Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@228:83e3a91aa1c6, 2020-12-30 (annotated)

Committer:
Lightvalve
Date:
Wed Dec 30 04:37:41 2020 +0000
Revision:
228:83e3a91aa1c6
Parent:
227:3bc296775732
Child:
229:c13dac18dee3
201230-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 228:83e3a91aa1c6 1 //201230_1
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 11 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 12 #include <string>
Lightvalve 170:42c938a40313 13 #include <iostream>
Lightvalve 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 228:83e3a91aa1c6 202 {0.21710851788520813f,-0.05835658311843872f,0.12024858593940735f,-0.31008681654930115f,-0.0982133150100708f,-0.17835518717765808f,-0.1628284603357315f,0.0627439022064209f,-0.2620668113231659f,-0.05229143425822258f,-0.1862572282552719f,-0.3528204560279846f,0.2787628173828125f,0.2949141561985016f,-0.2396446317434311f,0.1873062551021576f},
Lightvalve 228:83e3a91aa1c6 203 {-0.1646273285150528f,0.15895842015743256f,-0.36603355407714844f,-0.1901821345090866f,-0.2621099054813385f,0.1840967983007431f,-0.3777896761894226f,-0.05303867906332016f,-0.0715283527970314f,0.1800564080476761f,-0.2212582379579544f,-0.03985835984349251f,0.056893475353717804f,-0.07665825635194778f,-0.1953967958688736f,0.13413189351558685f},
Lightvalve 228:83e3a91aa1c6 204 {-0.1751502901315689f,0.1295098513364792f,0.33912619948387146f,-0.5264424681663513f,0.0014073352795094252f,-0.10263941437005997f,0.2676515281200409f,-0.05712807551026344f,-0.14674054086208344f,0.18135717511177063f,-0.29151666164398193f,0.39914262294769287f,-0.10191211849451065f,-0.03679787740111351f,0.05209478735923767f,-0.23318035900592804f},
Lightvalve 228:83e3a91aa1c6 205 {0.08773957192897797f,0.059932585805654526f,0.3703531324863434f,0.1890704482793808f,-0.5685915946960449f,-0.9968946576118469f,-0.10795548558235168f,0.2569338381290436f,0.023257998749613762f,0.30387452244758606f,0.12322977185249329f,-6.214670658111572f,0.6218557357788086f,0.22927629947662354f,-0.27597576379776f,1.0344496965408325f},
Lightvalve 228:83e3a91aa1c6 206 {-0.341019868850708f,1.716659426689148f,-0.004794687032699585f,3.811917543411255f,-0.44779855012893677f,5.250626564025879f,0.12058994174003601f,0.06565902382135391f,0.029530562460422516f,0.13024947047233582f,0.3581587076187134f,5.495739936828613f,0.32269057631492615f,0.2027294933795929f,-0.36018112301826477f,-1.535042405128479f},
Lightvalve 228:83e3a91aa1c6 207 {-0.8380345106124878f,-1.3260560035705566f,0.20290347933769226f,2.5959393978118896f,1.4356293678283691f,0.30882853269577026f,0.15389427542686462f,-0.321927011013031f,0.030967984348535538f,0.13585081696510315f,-0.1967213749885559f,1.4991086721420288f,0.5693753957748413f,0.1478225290775299f,-0.38513508439064026f,0.9474997520446777f},
Lightvalve 228:83e3a91aa1c6 208 {-0.683259904384613f,-0.8101462721824646f,-0.2331579178571701f,0.2851295471191406f,0.5227901339530945f,0.2213594615459442f,0.05604562163352966f,-0.3566524088382721f,0.340404748916626f,0.08874274045228958f,0.17397800087928772f,0.36228781938552856f,0.3637121319770813f,0.204885333776474f,-0.14554673433303833f,1.5621423721313477f},
Lightvalve 228:83e3a91aa1c6 209 {0.2438136488199234f,-0.038819216191768646f,-0.24806702136993408f,0.26695358753204346f,-0.6833134293556213f,-0.45427772402763367f,-0.16704979538917542f,-0.364534467458725f,0.026426557451486588f,0.13160675764083862f,0.13139647245407104f,-0.5438024401664734f,0.2081027328968048f,0.0352388434112072f,0.04009982943534851f,0.8651177287101746f},
Lightvalve 228:83e3a91aa1c6 210 {0.399420827627182f,0.7111073136329651f,0.09550115466117859f,-0.13722945749759674f,-0.6188552379608154f,0.09277452528476715f,-0.06753402948379517f,-0.4231712818145752f,-0.24982194602489471f,0.34706196188926697f,-0.24380797147750854f,0.08192895352840424f,0.018970858305692673f,0.11796440184116364f,-0.2847418785095215f,0.17251382768154144f},
Lightvalve 228:83e3a91aa1c6 211 {0.38405391573905945f,0.42134660482406616f,0.17205187678337097f,-1.2010875940322876f,-0.6272928714752197f,-0.0024884298909455538f,-0.2786858379840851f,-0.11577512323856354f,-0.004904093686491251f,-0.41817817091941833f,0.025525355711579323f,-0.6284334659576416f,-0.0862298384308815f,-0.287846177816391f,0.3247623145580292f,-1.3453173637390137f},
Lightvalve 228:83e3a91aa1c6 212 {0.6584739685058594f,0.8861123919487f,0.34649983048439026f,-2.0575315952301025f,0.0029634551610797644f,-0.1881372630596161f,-0.1895401030778885f,-0.016842292621731758f,-0.39519330859184265f,0.0457906648516655f,0.35786765813827515f,-0.6493228077888489f,-1.0070158243179321f,-0.1055193692445755f,0.24870619177818298f,-2.0926122665405273f},
Lightvalve 228:83e3a91aa1c6 213 {-4.20821475982666f,-4.356006145477295f,-0.3757385015487671f,2.0618209838867188f,2.884111166000366f,2.543921947479248f,0.1429324448108673f,0.1709202378988266f,-0.1357613056898117f,0.2062210589647293f,-0.3532536029815674f,1.7752840518951416f,4.858647346496582f,-0.660963773727417f,0.09779238700866699f,0.7557253837585449f},
Lightvalve 228:83e3a91aa1c6 214 {-2.1083571910858154f,-1.7688544988632202f,0.18496140837669373f,-0.46151071786880493f,1.474288821220398f,-0.7176749110221863f,-0.22405625879764557f,-0.03395454213023186f,-0.15607798099517822f,-0.1729339212179184f,-0.06886337697505951f,-0.29444989562034607f,1.2748531103134155f,-0.20135706663131714f,-0.2075144499540329f,-3.261737823486328f},
Lightvalve 228:83e3a91aa1c6 215 {3.5962183475494385f,3.374176025390625f,0.38466766476631165f,-4.8142170906066895f,-4.66273307800293f,-3.462780237197876f,-0.2982172966003418f,-0.43583643436431885f,-0.10630133002996445f,-0.2060280591249466f,-0.1487589031457901f,-1.0152119398117065f,-3.2444868087768555f,0.49480560421943665f,0.04470124840736389f,-4.24110221862793f},
Lightvalve 228:83e3a91aa1c6 216 {1.598503828048706f,0.5136365294456482f,0.18900898098945618f,0.017271745949983597f,-1.8248393535614014f,-4.067183971405029f,0.03916636109352112f,0.09532613307237625f,0.30280715227127075f,0.07684552669525146f,-0.22735022008419037f,-0.6214115023612976f,-1.3549392223358154f,0.2816005051136017f,0.062258750200271606f,-3.0343241691589355f},
Lightvalve 228:83e3a91aa1c6 217 {-0.04581713676452637f,-0.8378515243530273f,-0.37685394287109375f,1.967070460319519f,0.19949127733707428f,-1.418633222579956f,-0.14507901668548584f,-0.17562240362167358f,0.20774737000465393f,-0.009641649201512337f,-0.40854886174201965f,0.4172761142253876f,-0.45967918634414673f,-0.012022500857710838f,-0.07684260606765747f,0.7026128768920898f},
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Lightvalve 65:a2d7c63419c2 224 };
Lightvalve 65:a2d7c63419c2 225
Lightvalve 169:645207e160ca 226 const float h2[16][16] = {
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Lightvalve 65:a2d7c63419c2 243 };
Lightvalve 65:a2d7c63419c2 244
Lightvalve 169:645207e160ca 245 const float h3[16][16] = {
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Lightvalve 66:a8e6799dbce3 262 };
Lightvalve 65:a2d7c63419c2 263
Lightvalve 228:83e3a91aa1c6 264 const float hout[16] = { 0.45773375034332275f,0.2386862337589264f,-0.2851997911930084f,-0.14161087572574615f,-0.17498421669006348f,0.20173802971839905f,-0.0029246758203953505f,0.057233236730098724f,0.06631378084421158f,0.12506327033042908f,0.270881712436676f,-0.1020549014210701f,-0.24224728345870972f,0.16140422224998474f,0.2347816675901413f,-0.12646318972110748f };
Lightvalve 228:83e3a91aa1c6 265
Lightvalve 228:83e3a91aa1c6 266 const float b1[16] = { 0.682098388671875f,1.3871639966964722f,-1.7145336866378784f,-1.186700701713562f,2.072877883911133f,2.73624849319458f,-0.058932315558195114f,0.8410549163818359f,0.5336584448814392f,-0.8973275423049927f,0.6093431115150452f,0.40226659178733826f,-0.4711519479751587f,-1.025956630706787f,-1.087764859199524f,4.489203453063965f };
Lightvalve 228:83e3a91aa1c6 267
Lightvalve 228:83e3a91aa1c6 268 const float b2[16] = { -0.4100606441497803f,-1.4202418327331543f,-1.4564176797866821f,-0.7459886074066162f,-0.6939148902893066f,-0.11409489065408707f,2.606159210205078f,-0.5281766057014465f,-1.3896151781082153f,-1.912178635597229f,-1.0096604824066162f,0.04112252593040466f,-0.30573347210884094f,1.7771672010421753f,0.9408959150314331f,1.509745717048645f };
Lightvalve 228:83e3a91aa1c6 269
Lightvalve 228:83e3a91aa1c6 270 const float b3[16] = { -1.963319182395935f,1.035247564315796f,-4.8930206298828125f,-0.12025665491819382f,0.3674905002117157f,1.4917001724243164f,-0.7277941703796387f,-0.9398375153541565f,0.036721598356962204f,-0.03335632383823395f,-3.3403966426849365f,-0.5037021636962891f,1.1861028671264648f,2.1023385524749756f,-1.3048676252365112f,-1.8699331283569336f };
Lightvalve 228:83e3a91aa1c6 271
Lightvalve 228:83e3a91aa1c6 272 const float bout[1] = { -0.25776052474975586f };
Lightvalve 225:278b48b86f27 273
Lightvalve 225:278b48b86f27 274 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 275
Lightvalve 170:42c938a40313 276 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 277 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 278
Lightvalve 170:42c938a40313 279 //Critic Networks
Lightvalve 173:68c7914679ec 280 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 281 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 282 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 283 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 284 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 285 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 286
Lightvalve 170:42c938a40313 287 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 288 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 289 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 290 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 291 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 292 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 293 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 294
Lightvalve 170:42c938a40313 295 //Actor Networks
Lightvalve 173:68c7914679ec 296 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 297 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 298 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 299 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 300 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 301 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 302
Lightvalve 170:42c938a40313 303 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 304 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 305 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 306 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 307 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 308 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 309 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 310
Lightvalve 87:471334725012 311 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 312 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 313
Lightvalve 179:d5377766d7ea 314 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 315 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 316 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 317 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 318 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 319
Lightvalve 170:42c938a40313 320 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 321 {
Lightvalve 173:68c7914679ec 322 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 323 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 324 float output = 0.0f;
Lightvalve 173:68c7914679ec 325 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 326 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 327 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 328 }
Lightvalve 173:68c7914679ec 329 //ReLU
Lightvalve 173:68c7914679ec 330 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 331 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 332 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 333 output1[index2] = 0;
Lightvalve 173:68c7914679ec 334 }
Lightvalve 173:68c7914679ec 335 //tanh
Lightvalve 173:68c7914679ec 336 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 337 }
Lightvalve 173:68c7914679ec 338 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 339 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 340 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 341 }
Lightvalve 173:68c7914679ec 342 //ReLU
Lightvalve 173:68c7914679ec 343 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 344 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 345 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 346 output2[index2] = 0;
Lightvalve 173:68c7914679ec 347 }
Lightvalve 173:68c7914679ec 348 //tanh
Lightvalve 173:68c7914679ec 349 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 350 }
Lightvalve 170:42c938a40313 351 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 352 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 353 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 354 }
Lightvalve 173:68c7914679ec 355 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 356 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 357 }
Lightvalve 170:42c938a40313 358 return output;
Lightvalve 170:42c938a40313 359 }
Lightvalve 170:42c938a40313 360
Lightvalve 170:42c938a40313 361
Lightvalve 170:42c938a40313 362 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 363 {
Lightvalve 173:68c7914679ec 364 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 365 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 366 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 367
Lightvalve 173:68c7914679ec 368 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 369 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 370 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 371 }
Lightvalve 178:1074553d2f6f 372 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 373 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 374 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 375 output1[index2] = 0;
Lightvalve 173:68c7914679ec 376 }
Lightvalve 173:68c7914679ec 377 }
Lightvalve 173:68c7914679ec 378 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 379 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 380 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 381 }
Lightvalve 178:1074553d2f6f 382 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 383 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 384 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 385 output2[index2] = 0;
Lightvalve 173:68c7914679ec 386 }
Lightvalve 173:68c7914679ec 387 }
Lightvalve 173:68c7914679ec 388 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 389 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 390 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 391 }
