN_JOINT_POSITION * wn_Pos * vel.err + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2424 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2425 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 252:179a8c8791dc 2426 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) D_GAIN_JOINT_POSITION * wn_Pos * vel.err + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2427 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2428 }
Lightvalve 57:f4819de54e7a 2429 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 2430 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2431
Lightvalve 57:f4819de54e7a 2432 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2433 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2434 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2435 // 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 2436 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2437 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2438 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2439 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 2440 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2441 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2442 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2443 }
Lightvalve 57:f4819de54e7a 2444 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 2445 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2446 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2447 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2448 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2449
Lightvalve 57:f4819de54e7a 2450 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2451
Lightvalve 67:c2812cf26c38 2452 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2453 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2454 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2455 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2456 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2457 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2458 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2459 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2460 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2461 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2462 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2463 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2464 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2465 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2466 }
Lightvalve 67:c2812cf26c38 2467 }
Lightvalve 57:f4819de54e7a 2468
Lightvalve 57:f4819de54e7a 2469 } else {
Lightvalve 57:f4819de54e7a 2470 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2471 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2472 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2473
Lightvalve 209:ebc69d6ee6f1 2474 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 2475
Lightvalve 72:3436ce769b1e 2476 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 2477
Lightvalve 72:3436ce769b1e 2478 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2479
Lightvalve 169:645207e160ca 2480
Lightvalve 72:3436ce769b1e 2481 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2482 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2483 } else {
Lightvalve 72:3436ce769b1e 2484 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2485 }
Lightvalve 57:f4819de54e7a 2486
Lightvalve 57:f4819de54e7a 2487 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2488 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2489 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2490 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2491 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2492 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2493 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2494 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2495 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2496 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2497 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2498 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2499 }
Lightvalve 57:f4819de54e7a 2500 }
Lightvalve 61:bc8c8270f0ab 2501
Lightvalve 57:f4819de54e7a 2502 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2503
Lightvalve 67:c2812cf26c38 2504 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2505 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2506
Lightvalve 57:f4819de54e7a 2507 }
Lightvalve 169:645207e160ca 2508
Lightvalve 72:3436ce769b1e 2509 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2510
Lightvalve 133:22ab22818e01 2511
Lightvalve 57:f4819de54e7a 2512 break;
Lightvalve 57:f4819de54e7a 2513 }
Lightvalve 58:2eade98630e2 2514
Lightvalve 57:f4819de54e7a 2515 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2516 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2517 break;
Lightvalve 57:f4819de54e7a 2518 }
Lightvalve 169:645207e160ca 2519
Lightvalve 138:a843f32ced33 2520 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2521
Lightvalve 169:645207e160ca 2522
Lightvalve 139:15621998925b 2523 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 2524 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 2525
Lightvalve 170:42c938a40313 2526 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2527
Lightvalve 218:066030f7951f 2528 //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 2529 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2530
Lightvalve 138:a843f32ced33 2531 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2532 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2533 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2534 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2535 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2536 } else {
Lightvalve 138:a843f32ced33 2537 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2538 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2539 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2540 } else {
Lightvalve 138:a843f32ced33 2541 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2542 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2543 }
Lightvalve 138:a843f32ced33 2544 }
Lightvalve 138:a843f32ced33 2545 float tau = 0.01f;
Lightvalve 247:87a44e8b3392 2546 //float K_valve = 0.0004f;
Lightvalve 247:87a44e8b3392 2547 float K_valve = 0.0002f;
Lightvalve 169:645207e160ca 2548
Lightvalve 138:a843f32ced33 2549 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2550 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2551 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2552 } else {