Lightvalve 178:1074553d2f6f 392 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 393 }
Lightvalve 178:1074553d2f6f 394
Lightvalve 178:1074553d2f6f 395 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 396 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 397 //Softplus
Lightvalve 173:68c7914679ec 398 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 399 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 400 logging2 = mean;
Lightvalve 179:d5377766d7ea 401 logging4 = deviation;
Lightvalve 173:68c7914679ec 402 }
Lightvalve 173:68c7914679ec 403
Lightvalve 173:68c7914679ec 404
Lightvalve 173:68c7914679ec 405 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 406 {
Lightvalve 173:68c7914679ec 407 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 408 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 409 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 410
Lightvalve 173:68c7914679ec 411 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 412 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 413 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 414 }
Lightvalve 170:42c938a40313 415 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 416 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 417 output1[index2] = 0;
Lightvalve 170:42c938a40313 418 }
Lightvalve 170:42c938a40313 419 }
Lightvalve 173:68c7914679ec 420 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 421 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 422 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 423 }
Lightvalve 173:68c7914679ec 424 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 425 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 426 output2[index2] = 0;
Lightvalve 170:42c938a40313 427 }
Lightvalve 170:42c938a40313 428 }
Lightvalve 170:42c938a40313 429 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 430 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 431 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 432 }
Lightvalve 170:42c938a40313 433 }
Lightvalve 173:68c7914679ec 434 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 435 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 436 //Softplus
Lightvalve 173:68c7914679ec 437 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 438 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 439 }
Lightvalve 170:42c938a40313 440
Lightvalve 170:42c938a40313 441 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 442 {
Lightvalve 170:42c938a40313 443 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 444 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 445 return grad_mean;
Lightvalve 170:42c938a40313 446 }
Lightvalve 170:42c938a40313 447
Lightvalve 170:42c938a40313 448 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 449 {
Lightvalve 170:42c938a40313 450 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 451 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 452 return grad_dev;
Lightvalve 170:42c938a40313 453 }
Lightvalve 170:42c938a40313 454
Lightvalve 173:68c7914679ec 455 float ReLU(float x)
Lightvalve 173:68c7914679ec 456 {
Lightvalve 173:68c7914679ec 457 if (x >= 0) {
Lightvalve 173:68c7914679ec 458 return x;
Lightvalve 173:68c7914679ec 459 } else {
Lightvalve 173:68c7914679ec 460 return 0.0f;
Lightvalve 173:68c7914679ec 461 }
Lightvalve 173:68c7914679ec 462 }
Lightvalve 173:68c7914679ec 463
Lightvalve 170:42c938a40313 464 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 465 {
Lightvalve 173:68c7914679ec 466 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 467 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 468 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 469 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 470 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 471 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 472 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 473 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 474 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 475 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 476 }
Lightvalve 173:68c7914679ec 477 }
Lightvalve 170:42c938a40313 478 }
Lightvalve 177:8e9cf31d63f4 479 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 480 }
Lightvalve 170:42c938a40313 481 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 482 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 483 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 484 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 485 }
Lightvalve 173:68c7914679ec 486 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 487 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 488 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 489 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 490 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 491 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 492 }
Lightvalve 173:68c7914679ec 493 }
Lightvalve 173:68c7914679ec 494 }
Lightvalve 177:8e9cf31d63f4 495 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 496 }
Lightvalve 173:68c7914679ec 497 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 498 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 499 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 500 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 501 }
Lightvalve 173:68c7914679ec 502
Lightvalve 175:2f7289dbd488 503
Lightvalve 173:68c7914679ec 504 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 505 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 506 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 507 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 508 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 509 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 510 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 511 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 512 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 513 }
Lightvalve 173:68c7914679ec 514 }
Lightvalve 177:8e9cf31d63f4 515 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 516 }
Lightvalve 173:68c7914679ec 517 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 518 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 519 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 520 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 521 }
Lightvalve 173:68c7914679ec 522 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 523 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 524 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 525 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 526 }
Lightvalve 177:8e9cf31d63f4 527 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 528 }
Lightvalve 173:68c7914679ec 529 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 530 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 531 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 532 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 533 }
Lightvalve 173:68c7914679ec 534
Lightvalve 173:68c7914679ec 535 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 536 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 537 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 538 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 539 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 540 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 541 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 542 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 543 }
Lightvalve 177:8e9cf31d63f4 544 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 545 }
Lightvalve 173:68c7914679ec 546 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 547 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 548 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 549 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 550 }
Lightvalve 173:68c7914679ec 551 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 552 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 553 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 554 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 555 }
Lightvalve 173:68c7914679ec 556 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 557 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 558 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 559 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 560 }
Lightvalve 173:68c7914679ec 561
Lightvalve 173:68c7914679ec 562 // Simultaneous Update
Lightvalve 173:68c7914679ec 563 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 564 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 565 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 566 }
Lightvalve 179:d5377766d7ea 567 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 568 }
Lightvalve 173:68c7914679ec 569 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 570 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 571 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 572 }
Lightvalve 179:d5377766d7ea 573 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 574 }
Lightvalve 170:42c938a40313 575 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 576 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 577 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 578 }
Lightvalve 179:d5377766d7ea 579 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 580 }
Lightvalve 170:42c938a40313 581 }
Lightvalve 170:42c938a40313 582
Lightvalve 173:68c7914679ec 583 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 584 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 585 {
Lightvalve 218:066030f7951f 586
Lightvalve 173:68c7914679ec 587
Lightvalve 173:68c7914679ec 588 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 589 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 590
Lightvalve 173:68c7914679ec 591 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 592 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 593 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 594 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 595 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 596 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 597 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 598 } else {
Lightvalve 173:68c7914679ec 599 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 600 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 601 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 602 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 603 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 604 }
Lightvalve 171:bfc1fd2629d8 605 }
Lightvalve 170:42c938a40313 606 }
Lightvalve 170:42c938a40313 607 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 608 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 609 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 610 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 611
Lightvalve 173:68c7914679ec 612 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 613 }
Lightvalve 170:42c938a40313 614 }
Lightvalve 176:589ea3edcf3c 615 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 616 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 617 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 618 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 619 }
Lightvalve 173:68c7914679ec 620
Lightvalve 173:68c7914679ec 621 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 622 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 623 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 624 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 625 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 626 } else {
Lightvalve 173:68c7914679ec 627 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 628 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 629 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 630 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 631 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 632 }
Lightvalve 171:bfc1fd2629d8 633 }
Lightvalve 170:42c938a40313 634 }
Lightvalve 170:42c938a40313 635 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 636 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 637 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 638 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 639
Lightvalve 173:68c7914679ec 640 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 641 }
Lightvalve 170:42c938a40313 642 }
Lightvalve 176:589ea3edcf3c 643 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 644 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 645 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 646 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 647 }
Lightvalve 170:42c938a40313 648
Lightvalve 173:68c7914679ec 649 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 650 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 651
Lightvalve 173:68c7914679ec 652 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 653 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 654 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 655 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 656 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 657 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 658 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 659 } else {
Lightvalve 173:68c7914679ec 660 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 661 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 662 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 663 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 664 }
Lightvalve 170:42c938a40313 665 }
Lightvalve 173:68c7914679ec 666
Lightvalve 170:42c938a40313 667 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 668 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 669 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 670 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 671
Lightvalve 173:68c7914679ec 672 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 673 }
Lightvalve 170:42c938a40313 674 }
Lightvalve 176:589ea3edcf3c 675 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 676 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 677 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 678 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 679 }
Lightvalve 173:68c7914679ec 680
Lightvalve 173:68c7914679ec 681 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 682 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 683 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 684 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 685 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 686 } else {
Lightvalve 170:42c938a40313 687
Lightvalve 173:68c7914679ec 688 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 689 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 690 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 691 }
Lightvalve 173:68c7914679ec 692 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 693 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 694 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 695 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 696
Lightvalve 173:68c7914679ec 697 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 698 }
Lightvalve 170:42c938a40313 699 }
Lightvalve 176:589ea3edcf3c 700 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 701 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 702 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 703 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 704 }
Lightvalve 173:68c7914679ec 705
Lightvalve 173:68c7914679ec 706 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 707 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 708
Lightvalve 173:68c7914679ec 709 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 710 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 711 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 712 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 713 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 714 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 715 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 716 } else {
Lightvalve 173:68c7914679ec 717 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 718 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 719 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 720 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 721 }
Lightvalve 173:68c7914679ec 722 }
Lightvalve 173:68c7914679ec 723 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 724 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 725 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 726 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 727
Lightvalve 173:68c7914679ec 728 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 729 }
Lightvalve 173:68c7914679ec 730 }
Lightvalve 176:589ea3edcf3c 731 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 732 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 733 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 734 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 735 }
Lightvalve 173:68c7914679ec 736
Lightvalve 173:68c7914679ec 737 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 738 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 739 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 740 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 741 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 742 } else {
Lightvalve 173:68c7914679ec 743
Lightvalve 177:8e9cf31d63f4 744 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 745 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 746
Lightvalve 173:68c7914679ec 747 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 748 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 749 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 750 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 751
Lightvalve 173:68c7914679ec 752 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 753 }
Lightvalve 173:68c7914679ec 754 }
Lightvalve 176:589ea3edcf3c 755 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 756 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 757 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 758 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 759 }
Lightvalve 177:8e9cf31d63f4 760
Lightvalve 175:2f7289dbd488 761 // Simultaneous Update
Lightvalve 175:2f7289dbd488 762 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 763 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 764 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 765 }
Lightvalve 179:d5377766d7ea 766 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 767 }
Lightvalve 175:2f7289dbd488 768 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 769 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 770 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 771 }
Lightvalve 179:d5377766d7ea 772 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 773 }
Lightvalve 175:2f7289dbd488 774 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 775 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 776 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 777 }
Lightvalve 179:d5377766d7ea 778 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 779 }
Lightvalve 170:42c938a40313 780 }
Lightvalve 170:42c938a40313 781
Lightvalve 170:42c938a40313 782 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 783 {
Lightvalve 170:42c938a40313 784 //Box muller method
Lightvalve 170:42c938a40313 785 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 786 static int n2_cached = 0;
Lightvalve 170:42c938a40313 787 if (!n2_cached) {
Lightvalve 170:42c938a40313 788 double x, y, r;
Lightvalve 170:42c938a40313 789 do {
Lightvalve 170:42c938a40313 790 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 791 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 792
Lightvalve 170:42c938a40313 793 r = x*x + y*y;
Lightvalve 170:42c938a40313 794 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 795 {
Lightvalve 170:42c938a40313 796 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 797 double n1 = x*d;
Lightvalve 170:42c938a40313 798 n2 = y*d;
Lightvalve 170:42c938a40313 799 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 800 n2_cached = 1;
Lightvalve 170:42c938a40313 801 return result;
Lightvalve 170:42c938a40313 802 }
Lightvalve 170:42c938a40313 803 } else {
Lightvalve 170:42c938a40313 804 n2_cached = 0;
Lightvalve 170:42c938a40313 805 return n2*stddev + mean;
Lightvalve 170:42c938a40313 806 }
Lightvalve 170:42c938a40313 807 }
Lightvalve 170:42c938a40313 808
Lightvalve 179:d5377766d7ea 809 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 810 {
Lightvalve 179:d5377766d7ea 811 float add = 0.0f;
Lightvalve 179:d5377766d7ea 812 float result;
Lightvalve 218:066030f7951f 813
Lightvalve 218:066030f7951f 814 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 815 add += x[i];
Lightvalve 179:d5377766d7ea 816 }
Lightvalve 179:d5377766d7ea 817 result = (float) add/size;
Lightvalve 179:d5377766d7ea 818 return result;
Lightvalve 179:d5377766d7ea 819 }
Lightvalve 179:d5377766d7ea 820 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 821 {
Lightvalve 179:d5377766d7ea 822 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 823 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 824
Lightvalve 218:066030f7951f 825 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 826 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 827 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 828 }
Lightvalve 179:d5377766d7ea 829 return resultDeb;
Lightvalve 218:066030f7951f 830 }
Lightvalve 218:066030f7951f 831
Lightvalve 173:68c7914679ec 832
Lightvalve 170:42c938a40313 833 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 834 {
Lightvalve 173:68c7914679ec 835 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 836 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 837 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 838 }
Lightvalve 170:42c938a40313 839 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 840 }
Lightvalve 173:68c7914679ec 841 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 842 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 843 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 844 }
Lightvalve 173:68c7914679ec 845 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 846 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 847 }
Lightvalve 173:68c7914679ec 848 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 849 }
Lightvalve 170:42c938a40313 850 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 851 {
Lightvalve 173:68c7914679ec 852 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 853 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 854 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 855 }
Lightvalve 170:42c938a40313 856 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 857 }
Lightvalve 173:68c7914679ec 858 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 859 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 860 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 861 }
Lightvalve 170:42c938a40313 862 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 863 }
Lightvalve 173:68c7914679ec 864 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 865 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 866 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 867 }
Lightvalve 173:68c7914679ec 868 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 869 }
Lightvalve 170:42c938a40313 870 }
Lightvalve 170:42c938a40313 871
Lightvalve 170:42c938a40313 872
GiJeongKim 0:51c43836c1d7 873 int main()
GiJeongKim 0:51c43836c1d7 874 {
Lightvalve 66:a8e6799dbce3 875
Lightvalve 65:a2d7c63419c2 876 HAL_Init();
Lightvalve 65:a2d7c63419c2 877 SystemClock_Config();
Lightvalve 169:645207e160ca 878
jobuuu 6:df07d3491e3a 879 /*********************************
jobuuu 1:e04e563be5ce 880 *** Initialization
jobuuu 6:df07d3491e3a 881 *********************************/
Lightvalve 69:3995ffeaa786 882 LED = 0;
Lightvalve 61:bc8c8270f0ab 883 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 884
GiJeongKim 0:51c43836c1d7 885 // i2c init
Lightvalve 8:5d2eebdad025 886 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 887 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 888 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 889 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 890 make_delay();
jobuuu 2:a1c0a37df760 891
GiJeongKim 0:51c43836c1d7 892 // // spi init
Lightvalve 170:42c938a40313 893 eeprom.format(8,3);
Lightvalve 170:42c938a40313 894 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 895 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 896 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 897 make_delay();
Lightvalve 21:e5f1a43ea6f9 898
Lightvalve 16:903b5a4433b4 899 //rom
Lightvalve 19:23b7c1ad8683 900 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 901 make_delay();
Lightvalve 13:747daba9cf59 902
GiJeongKim 0:51c43836c1d7 903 // ADC init
jobuuu 5:a4319f79457b 904 Init_ADC();
Lightvalve 11:82d8768d7351 905 make_delay();
jobuuu 2:a1c0a37df760 906
GiJeongKim 0:51c43836c1d7 907 // Pwm init
GiJeongKim 0:51c43836c1d7 908 Init_PWM();
GiJeongKim 0:51c43836c1d7 909 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 910 make_delay();
Lightvalve 13:747daba9cf59 911
Lightvalve 11:82d8768d7351 912 // TMR3 init
Lightvalve 11:82d8768d7351 913 Init_TMR3();
Lightvalve 11:82d8768d7351 914 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 915 make_delay();
Lightvalve 21:e5f1a43ea6f9 916
Lightvalve 50:3c630b5eba9f 917 // TMR2 init
Lightvalve 56:6f50d9d3bfee 918 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 919 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 920 // make_delay();
Lightvalve 21:e5f1a43ea6f9 921
GiJeongKim 0:51c43836c1d7 922 // CAN
jobuuu 2:a1c0a37df760 923 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 924 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 925 make_delay();
Lightvalve 34:bb2ca2fc2a8e 926
Lightvalve 23:59218d4a256d 927 //Timer priority
Lightvalve 23:59218d4a256d 928 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 929 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 930 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 931
Lightvalve 23:59218d4a256d 932 //can.reset();
Lightvalve 19:23b7c1ad8683 933 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 934
GiJeongKim 0:51c43836c1d7 935 // spi _ enc
GiJeongKim 0:51c43836c1d7 936 spi_enc_set_init();
Lightvalve 11:82d8768d7351 937 make_delay();
Lightvalve 13:747daba9cf59 938
Lightvalve 11:82d8768d7351 939 //DAC init
Lightvalve 58:2eade98630e2 940 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 941 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 942 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 943 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 944 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 945 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 946 }
Lightvalve 11:82d8768d7351 947 make_delay();
Lightvalve 13:747daba9cf59 948
Lightvalve 19:23b7c1ad8683 949 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 950 if(i%2==0)
Lightvalve 38:118df027d851 951 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 952 else
Lightvalve 38:118df027d851 953 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 954 }
Lightvalve 169:645207e160ca 955
Lightvalve 173:68c7914679ec 956 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 957 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 958 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 959 }
Lightvalve 179:d5377766d7ea 960 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 961 }
Lightvalve 173:68c7914679ec 962 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 963 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 964 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 965 }
Lightvalve 179:d5377766d7ea 966 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 967 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 968 }
Lightvalve 179:d5377766d7ea 969 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 970
Lightvalve 173:68c7914679ec 971 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 972 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 973 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 974 }
Lightvalve 179:d5377766d7ea 975 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 976 }
Lightvalve 173:68c7914679ec 977 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 978 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 979 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 980 }
Lightvalve 179:d5377766d7ea 981 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 982 }
Lightvalve 170:42c938a40313 983 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 984 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 985 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 986 }
Lightvalve 179:d5377766d7ea 987 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 988 }
Lightvalve 171:bfc1fd2629d8 989
Lightvalve 170:42c938a40313 990 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 991 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 992
jobuuu 6:df07d3491e3a 993 /************************************
jobuuu 1:e04e563be5ce 994 *** Program is operating!