Lightvalve 138:a843f32ced33 2553 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2554 }
Lightvalve 138:a843f32ced33 2555 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2556 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2557
Lightvalve 139:15621998925b 2558 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2559
Lightvalve 138:a843f32ced33 2560 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2561 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2562 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2563
Lightvalve 138:a843f32ced33 2564 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2565 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2566
Lightvalve 212:ec41f1449ef9 2567 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2568 float k4 = 10.0f;
Lightvalve 142:43026242815a 2569 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2570 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2571 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2572 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2573 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2574
Lightvalve 139:15621998925b 2575 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2576 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2577 } else {
Lightvalve 139:15621998925b 2578 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2579 }
Lightvalve 169:645207e160ca 2580
Lightvalve 138:a843f32ced33 2581 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2582 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2583 float V_input = 0.0f;
Lightvalve 139:15621998925b 2584 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 2585 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2586 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2587 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2588
Lightvalve 218:066030f7951f 2589 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2590 // 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 2591 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2592 //
Lightvalve 218:066030f7951f 2593 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2594 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2595
Lightvalve 218:066030f7951f 2596 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2597 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2598 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2599
Lightvalve 218:066030f7951f 2600 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2601 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2602
Lightvalve 169:645207e160ca 2603 break;
Lightvalve 138:a843f32ced33 2604 }
Lightvalve 171:bfc1fd2629d8 2605
Lightvalve 170:42c938a40313 2606 case MODE_RL: {
Lightvalve 170:42c938a40313 2607 //t.reset();
Lightvalve 170:42c938a40313 2608 //t.start();
Lightvalve 170:42c938a40313 2609
Lightvalve 170:42c938a40313 2610 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2611 // else LED = 0;
Lightvalve 170:42c938a40313 2612
Lightvalve 170:42c938a40313 2613 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2614 //Gather Data on each loop
Lightvalve 170:42c938a40313 2615 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2616 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2617 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2618 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2619 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2620 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2621 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2622 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2623 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2624 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2625 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2626 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2627 }
Lightvalve 173:68c7914679ec 2628 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2629 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2630 }
Lightvalve 173:68c7914679ec 2631 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2632 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2633 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2634 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2635 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2636
Lightvalve 179:d5377766d7ea 2637 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2638 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2639 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2640 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2641 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2642 }
Lightvalve 171:bfc1fd2629d8 2643
Lightvalve 170:42c938a40313 2644 RL_timer++;
Lightvalve 170:42c938a40313 2645
Lightvalve 170:42c938a40313 2646
Lightvalve 170:42c938a40313 2647 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2648 RL_timer = 0;
Lightvalve 170:42c938a40313 2649 batch++;
Lightvalve 170:42c938a40313 2650 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2651 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2652 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2653 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2654 }
Lightvalve 170:42c938a40313 2655 Update_Case = 1;
Lightvalve 170:42c938a40313 2656 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2657 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2658
Lightvalve 170:42c938a40313 2659 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2660 batch = 0;
Lightvalve 170:42c938a40313 2661 RL_timer = 0;
Lightvalve 170:42c938a40313 2662 Update_Case = 2;
Lightvalve 170:42c938a40313 2663 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2664 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2665 }
Lightvalve 170:42c938a40313 2666 }
Lightvalve 170:42c938a40313 2667 }
Lightvalve 170:42c938a40313 2668
Lightvalve 170:42c938a40313 2669 else {
Lightvalve 170:42c938a40313 2670 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2671 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2672 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2673 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2674 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2675 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2676 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2677 //logging1 = action;