jobuuu 6:df07d3491e3a 995 *************************************/
GiJeongKim 0:51c43836c1d7 996 while(1) {
Lightvalve 169:645207e160ca 997
Lightvalve 171:bfc1fd2629d8 998 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 999 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 1000 // 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 1001 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 1002 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 1003 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 1004 // }
Lightvalve 169:645207e160ca 1005
Lightvalve 171:bfc1fd2629d8 1006
Lightvalve 171:bfc1fd2629d8 1007 //i2c
Lightvalve 180:02be1711ee0b 1008 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 1009 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 1010
Lightvalve 177:8e9cf31d63f4 1011 //timer_while ++;
Lightvalve 169:645207e160ca 1012
Lightvalve 170:42c938a40313 1013 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1014
Lightvalve 73:f80dc3970c99 1015 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1016 LED = 0;
Lightvalve 73:f80dc3970c99 1017 }
Lightvalve 169:645207e160ca 1018
Lightvalve 73:f80dc3970c99 1019 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1020
Lightvalve 162:9dd4f35e9de8 1021 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1022 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1023 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1024 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1025 }
Lightvalve 162:9dd4f35e9de8 1026
Lightvalve 162:9dd4f35e9de8 1027 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1028 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1029 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1030 }
Lightvalve 162:9dd4f35e9de8 1031 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1032 ind = ind + 1;
Lightvalve 169:645207e160ca 1033
Lightvalve 162:9dd4f35e9de8 1034 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1035 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1036 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1037 // }
Lightvalve 162:9dd4f35e9de8 1038
Lightvalve 162:9dd4f35e9de8 1039 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1040 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1041 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1042 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1043 }
Lightvalve 208:408f9f15c486 1044 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1045 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1046 ind = ind + 1;
Lightvalve 226:133f5e9bf4ce 1047 for(int i=0; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1048 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1049 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1050 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1051 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1052 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1053 }
Lightvalve 169:645207e160ca 1054
Lightvalve 112:8dcb1600cb90 1055 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1056 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1057 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1058 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1059
Lightvalve 112:8dcb1600cb90 1060 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1061 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1062 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1063 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1064 }
Lightvalve 66:a8e6799dbce3 1065 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1066 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1067 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1068 }
Lightvalve 66:a8e6799dbce3 1069 }
Lightvalve 65:a2d7c63419c2 1070
Lightvalve 112:8dcb1600cb90 1071 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1072 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1073 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1074 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1075 }
Lightvalve 66:a8e6799dbce3 1076 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1077 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1078 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1079 }
Lightvalve 66:a8e6799dbce3 1080 }
Lightvalve 65:a2d7c63419c2 1081
Lightvalve 112:8dcb1600cb90 1082 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1083 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1084 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1085 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1086 }
Lightvalve 66:a8e6799dbce3 1087 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1088 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1089 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1090 }
Lightvalve 65:a2d7c63419c2 1091 }
Lightvalve 66:a8e6799dbce3 1092
Lightvalve 66:a8e6799dbce3 1093 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1094 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1095 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1096 }
Lightvalve 66:a8e6799dbce3 1097 output = output + bout[index2];
Lightvalve 169:645207e160ca 1098
Lightvalve 66:a8e6799dbce3 1099 }
Lightvalve 73:f80dc3970c99 1100 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1101 output_normalized = output;
Lightvalve 68:328e1be06f5d 1102 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1103
Lightvalve 66:a8e6799dbce3 1104 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1105 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1106 } else {
Lightvalve 66:a8e6799dbce3 1107 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1108 }
Lightvalve 87:471334725012 1109
Lightvalve 169:645207e160ca 1110
Lightvalve 69:3995ffeaa786 1111 if(LED==1) {
Lightvalve 69:3995ffeaa786 1112 LED=0;
Lightvalve 69:3995ffeaa786 1113 } else
Lightvalve 69:3995ffeaa786 1114 LED = 1;
Lightvalve 169:645207e160ca 1115
Lightvalve 65:a2d7c63419c2 1116 }
Lightvalve 171:bfc1fd2629d8 1117
Lightvalve 171:bfc1fd2629d8 1118
Lightvalve 170:42c938a40313 1119 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1120 switch (Update_Case) {
Lightvalve 170:42c938a40313 1121 case 0: {
Lightvalve 170:42c938a40313 1122 break;
Lightvalve 170:42c938a40313 1123 }
Lightvalve 170:42c938a40313 1124 case 1: {
Lightvalve 170:42c938a40313 1125 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1126 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1127 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1128 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1129 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1130 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1131 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1132 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1133 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1134 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1135 }
Lightvalve 173:68c7914679ec 1136 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1137 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1138 }
Lightvalve 175:2f7289dbd488 1139 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1140
Lightvalve 175:2f7289dbd488 1141 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 1142 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1143 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 1144 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1145 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1146 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1147 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1148 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1149 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1150 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1151 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1152 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1153 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1154 }
Lightvalve 179:d5377766d7ea 1155 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1156 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1157 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1158 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1159 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1160 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1161 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1162 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1163 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1164 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1165 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1166 } else {
Lightvalve 175:2f7289dbd488 1167 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1168 }
Lightvalve 175:2f7289dbd488 1169 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1170 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1171 }
Lightvalve 170:42c938a40313 1172 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1173 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1174 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1175 }
Lightvalve 170:42c938a40313 1176 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1177
Lightvalve 171:bfc1fd2629d8 1178
Lightvalve 170:42c938a40313 1179 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1180 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1181 //Update Networks
Lightvalve 170:42c938a40313 1182 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1183 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1184 }
Lightvalve 170:42c938a40313 1185 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1186 Update_Case = 0;
Lightvalve 170:42c938a40313 1187 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1188
Lightvalve 170:42c938a40313 1189 break;
Lightvalve 170:42c938a40313 1190 }
Lightvalve 170:42c938a40313 1191 case 2: {
Lightvalve 170:42c938a40313 1192 //Network apply to next Network
Lightvalve 170:42c938a40313 1193 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1194 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1195 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1196 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1197 Update_Case = 0;
Lightvalve 170:42c938a40313 1198 break;
Lightvalve 170:42c938a40313 1199 }
Lightvalve 169:645207e160ca 1200
Lightvalve 170:42c938a40313 1201 }
GiJeongKim 0:51c43836c1d7 1202 }
jobuuu 1:e04e563be5ce 1203 }
jobuuu 1:e04e563be5ce 1204
Lightvalve 33:91b17819ec30 1205 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1206 {
Lightvalve 14:8e7590227d22 1207
Lightvalve 13:747daba9cf59 1208 int i = 0;
Lightvalve 48:889798ff9329 1209 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1210 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1211 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 1212 if(i==0) {
Lightvalve 50:3c630b5eba9f 1213 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1214 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1215 } else {
Lightvalve 57:f4819de54e7a 1216 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 1217 }
Lightvalve 14:8e7590227d22 1218 } else {
Lightvalve 50:3c630b5eba9f 1219 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1220 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1221 } else {
Lightvalve 57:f4819de54e7a 1222 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 1223 }
Lightvalve 13:747daba9cf59 1224 }
Lightvalve 13:747daba9cf59 1225 break;
Lightvalve 13:747daba9cf59 1226 }
Lightvalve 13:747daba9cf59 1227 }
Lightvalve 14:8e7590227d22 1228 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1229 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1230 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1231 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1232 }
Lightvalve 36:a46e63505ed8 1233
Lightvalve 57:f4819de54e7a 1234 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1235 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1236
Lightvalve 13:747daba9cf59 1237 }
jobuuu 6:df07d3491e3a 1238
jobuuu 6:df07d3491e3a 1239
Lightvalve 30:8d561f16383b 1240 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1241 {
Lightvalve 13:747daba9cf59 1242 int i = 0;
Lightvalve 13:747daba9cf59 1243
Lightvalve 38:118df027d851 1244 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1245 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1246 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1247 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1248 }
Lightvalve 38:118df027d851 1249
Lightvalve 89:a7b45368ea0f 1250 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1251 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1252 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1253 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1254 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1255 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1256
Lightvalve 13:747daba9cf59 1257 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 1258
Lightvalve 18:b8adf1582ea3 1259 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1260 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 1261 if(i==0) {
Lightvalve 48:889798ff9329 1262 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 1263 } else {
Lightvalve 48:889798ff9329 1264 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 1265 }
Lightvalve 13:747daba9cf59 1266 break;
Lightvalve 13:747daba9cf59 1267 }
Lightvalve 13:747daba9cf59 1268 }
Lightvalve 59:f308b1656d9c 1269 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1270 }
Lightvalve 13:747daba9cf59 1271
Lightvalve 14:8e7590227d22 1272 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1273 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 1274 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1275 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1276 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1277 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1278 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1279 }; // duty
Lightvalve 67:c2812cf26c38 1280 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 1281 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1282 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1283 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1284 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1285 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1286 }; // mV
Lightvalve 13:747daba9cf59 1287
Lightvalve 30:8d561f16383b 1288 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1289 {
Lightvalve 30:8d561f16383b 1290 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1291 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1292 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1293 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1294 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1295 } else {
Lightvalve 13:747daba9cf59 1296 int idx = 0;
Lightvalve 13:747daba9cf59 1297 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1298 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1299 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1300 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1301 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1302 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1303 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1304 break;
Lightvalve 13:747daba9cf59 1305 }
Lightvalve 13:747daba9cf59 1306 }
Lightvalve 13:747daba9cf59 1307 }
Lightvalve 14:8e7590227d22 1308
Lightvalve 13:747daba9cf59 1309 return PWM_duty;
Lightvalve 13:747daba9cf59 1310 }
jobuuu 6:df07d3491e3a 1311
Lightvalve 57:f4819de54e7a 1312
Lightvalve 57:f4819de54e7a 1313
Lightvalve 57:f4819de54e7a 1314
Lightvalve 57:f4819de54e7a 1315
jobuuu 2:a1c0a37df760 1316 /*******************************************************************************
jobuuu 2:a1c0a37df760 1317 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1318 *******************************************************************************/
jobuuu 2:a1c0a37df760 1319
Lightvalve 51:b46bed7fec80 1320 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1321 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1322 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1323 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1324 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1325 {
Lightvalve 19:23b7c1ad8683 1326 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1327
Lightvalve 21:e5f1a43ea6f9 1328 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1329 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1330 ********************************************************/
Lightvalve 13:747daba9cf59 1331
Lightvalve 57:f4819de54e7a 1332 //Encoder
Lightvalve 57:f4819de54e7a 1333 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1334 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1335 }
Lightvalve 61:bc8c8270f0ab 1336
Lightvalve 61:bc8c8270f0ab 1337 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1338 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1339 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1340 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1341 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1342 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1343 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1344
Lightvalve 67:c2812cf26c38 1345
Lightvalve 67:c2812cf26c38 1346 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1347 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1348 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1349 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1350 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1351
Lightvalve 17:1865016ca2e7 1352
Lightvalve 58:2eade98630e2 1353 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1354 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1355 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1356 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1357 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1358 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1359 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1360 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1361 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1362
Lightvalve 58:2eade98630e2 1363 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1364 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 1365 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1366 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 1367 }
Lightvalve 58:2eade98630e2 1368 }
Lightvalve 61:bc8c8270f0ab 1369
Lightvalve 58:2eade98630e2 1370 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1371 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1372 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1373 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1374 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1375 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1376 // 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 1377 //
Lightvalve 58:2eade98630e2 1378 //
Lightvalve 58:2eade98630e2 1379 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1380 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1381 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1382 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1383 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1384
Lightvalve 17:1865016ca2e7 1385
Lightvalve 21:e5f1a43ea6f9 1386 //Current
Lightvalve 21:e5f1a43ea6f9 1387 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1388 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1389 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1390 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1391 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1392 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1393 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1394
Lightvalve 57:f4819de54e7a 1395 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1396 }
Lightvalve 11:82d8768d7351 1397 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1398 }
Lightvalve 19:23b7c1ad8683 1399
Lightvalve 19:23b7c1ad8683 1400
Lightvalve 18:b8adf1582ea3 1401 int j =0;
Lightvalve 54:647072f5307a 1402 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1403 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1404 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1405 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 1406 int can_rest =0;
Lightvalve 48:889798ff9329 1407
Lightvalve 11:82d8768d7351 1408 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1409 {
Lightvalve 19:23b7c1ad8683 1410 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1411
Lightvalve 57:f4819de54e7a 1412 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1413 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1414 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1415 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1416 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1417 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1418 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1419 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1420 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1421 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1422 }
Lightvalve 50:3c630b5eba9f 1423
Lightvalve 50:3c630b5eba9f 1424 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1425 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1426 cnt_trans++;
Lightvalve 46:2694daea349b 1427 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1428 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1429 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1430 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1431 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1432 cnt_trans++;
Lightvalve 46:2694daea349b 1433 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1434 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1435 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1436 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1437 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1438 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1439 } else {
Lightvalve 58:2eade98630e2 1440 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1441 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1442 }
Lightvalve 45:35fa6884d0c6 1443
Lightvalve 50:3c630b5eba9f 1444
Lightvalve 57:f4819de54e7a 1445 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1446 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1447
Lightvalve 57:f4819de54e7a 1448 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1449 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1450 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1451 } else {
Lightvalve 57:f4819de54e7a 1452 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1453 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1454 }
Lightvalve 56:6f50d9d3bfee 1455
Lightvalve 56:6f50d9d3bfee 1456
Lightvalve 56:6f50d9d3bfee 1457
Lightvalve 57:f4819de54e7a 1458 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1459
Lightvalve 57:f4819de54e7a 1460 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1461 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1462 break;
Lightvalve 13:747daba9cf59 1463 }
Lightvalve 14:8e7590227d22 1464
Lightvalve 14:8e7590227d22 1465 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1466 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1467 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1468 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1469
Lightvalve 14:8e7590227d22 1470 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1471 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1472 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1473
Lightvalve 84:c355d3e52bf1 1474 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1475
Lightvalve 30:8d561f16383b 1476 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1477 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1478
Lightvalve 16:903b5a4433b4 1479 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1480 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1481 }
Lightvalve 13:747daba9cf59 1482 } else {
Lightvalve 58:2eade98630e2 1483 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1484 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1485 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1486 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1487
Lightvalve 170:42c938a40313 1488 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1489 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1490
Lightvalve 30:8d561f16383b 1491 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1492
Lightvalve 13:747daba9cf59 1493 }
Lightvalve 14:8e7590227d22 1494 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1495 break;
Lightvalve 19:23b7c1ad8683 1496 }
Lightvalve 14:8e7590227d22 1497
Lightvalve 50:3c630b5eba9f 1498 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1499 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1500 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1501 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1502 // }
Lightvalve 50:3c630b5eba9f 1503 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1504 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1505 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1506 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1507 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1508 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1509 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1510 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1511 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1512 // }
Lightvalve 50:3c630b5eba9f 1513 //
Lightvalve 50:3c630b5eba9f 1514 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1515 // 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 1516 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1517 //
Lightvalve 50:3c630b5eba9f 1518 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1519 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1520 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1521 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1522 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1523 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1524 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1525 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1526 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1527 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1528 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1529 //
Lightvalve 50:3c630b5eba9f 1530 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1531 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1532 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1533 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1534 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1535 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1536 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1537 //
Lightvalve 50:3c630b5eba9f 1538 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1539 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1540 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1541 // } else {
Lightvalve 50:3c630b5eba9f 1542 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1543 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1544 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1545 // }
Lightvalve 50:3c630b5eba9f 1546 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1547 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1548 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1549 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1550 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1551 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1552 // }
Lightvalve 50:3c630b5eba9f 1553 // } else {
Lightvalve 50:3c630b5eba9f 1554 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1555 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1556 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1557 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1558 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1559 // }
Lightvalve 50:3c630b5eba9f 1560 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1561 //
Lightvalve 50:3c630b5eba9f 1562 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1563 //
Lightvalve 50:3c630b5eba9f 1564 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1565 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1566 //
Lightvalve 50:3c630b5eba9f 1567 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1568 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1569 // }
Lightvalve 50:3c630b5eba9f 1570 // }
Lightvalve 50:3c630b5eba9f 1571 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1572 // break;
Lightvalve 50:3c630b5eba9f 1573 // }
Lightvalve 14:8e7590227d22 1574
Lightvalve 14:8e7590227d22 1575 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1576 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1577 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1578 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1579 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1580 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1581 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1582 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1583 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1584 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1585 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1586 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1587 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1588 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1589 }
Lightvalve 29:69f3f5445d6d 1590 cnt_findhome++;
Lightvalve 14:8e7590227d22 1591
Lightvalve 29:69f3f5445d6d 1592 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1593 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1594 } else {
Lightvalve 29:69f3f5445d6d 1595 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1596 }
Lightvalve 19:23b7c1ad8683 1597
Lightvalve 57:f4819de54e7a 1598 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1599 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1600 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1601 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1602
Lightvalve 59:f308b1656d9c 1603 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1604 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1605 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1606 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1607 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1608
Lightvalve 59:f308b1656d9c 1609 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1610 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1611
Lightvalve 34:bb2ca2fc2a8e 1612
Lightvalve 29:69f3f5445d6d 1613 } else {
Lightvalve 29:69f3f5445d6d 1614 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1615 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1616 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1617 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1618 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1619 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1620 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1621 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1622 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1623 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1624 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1625
Lightvalve 67:c2812cf26c38 1626
Lightvalve 67:c2812cf26c38 1627 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1628 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1629 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1630 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1631 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1632 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1633 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1634
Lightvalve 169:645207e160ca 1635
Lightvalve 29:69f3f5445d6d 1636 }
Lightvalve 29:69f3f5445d6d 1637 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1638 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1639 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 1640 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1641 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1642
Lightvalve 29:69f3f5445d6d 1643 // input for position control
Lightvalve 169:645207e160ca 1644
Lightvalve 67:c2812cf26c38 1645 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1646 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1647
Lightvalve 67:c2812cf26c38 1648 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1649 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1650 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1651 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1652
Lightvalve 67:c2812cf26c38 1653 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1654
Lightvalve 67:c2812cf26c38 1655 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1656 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1657 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1658
Lightvalve 67:c2812cf26c38 1659 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1660 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1661 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1662
Lightvalve 69:3995ffeaa786 1663 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1664 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 1665 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1666 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1667 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 1668 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1669 }
Lightvalve 67:c2812cf26c38 1670 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 1671 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1672
Lightvalve 67:c2812cf26c38 1673 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1674
Lightvalve 67:c2812cf26c38 1675
Lightvalve 67:c2812cf26c38 1676
Lightvalve 67:c2812cf26c38 1677 } else {
Lightvalve 67:c2812cf26c38 1678 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1679 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 1680
Lightvalve 67:c2812cf26c38 1681 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1682 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1683 } else {
Lightvalve 67:c2812cf26c38 1684 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1685 }
Lightvalve 67:c2812cf26c38 1686
Lightvalve 67:c2812cf26c38 1687 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1688
Lightvalve 67:c2812cf26c38 1689 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1690
Lightvalve 67:c2812cf26c38 1691 }
Lightvalve 67:c2812cf26c38 1692
Lightvalve 67:c2812cf26c38 1693
Lightvalve 169:645207e160ca 1694
Lightvalve 169:645207e160ca 1695
Lightvalve 59:f308b1656d9c 1696 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1697 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1698 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1699 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1700 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1701
Lightvalve 29:69f3f5445d6d 1702 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1703 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1704 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1705 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1706 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1707 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1708 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1709 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1710 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1711 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1712 }
Lightvalve 13:747daba9cf59 1713 }
Lightvalve 19:23b7c1ad8683 1714
Lightvalve 13:747daba9cf59 1715 break;
Lightvalve 13:747daba9cf59 1716 }
Lightvalve 14:8e7590227d22 1717
Lightvalve 50:3c630b5eba9f 1718 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1719 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1720 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1721 // else {
Lightvalve 50:3c630b5eba9f 1722 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1723 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1724 // }
Lightvalve 50:3c630b5eba9f 1725 // }
Lightvalve 50:3c630b5eba9f 1726 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1727 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1728 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1729 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1730 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1731 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1732 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1733 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1734 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1735 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1736 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1737 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1738 // }
Lightvalve 50:3c630b5eba9f 1739 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1740 // }
Lightvalve 50:3c630b5eba9f 1741 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1742 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1743 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1744 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1745 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1746 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1747 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1748 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1749 // 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 1750 // // 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 1751 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1752 // }