Lightvalve 179:d5377766d7ea 2678 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2679 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2680 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2681 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2682 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2683 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2684 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2685 }
Lightvalve 170:42c938a40313 2686
Lightvalve 170:42c938a40313 2687 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2688 }
Lightvalve 170:42c938a40313 2689
Lightvalve 170:42c938a40313 2690 //t.stop();
Lightvalve 170:42c938a40313 2691 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2692
Lightvalve 170:42c938a40313 2693 break;
Lightvalve 170:42c938a40313 2694 }
Lightvalve 14:8e7590227d22 2695
Lightvalve 12:6f2531038ea4 2696 default:
Lightvalve 12:6f2531038ea4 2697 break;
Lightvalve 12:6f2531038ea4 2698 }
Lightvalve 14:8e7590227d22 2699
Lightvalve 57:f4819de54e7a 2700
Lightvalve 57:f4819de54e7a 2701 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2702
Lightvalve 57:f4819de54e7a 2703 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2704 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2705 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2706 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2707 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2708 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2709
Lightvalve 252:179a8c8791dc 2710 if (I_REF_fil > 0) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS/1000.0f; // unit: mA
Lightvalve 252:179a8c8791dc 2711 else if (I_REF_fil < 0) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS/1000.0f; // unit: mA
Lightvalve 252:179a8c8791dc 2712 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0/1000.0f; // unit: mA
Lightvalve 252:179a8c8791dc 2713
Lightvalve 252:179a8c8791dc 2714 I_ERR = I_REF_fil_DZ - cur.sen;
Lightvalve 67:c2812cf26c38 2715 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2716
Lightvalve 57:f4819de54e7a 2717
Lightvalve 57:f4819de54e7a 2718 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2719 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2720 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2721 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2722 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2723 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2724
Lightvalve 57:f4819de54e7a 2725 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2726 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2727 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2728 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2729 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2730 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2731 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2732 }
Lightvalve 57:f4819de54e7a 2733
Lightvalve 57:f4819de54e7a 2734 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2735
Lightvalve 67:c2812cf26c38 2736 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2737 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2738 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2739 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2740 // 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 2741 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2742 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2743
Lightvalve 57:f4819de54e7a 2744 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2745 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2746 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2747 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2748 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2749 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2750 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2751 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2752 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2753 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2754 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2755 }
Lightvalve 57:f4819de54e7a 2756 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2757 } else {
Lightvalve 57:f4819de54e7a 2758 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2759 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2760 }
Lightvalve 57:f4819de54e7a 2761
Lightvalve 57:f4819de54e7a 2762 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2763 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2764 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2765 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 252:179a8c8791dc 2766 // FLAG_VALVE_DEADZONE = 1;
Lightvalve 57:f4819de54e7a 2767 if (FLAG_VALVE_DEADZONE) {
Lightvalve 252:179a8c8791dc 2768 // if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 252:179a8c8791dc 2769 // else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 252:179a8c8791dc 2770 // else VALVE_PWM_RAW = VALVE_PWM_RAW + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f * mV_PER_pulse; // unit: mV
Lightvalve 252:179a8c8791dc 2771
Lightvalve 252:179a8c8791dc 2772 //VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 252:179a8c8791dc 2773 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; // unit: mV
Lightvalve 57:f4819de54e7a 2774
Lightvalve 57:f4819de54e7a 2775 } else {
Lightvalve 57:f4819de54e7a 2776 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2777 }
Lightvalve 57:f4819de54e7a 2778
Lightvalve 57:f4819de54e7a 2779 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2780 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2781 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2782
Lightvalve 57:f4819de54e7a 2783 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2784 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2785 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2786 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2787 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2788 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2789 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2790 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2791
Lightvalve 89:a7b45368ea0f 2792 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2793 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2794 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2795 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2796
Lightvalve 135:79885a39c161 2797 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2798 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2799 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2800 }
Lightvalve 169:645207e160ca 2801