Lightvalve 50:3c630b5eba9f 1753 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1754 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1755 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1756 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1757 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1758 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1759 // 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 1760 // // 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 1761 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1762 // }
Lightvalve 50:3c630b5eba9f 1763 // }
Lightvalve 50:3c630b5eba9f 1764 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1765 //
Lightvalve 50:3c630b5eba9f 1766 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1767 //
Lightvalve 50:3c630b5eba9f 1768 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1769 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1770 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1771 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1772 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1773 // }
Lightvalve 50:3c630b5eba9f 1774 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1775 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1776 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1777 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1778 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1779 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1780 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1781 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1782 // }
Lightvalve 50:3c630b5eba9f 1783 //
Lightvalve 50:3c630b5eba9f 1784 // }
Lightvalve 50:3c630b5eba9f 1785 // break;
Lightvalve 50:3c630b5eba9f 1786 // }
Lightvalve 50:3c630b5eba9f 1787 //
Lightvalve 50:3c630b5eba9f 1788 // }
Lightvalve 14:8e7590227d22 1789 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1790 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1791 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1792 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1793 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1794
Lightvalve 14:8e7590227d22 1795 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1796 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1797 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1798 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1799 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1800
Lightvalve 38:118df027d851 1801 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1802 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1803 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1804
Lightvalve 30:8d561f16383b 1805 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1806 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1807 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1808 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1809
Lightvalve 30:8d561f16383b 1810 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1811 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1812 }
Lightvalve 13:747daba9cf59 1813 } else {
Lightvalve 57:f4819de54e7a 1814 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1815 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1816 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1817 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1818 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1819 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1820
Lightvalve 170:42c938a40313 1821 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1822 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1823 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1824
Lightvalve 30:8d561f16383b 1825 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1826 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1827 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1828 }
Lightvalve 14:8e7590227d22 1829 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1830 break;
Lightvalve 13:747daba9cf59 1831 }
Lightvalve 14:8e7590227d22 1832
Lightvalve 50:3c630b5eba9f 1833 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1834 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1835 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1836 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1837 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1838 // }
Lightvalve 50:3c630b5eba9f 1839 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1840 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1841 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1842 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1843 // }
Lightvalve 50:3c630b5eba9f 1844 // } else {
Lightvalve 50:3c630b5eba9f 1845 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1846 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1847 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1848 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1849 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1850 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1851 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1852 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1853 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1854 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1855 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1856 //
Lightvalve 50:3c630b5eba9f 1857 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1858 //
Lightvalve 50:3c630b5eba9f 1859 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1860 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1861 // }
Lightvalve 50:3c630b5eba9f 1862 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1863 // break;
Lightvalve 50:3c630b5eba9f 1864 // }
Lightvalve 19:23b7c1ad8683 1865
Lightvalve 50:3c630b5eba9f 1866 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1867 // 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 1868 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1869 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1870 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1871 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1872 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1873 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1874 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1875 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1876 // }
Lightvalve 50:3c630b5eba9f 1877 // break;
Lightvalve 50:3c630b5eba9f 1878 // }
Lightvalve 14:8e7590227d22 1879
Lightvalve 14:8e7590227d22 1880 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1881 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1882 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1883
Lightvalve 14:8e7590227d22 1884 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1885 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1886 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1887 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1888 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1889 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1890 data_num = 0;
Lightvalve 14:8e7590227d22 1891 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1892 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1893 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1894 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1895 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1896 } else {
Lightvalve 13:747daba9cf59 1897 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1898 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1899 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1900 }
Lightvalve 14:8e7590227d22 1901
Lightvalve 17:1865016ca2e7 1902 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1903 int i;
Lightvalve 13:747daba9cf59 1904 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1905 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1906 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1907 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1908 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1909 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1910 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1911 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1912 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1913 }
Lightvalve 13:747daba9cf59 1914 }
Lightvalve 170:42c938a40313 1915 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1916 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1917 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1918 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1919 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1920 }
Lightvalve 13:747daba9cf59 1921 ID_index = 0;
Lightvalve 57:f4819de54e7a 1922 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1923 }
Lightvalve 14:8e7590227d22 1924
Lightvalve 14:8e7590227d22 1925
Lightvalve 13:747daba9cf59 1926 break;
Lightvalve 13:747daba9cf59 1927 }
Lightvalve 14:8e7590227d22 1928
Lightvalve 14:8e7590227d22 1929 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1930 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1931 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1932 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1933 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1934 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1935 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1936 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1937 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1938 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1939 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1940 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1941 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1942 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1943 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1944 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 1945 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1946 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1947 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1948 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1949 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1950 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 1951 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1952 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1953 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1954 data_num = 0;
Lightvalve 14:8e7590227d22 1955
Lightvalve 30:8d561f16383b 1956 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1957 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1958 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1959
Lightvalve 30:8d561f16383b 1960 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1961 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1962 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1963
Lightvalve 30:8d561f16383b 1964 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1965 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1966 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1967 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1968
Lightvalve 60:64181f1d3e60 1969 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1970 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1971 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1972 DZ_case = -1;
Lightvalve 14:8e7590227d22 1973 } else {
Lightvalve 13:747daba9cf59 1974 DZ_case = 0;
Lightvalve 13:747daba9cf59 1975 }
Lightvalve 61:bc8c8270f0ab 1976
Lightvalve 60:64181f1d3e60 1977 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1978
Lightvalve 13:747daba9cf59 1979 first_check = 1;
Lightvalve 13:747daba9cf59 1980 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1981 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1982 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1983 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1984 DZ_index = 1;
Lightvalve 14:8e7590227d22 1985
Lightvalve 13:747daba9cf59 1986 }
Lightvalve 19:23b7c1ad8683 1987 } else {
Lightvalve 14:8e7590227d22 1988 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1989 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1990 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 1991 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1992 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1993 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1994 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1995 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1996 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1997 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1998 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1999 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2000 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2001 }
Lightvalve 14:8e7590227d22 2002 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2003
Lightvalve 30:8d561f16383b 2004 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2005 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2006 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2007
Lightvalve 14:8e7590227d22 2008 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2009 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2010 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2011 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2012 } else {
Lightvalve 13:747daba9cf59 2013 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2014 }
Lightvalve 14:8e7590227d22 2015
Lightvalve 13:747daba9cf59 2016 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2017 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2018 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2019 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2020 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2021 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2022 DZ_index = 1;
Lightvalve 13:747daba9cf59 2023 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2024 }
Lightvalve 13:747daba9cf59 2025 }
Lightvalve 14:8e7590227d22 2026 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2027 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2028 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 2029 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2030 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2031 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2032 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2033 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2034 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2035 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2036 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2037 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2038 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2039 }
Lightvalve 14:8e7590227d22 2040 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2041
Lightvalve 30:8d561f16383b 2042 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2043 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2044 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2045 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2046 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2047
Lightvalve 14:8e7590227d22 2048 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2049 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2050 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2051 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2052 } else {
Lightvalve 60:64181f1d3e60 2053 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2054 }
Lightvalve 14:8e7590227d22 2055
Lightvalve 13:747daba9cf59 2056 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2057 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2058 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2059 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2060 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2061 first_check = 0;
Lightvalve 33:91b17819ec30 2062 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2063 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2064
Lightvalve 170:42c938a40313 2065 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2066 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2067 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2068 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2069
Lightvalve 60:64181f1d3e60 2070 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2071 DZ_index = 1;
Lightvalve 13:747daba9cf59 2072 }
Lightvalve 13:747daba9cf59 2073 }
Lightvalve 14:8e7590227d22 2074 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2075 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2076 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 2077 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2078 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2079 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2080 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2081 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2082 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2083 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2084 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2085 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2086 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2087 }
Lightvalve 14:8e7590227d22 2088 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2089
Lightvalve 30:8d561f16383b 2090 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2091 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2092 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2093
Lightvalve 14:8e7590227d22 2094 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2095 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2096 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2097 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2098 } else {
Lightvalve 13:747daba9cf59 2099 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2100 }
Lightvalve 13:747daba9cf59 2101 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2102 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2103 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2104 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2105 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2106 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2107 DZ_index = 1;
Lightvalve 13:747daba9cf59 2108 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2109 }
Lightvalve 13:747daba9cf59 2110 }
Lightvalve 14:8e7590227d22 2111 } else {
Lightvalve 30:8d561f16383b 2112 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2113 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 2114 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2115 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2116 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2117 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2118 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2119 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2120 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2121 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2122 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2123 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2124 }
Lightvalve 14:8e7590227d22 2125 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2126
Lightvalve 30:8d561f16383b 2127 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2128 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2129 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2130 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2131 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2132
Lightvalve 60:64181f1d3e60 2133 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2134 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2135 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2136 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2137 } else {
Lightvalve 13:747daba9cf59 2138 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2139 }
Lightvalve 14:8e7590227d22 2140
Lightvalve 13:747daba9cf59 2141 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2142 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2143 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2144 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2145 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2146 first_check = 0;
Lightvalve 33:91b17819ec30 2147 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2148 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2149
Lightvalve 170:42c938a40313 2150 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2151 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2152 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2153 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2154
Lightvalve 57:f4819de54e7a 2155 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2156 DZ_index = 1;
Lightvalve 13:747daba9cf59 2157 }
Lightvalve 13:747daba9cf59 2158 }
Lightvalve 13:747daba9cf59 2159 }
Lightvalve 14:8e7590227d22 2160 }
Lightvalve 13:747daba9cf59 2161 break;
Lightvalve 13:747daba9cf59 2162 }
Lightvalve 14:8e7590227d22 2163
Lightvalve 14:8e7590227d22 2164 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2165 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2166 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2167 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2168 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2169 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2170 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2171 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2172 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2173 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2174 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2175 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2176 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2177 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2178 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2179 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2180 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2181 first_check = 1;
Lightvalve 13:747daba9cf59 2182 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2183 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2184 ID_index = 0;
Lightvalve 13:747daba9cf59 2185 max_check = 0;
Lightvalve 13:747daba9cf59 2186 min_check = 0;
Lightvalve 13:747daba9cf59 2187 }
Lightvalve 14:8e7590227d22 2188 } else {
Lightvalve 30:8d561f16383b 2189 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2190 //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 2191 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2192 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2193 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2194 data_num = 0;
Lightvalve 57:f4819de54e7a 2195 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2196
Lightvalve 14:8e7590227d22 2197 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2198 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2199 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2200 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2201 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2202 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2203 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2204 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2205 one_period_end = 1;
Lightvalve 13:747daba9cf59 2206 }
Lightvalve 30:8d561f16383b 2207 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2208 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2209 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2210 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2211 }
Lightvalve 14:8e7590227d22 2212
Lightvalve 14:8e7590227d22 2213 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2214 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2215 max_check = 1;
Lightvalve 14:8e7590227d22 2216 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2217 min_check = 1;
Lightvalve 13:747daba9cf59 2218 }
Lightvalve 13:747daba9cf59 2219 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2220
Lightvalve 13:747daba9cf59 2221 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2222 one_period_end = 0;
Lightvalve 13:747daba9cf59 2223 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2224 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2225 }
Lightvalve 14:8e7590227d22 2226
Lightvalve 14:8e7590227d22 2227 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2228
Lightvalve 13:747daba9cf59 2229 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2230 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2231 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2232 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2233 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2234 }
Lightvalve 13:747daba9cf59 2235 ID_index = 0;
Lightvalve 13:747daba9cf59 2236 first_check = 0;
Lightvalve 13:747daba9cf59 2237 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2238 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2239 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2240 }
Lightvalve 13:747daba9cf59 2241 }
Lightvalve 13:747daba9cf59 2242 break;
Lightvalve 13:747daba9cf59 2243 }
Lightvalve 58:2eade98630e2 2244
Lightvalve 57:f4819de54e7a 2245 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2246 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2247 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2248 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2249 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2250 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2251 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2252 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2253 }
Lightvalve 57:f4819de54e7a 2254 break;
Lightvalve 57:f4819de54e7a 2255 }
Lightvalve 58:2eade98630e2 2256
Lightvalve 169:645207e160ca 2257 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2258 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2259 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2260 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2261 } else {
Lightvalve 169:645207e160ca 2262 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2263 }
Lightvalve 169:645207e160ca 2264 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2265 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2266 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2267 } else {
Lightvalve 169:645207e160ca 2268 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2269 }
Lightvalve 58:2eade98630e2 2270
Lightvalve 169:645207e160ca 2271 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2272 cnt_freq_test++;
Lightvalve 169:645207e160ca 2273 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2274 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2275 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2276 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2277 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2278 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2279 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2280 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2281 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2282 }
Lightvalve 169:645207e160ca 2283 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2284 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2285
Lightvalve 169:645207e160ca 2286 }
Lightvalve 169:645207e160ca 2287 break;
Lightvalve 169:645207e160ca 2288 }
Lightvalve 169:645207e160ca 2289 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2290 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2291 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2292 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2293 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2294 // }
Lightvalve 169:645207e160ca 2295 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2296 // }
Lightvalve 169:645207e160ca 2297
Lightvalve 169:645207e160ca 2298 break;
Lightvalve 169:645207e160ca 2299 }
Lightvalve 169:645207e160ca 2300 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2301 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2302 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2303 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2304 break;
Lightvalve 169:645207e160ca 2305 }
Lightvalve 170:42c938a40313 2306
Lightvalve 169:645207e160ca 2307 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2308 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2309 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2310 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2311 } else {
Lightvalve 169:645207e160ca 2312 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2313 }
Lightvalve 169:645207e160ca 2314 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2315 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2316 } else {
Lightvalve 169:645207e160ca 2317 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2318 }
Lightvalve 169:645207e160ca 2319 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2320 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2321 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2322 } else {
Lightvalve 169:645207e160ca 2323 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2324 }
Lightvalve 169:645207e160ca 2325
Lightvalve 169:645207e160ca 2326 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2327 cnt_step_test++;
Lightvalve 170:42c938a40313 2328 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2329 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2330 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2331 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2332 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2333 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2334 }
Lightvalve 169:645207e160ca 2335 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2336 // {
Lightvalve 169:645207e160ca 2337 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2338 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2339 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2340 // }
Lightvalve 170:42c938a40313 2341
Lightvalve 169:645207e160ca 2342 break;
Lightvalve 169:645207e160ca 2343 }
Lightvalve 57:f4819de54e7a 2344
Lightvalve 57:f4819de54e7a 2345 default:
Lightvalve 57:f4819de54e7a 2346 break;
Lightvalve 57:f4819de54e7a 2347 }
Lightvalve 57:f4819de54e7a 2348
Lightvalve 57:f4819de54e7a 2349 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2350
Lightvalve 57:f4819de54e7a 2351 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2352 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2353 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2354 break;
Lightvalve 57:f4819de54e7a 2355 }
Lightvalve 57:f4819de54e7a 2356
Lightvalve 57:f4819de54e7a 2357 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2358 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2359 ////For Test LIMC//////////////////////////////////////////
Lightvalve 225:278b48b86f27 2360 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 225:278b48b86f27 2361 for(int i=0; i<9; i++){
Lightvalve 225:278b48b86f27 2362 valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 225:278b48b86f27 2363 }
Lightvalve 225:278b48b86f27 2364 valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 225:278b48b86f27 2365 VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2366 ////////////////////////////////////////////////////////////
Lightvalve 225:278b48b86f27 2367
Lightvalve 59:f308b1656d9c 2368 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2369 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2370 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2371 } else {
Lightvalve 67:c2812cf26c38 2372 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2373 }
Lightvalve 57:f4819de54e7a 2374 break;
Lightvalve 57:f4819de54e7a 2375 }
Lightvalve 57:f4819de54e7a 2376
Lightvalve 57:f4819de54e7a 2377 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2378
Lightvalve 57:f4819de54e7a 2379 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2380 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2381 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2382 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2383
Lightvalve 67:c2812cf26c38 2384 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2385 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2386 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2387 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2388
Lightvalve 139:15621998925b 2389 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2390 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2391
Lightvalve 57:f4819de54e7a 2392 // torque feedback
Lightvalve 67:c2812cf26c38 2393 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2394 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2395
Lightvalve 57:f4819de54e7a 2396 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2397
Lightvalve 57:f4819de54e7a 2398 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2399 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2400 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2401
Lightvalve 57:f4819de54e7a 2402 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2403 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2404 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2405
Lightvalve 69:3995ffeaa786 2406 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2407 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2408 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2409 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2410 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2411 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2412 }
Lightvalve 57:f4819de54e7a 2413 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 2414 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2415
Lightvalve 57:f4819de54e7a 2416 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2417 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2418 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2419 // 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 2420 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2421 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2422 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2423 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 2424 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2425 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2426 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2427 }
Lightvalve 57:f4819de54e7a 2428 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 2429 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2430 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2431 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2432 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2433
Lightvalve 57:f4819de54e7a 2434 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2435
Lightvalve 67:c2812cf26c38 2436 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2437 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2438 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2439 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2440 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2441 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2442 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2443 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2444 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2445 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2446 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2447 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2448 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2449 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2450 }
Lightvalve 67:c2812cf26c38 2451 }
Lightvalve 57:f4819de54e7a 2452
Lightvalve 57:f4819de54e7a 2453 } else {
Lightvalve 57:f4819de54e7a 2454 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2455 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2456 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2457
Lightvalve 209:ebc69d6ee6f1 2458 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 2459
Lightvalve 72:3436ce769b1e 2460 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 2461
Lightvalve 72:3436ce769b1e 2462 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2463
Lightvalve 169:645207e160ca 2464
Lightvalve 72:3436ce769b1e 2465 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2466 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2467 } else {
Lightvalve 72:3436ce769b1e 2468 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2469 }
Lightvalve 57:f4819de54e7a 2470
Lightvalve 57:f4819de54e7a 2471 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2472 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2473 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2474 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2475 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2476 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2477 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2478 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2479 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2480 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2481 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2482 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2483 }
Lightvalve 57:f4819de54e7a 2484 }
Lightvalve 61:bc8c8270f0ab 2485
Lightvalve 57:f4819de54e7a 2486 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2487
Lightvalve 67:c2812cf26c38 2488 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2489 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2490
Lightvalve 57:f4819de54e7a 2491 }
Lightvalve 169:645207e160ca 2492
Lightvalve 72:3436ce769b1e 2493 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2494
Lightvalve 133:22ab22818e01 2495
Lightvalve 57:f4819de54e7a 2496 break;
Lightvalve 57:f4819de54e7a 2497 }
Lightvalve 58:2eade98630e2 2498
Lightvalve 57:f4819de54e7a 2499 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2500 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2501 break;
Lightvalve 57:f4819de54e7a 2502 }
Lightvalve 169:645207e160ca 2503
Lightvalve 138:a843f32ced33 2504 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2505