Lightvalve 67:c2812cf26c38 2802 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2803 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2804 // else V_out = V_out;
Lightvalve 169:645207e160ca 2805
jobuuu 7:e9086c72bb22 2806 /*******************************************************
jobuuu 7:e9086c72bb22 2807 *** PWM
jobuuu 7:e9086c72bb22 2808 ********************************************************/
Lightvalve 169:645207e160ca 2809 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2810 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2811 }
Lightvalve 169:645207e160ca 2812
Lightvalve 49:e7bcfc244d40 2813 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2814 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2815 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2816 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2817 }
Lightvalve 49:e7bcfc244d40 2818 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2819
Lightvalve 19:23b7c1ad8683 2820 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2821 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2822 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2823
Lightvalve 30:8d561f16383b 2824 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2825 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2826 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2827 } else {
jobuuu 2:a1c0a37df760 2828 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2829 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2830 }
Lightvalve 13:747daba9cf59 2831
jobuuu 1:e04e563be5ce 2832 //pwm
Lightvalve 30:8d561f16383b 2833 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2834 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2835
Lightvalve 61:bc8c8270f0ab 2836
Lightvalve 252:179a8c8791dc 2837 // if (TMR2_COUNT_CAN_TX % 5 == 0) {
Lightvalve 252:179a8c8791dc 2838 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/1000.0f) == 0) {
Lightvalve 252:179a8c8791dc 2839 // CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 252:179a8c8791dc 2840 // }
Lightvalve 252:179a8c8791dc 2841 // TMR2_COUNT_CAN_TX++;
Lightvalve 252:179a8c8791dc 2842
Lightvalve 233:0a37cdd59651 2843
Lightvalve 252:179a8c8791dc 2844 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 252:179a8c8791dc 2845 //
Lightvalve 252:179a8c8791dc 2846 // // Position, Velocity, and Torque (ID:1200)
Lightvalve 252:179a8c8791dc 2847 // if (flag_data_request[0] == 0) {
Lightvalve 252:179a8c8791dc 2848 // if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 252:179a8c8791dc 2849 // if (SENSING_MODE == 0) {
Lightvalve 252:179a8c8791dc 2850 // CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 252:179a8c8791dc 2851 // } else if (SENSING_MODE == 1) {
Lightvalve 252:179a8c8791dc 2852 // 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 252:179a8c8791dc 2853 // }
Lightvalve 252:179a8c8791dc 2854 // } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 252:179a8c8791dc 2855 // if (SENSING_MODE == 0) {
Lightvalve 256:7c8cc8b56b88 2856 // CAN_TX_POSITION_FT((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 252:179a8c8791dc 2857 // } else if (SENSING_MODE == 1) {
Lightvalve 252:179a8c8791dc 2858 // 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 252:179a8c8791dc 2859 // }
Lightvalve 252:179a8c8791dc 2860 // }
Lightvalve 252:179a8c8791dc 2861 // }
Lightvalve 252:179a8c8791dc 2862 //
Lightvalve 252:179a8c8791dc 2863 // if (flag_data_request[1] == HIGH) {
Lightvalve 252:179a8c8791dc 2864 // CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 252:179a8c8791dc 2865 // }
Lightvalve 252:179a8c8791dc 2866 //
Lightvalve 252:179a8c8791dc 2867 //
Lightvalve 252:179a8c8791dc 2868 // if (flag_data_request[2] == HIGH) {
Lightvalve 252:179a8c8791dc 2869 // double t_value = 0.0f;
Lightvalve 252:179a8c8791dc 2870 // if(value>=(float) VALVE_CENTER) {
Lightvalve 252:179a8c8791dc 2871 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 2872 // } else {
Lightvalve 252:179a8c8791dc 2873 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 2874 // }
Lightvalve 252:179a8c8791dc 2875 // double t_value_ref = 0.0f;
Lightvalve 252:179a8c8791dc 2876 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 252:179a8c8791dc 2877 // t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 2878 // } else {
Lightvalve 252:179a8c8791dc 2879 // t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 2880 // }
Lightvalve 252:179a8c8791dc 2881 //
Lightvalve 252:179a8c8791dc 2882 //
Lightvalve 252:179a8c8791dc 2883 // CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 252:179a8c8791dc 2884 // }
Lightvalve 252:179a8c8791dc 2885 //
Lightvalve 252:179a8c8791dc 2886 // //If it doesn't rest, below can can not work.
Lightvalve 252:179a8c8791dc 2887 // for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 252:179a8c8791dc 2888 // ;
Lightvalve 252:179a8c8791dc 2889 // }
Lightvalve 252:179a8c8791dc 2890 //
Lightvalve 252:179a8c8791dc 2891 // if (flag_data_request[3] == HIGH) {
Lightvalve 252:179a8c8791dc 2892 // //PWM
Lightvalve 252:179a8c8791dc 2893 // CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 252:179a8c8791dc 2894 // // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 252:179a8c8791dc 2895 // }
Lightvalve 252:179a8c8791dc 2896 //
Lightvalve 252:179a8c8791dc 2897 // if (flag_data_request[4] == HIGH) {
Lightvalve 252:179a8c8791dc 2898 // //valve position
Lightvalve 252:179a8c8791dc 2899 // //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 252:179a8c8791dc 2900 // CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 252:179a8c8791dc 2901 // }
Lightvalve 252:179a8c8791dc 2902 //
Lightvalve 252:179a8c8791dc 2903 //
Lightvalve 252:179a8c8791dc 2904 //
Lightvalve 252:179a8c8791dc 2905 // // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 252:179a8c8791dc 2906 //// if (flag_data_request[1] == HIGH) {
Lightvalve 252:179a8c8791dc 2907 //// CAN_TX_SOMETHING((int) (0), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 252:179a8c8791dc 2908 //// }
Lightvalve 252:179a8c8791dc 2909 //// if (flag_delay_test == 1){
Lightvalve 252:179a8c8791dc 2910 //// CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 252:179a8c8791dc 2911 //// }
Lightvalve 252:179a8c8791dc 2912 ////
Lightvalve 252:179a8c8791dc 2913 //// TMR2_COUNT_CAN_TX = 0;
Lightvalve 252:179a8c8791dc 2914 // }
Lightvalve 252:179a8c8791dc 2915 // TMR2_COUNT_CAN_TX++;
Lightvalve 252:179a8c8791dc 2916
Lightvalve 252:179a8c8791dc 2917
Lightvalve 237:aa3863117889 2918
Lightvalve 20:806196fda269 2919 }
Lightvalve 52:8ea76864368a 2920 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2921
Lightvalve 58:2eade98630e2 2922 }