Lightvalve 169:645207e160ca 2506
Lightvalve 139:15621998925b 2507 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 2508 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 2509
Lightvalve 170:42c938a40313 2510 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2511
Lightvalve 218:066030f7951f 2512 //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 2513 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2514
Lightvalve 138:a843f32ced33 2515 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2516 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2517 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2518 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2519 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2520 } else {
Lightvalve 138:a843f32ced33 2521 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2522 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2523 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2524 } else {
Lightvalve 138:a843f32ced33 2525 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2526 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2527 }
Lightvalve 138:a843f32ced33 2528 }
Lightvalve 138:a843f32ced33 2529 float tau = 0.01f;
Lightvalve 142:43026242815a 2530 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 2531
Lightvalve 138:a843f32ced33 2532 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2533 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2534 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2535 } else {
Lightvalve 138:a843f32ced33 2536 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2537 }
Lightvalve 138:a843f32ced33 2538 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2539 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2540
Lightvalve 139:15621998925b 2541 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2542
Lightvalve 138:a843f32ced33 2543 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2544 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2545 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2546
Lightvalve 138:a843f32ced33 2547 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2548 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2549
Lightvalve 212:ec41f1449ef9 2550 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2551 float k4 = 10.0f;
Lightvalve 142:43026242815a 2552 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2553 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2554 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2555 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2556 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2557
Lightvalve 139:15621998925b 2558 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2559 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2560 } else {
Lightvalve 139:15621998925b 2561 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2562 }
Lightvalve 169:645207e160ca 2563
Lightvalve 138:a843f32ced33 2564 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2565 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2566 float V_input = 0.0f;
Lightvalve 139:15621998925b 2567 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 2568 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2569 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2570 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2571
Lightvalve 218:066030f7951f 2572 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2573 // 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 2574 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2575 //
Lightvalve 218:066030f7951f 2576 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2577 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2578
Lightvalve 218:066030f7951f 2579 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2580 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2581 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2582
Lightvalve 218:066030f7951f 2583 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2584 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2585
Lightvalve 169:645207e160ca 2586 break;
Lightvalve 138:a843f32ced33 2587 }
Lightvalve 171:bfc1fd2629d8 2588
Lightvalve 170:42c938a40313 2589 case MODE_RL: {
Lightvalve 170:42c938a40313 2590 //t.reset();
Lightvalve 170:42c938a40313 2591 //t.start();
Lightvalve 170:42c938a40313 2592
Lightvalve 170:42c938a40313 2593 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2594 // else LED = 0;
Lightvalve 170:42c938a40313 2595
Lightvalve 170:42c938a40313 2596 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2597 //Gather Data on each loop
Lightvalve 170:42c938a40313 2598 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2599 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2600 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2601 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2602 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2603 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2604 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2605 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2606 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2607 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2608 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2609 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2610 }
Lightvalve 173:68c7914679ec 2611 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2612 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2613 }
Lightvalve 173:68c7914679ec 2614 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2615 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2616 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2617 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2618 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2619
Lightvalve 179:d5377766d7ea 2620 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2621 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2622 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2623 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2624 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2625 }
Lightvalve 171:bfc1fd2629d8 2626
Lightvalve 170:42c938a40313 2627 RL_timer++;
Lightvalve 170:42c938a40313 2628
Lightvalve 170:42c938a40313 2629
Lightvalve 170:42c938a40313 2630 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2631 RL_timer = 0;
Lightvalve 170:42c938a40313 2632 batch++;
Lightvalve 170:42c938a40313 2633 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2634 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2635 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2636 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2637 }
Lightvalve 170:42c938a40313 2638 Update_Case = 1;
Lightvalve 170:42c938a40313 2639 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2640 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2641
Lightvalve 170:42c938a40313 2642 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2643 batch = 0;
Lightvalve 170:42c938a40313 2644 RL_timer = 0;
Lightvalve 170:42c938a40313 2645 Update_Case = 2;
Lightvalve 170:42c938a40313 2646 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2647 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2648 }
Lightvalve 170:42c938a40313 2649 }
Lightvalve 170:42c938a40313 2650 }
Lightvalve 170:42c938a40313 2651
Lightvalve 170:42c938a40313 2652 else {
Lightvalve 170:42c938a40313 2653 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2654 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2655 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2656 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2657 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2658 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2659 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2660 //logging1 = action;
Lightvalve 179:d5377766d7ea 2661 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2662 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2663 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2664 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2665 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2666 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2667 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2668 }
Lightvalve 170:42c938a40313 2669
Lightvalve 170:42c938a40313 2670 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2671 }
Lightvalve 170:42c938a40313 2672
Lightvalve 170:42c938a40313 2673 //t.stop();
Lightvalve 170:42c938a40313 2674 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2675
Lightvalve 170:42c938a40313 2676 break;
Lightvalve 170:42c938a40313 2677 }
Lightvalve 14:8e7590227d22 2678
Lightvalve 12:6f2531038ea4 2679 default:
Lightvalve 12:6f2531038ea4 2680 break;
Lightvalve 12:6f2531038ea4 2681 }
Lightvalve 14:8e7590227d22 2682
Lightvalve 57:f4819de54e7a 2683
Lightvalve 57:f4819de54e7a 2684 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2685
Lightvalve 57:f4819de54e7a 2686 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2687 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2688 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2689 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2690 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2691 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2692
Lightvalve 57:f4819de54e7a 2693 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2694 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2695
Lightvalve 57:f4819de54e7a 2696
Lightvalve 57:f4819de54e7a 2697 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2698 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2699 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2700 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2701 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2702 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2703
Lightvalve 57:f4819de54e7a 2704 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2705 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2706 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2707 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2708 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2709 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2710 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2711 }
Lightvalve 57:f4819de54e7a 2712
Lightvalve 57:f4819de54e7a 2713 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2714
Lightvalve 67:c2812cf26c38 2715 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2716 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2717 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2718 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2719 // 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 2720 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2721 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2722
Lightvalve 57:f4819de54e7a 2723 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2724 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2725 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2726 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2727 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2728 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2729 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2730 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2731 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2732 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2733 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2734 }
Lightvalve 57:f4819de54e7a 2735 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2736 } else {
Lightvalve 57:f4819de54e7a 2737 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2738 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2739 }
Lightvalve 57:f4819de54e7a 2740
Lightvalve 57:f4819de54e7a 2741 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2742 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2743 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2744 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2745 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2746 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2747 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2748
Lightvalve 57:f4819de54e7a 2749 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2750
Lightvalve 57:f4819de54e7a 2751 } else {
Lightvalve 57:f4819de54e7a 2752 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2753 }
Lightvalve 57:f4819de54e7a 2754
Lightvalve 57:f4819de54e7a 2755 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2756 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2757 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2758
Lightvalve 57:f4819de54e7a 2759 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2760 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2761 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2762 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2763 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2764 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2765 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2766 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2767
Lightvalve 89:a7b45368ea0f 2768 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2769 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2770 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2771 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2772
Lightvalve 135:79885a39c161 2773 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2774 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2775 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2776 }
Lightvalve 169:645207e160ca 2777
Lightvalve 67:c2812cf26c38 2778 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2779 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2780 // else V_out = V_out;
Lightvalve 169:645207e160ca 2781
jobuuu 7:e9086c72bb22 2782 /*******************************************************
jobuuu 7:e9086c72bb22 2783 *** PWM
jobuuu 7:e9086c72bb22 2784 ********************************************************/
Lightvalve 169:645207e160ca 2785 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2786 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2787 }
Lightvalve 169:645207e160ca 2788
Lightvalve 49:e7bcfc244d40 2789 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2790 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2791 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2792 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2793 }
Lightvalve 49:e7bcfc244d40 2794 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2795
Lightvalve 19:23b7c1ad8683 2796 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2797 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2798 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2799
Lightvalve 30:8d561f16383b 2800 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2801 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2802 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2803 } else {
jobuuu 2:a1c0a37df760 2804 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2805 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2806 }
Lightvalve 13:747daba9cf59 2807
jobuuu 1:e04e563be5ce 2808 //pwm
Lightvalve 30:8d561f16383b 2809 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2810 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2811
Lightvalve 61:bc8c8270f0ab 2812
Lightvalve 57:f4819de54e7a 2813 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 2814
Lightvalve 54:647072f5307a 2815 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2816 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2817 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2818 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2819 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2820 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2821 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 2822 }
Lightvalve 57:f4819de54e7a 2823 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2824 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2825 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 2826 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2827 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 2828 }
Lightvalve 52:8ea76864368a 2829 }
Lightvalve 52:8ea76864368a 2830 }
Lightvalve 56:6f50d9d3bfee 2831 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2832 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2833 }
Lightvalve 58:2eade98630e2 2834
Lightvalve 58:2eade98630e2 2835
Lightvalve 171:bfc1fd2629d8 2836 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2837 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2838 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2839 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2840 } else {
Lightvalve 131:d08121ac87ba 2841 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2842 }
Lightvalve 169:645207e160ca 2843 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2844 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2845 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2846 } else {
Lightvalve 169:645207e160ca 2847 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2848 }
Lightvalve 169:645207e160ca 2849
Lightvalve 169:645207e160ca 2850
Lightvalve 169:645207e160ca 2851 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2852 }
Lightvalve 58:2eade98630e2 2853
Lightvalve 57:f4819de54e7a 2854 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 2855 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2856 ;
Lightvalve 57:f4819de54e7a 2857 }
Lightvalve 58:2eade98630e2 2858
Lightvalve 169:645207e160ca 2859 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2860 //PWM
Lightvalve 209:ebc69d6ee6f1 2861 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 209:ebc69d6ee6f1 2862 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2863 }
Lightvalve 179:d5377766d7ea 2864
Lightvalve 56:6f50d9d3bfee 2865 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2866 //valve position
Lightvalve 212:ec41f1449ef9 2867 //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
Lightvalve 218:066030f7951f 2868 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 54:647072f5307a 2869 }
Lightvalve 20:806196fda269 2870
Lightvalve 54:647072f5307a 2871 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 2872 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 2873 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 2874 // }
Lightvalve 54:647072f5307a 2875 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 2876 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 2877 //}
Lightvalve 52:8ea76864368a 2878
Lightvalve 54:647072f5307a 2879 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2880 }
Lightvalve 54:647072f5307a 2881 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 2882
Lightvalve 20:806196fda269 2883 }
Lightvalve 52:8ea76864368a 2884 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2885
Lightvalve 58:2eade98630e2 2886 }