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main.cpp@162:9dd4f35e9de8, 2020-10-12 (annotated)
- Committer:
- Lightvalve
- Date:
- Mon Oct 12 10:48:56 2020 +0000
- Revision:
- 162:9dd4f35e9de8
- Parent:
- 161:a3b26117104c
- Child:
- 163:ba1290eb0341
201012-3-1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 161:a3b26117104c | 1 | //201012-3 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 65:a2d7c63419c2 | 11 | #include "FlashWriter.h" |
Lightvalve | 61:bc8c8270f0ab | 12 | |
Lightvalve | 61:bc8c8270f0ab | 13 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 14 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 15 | |
Lightvalve | 31:66738bfecec5 | 16 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 17 | |
jobuuu | 7:e9086c72bb22 | 18 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 20 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 22 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 26 | |
Lightvalve | 24:ef6e1092e9e6 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 29 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 30 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 31 | |
jobuuu | 7:e9086c72bb22 | 32 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 33 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 34 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 35 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 36 | |
jobuuu | 7:e9086c72bb22 | 37 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 38 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 39 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 40 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 41 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 42 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 43 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 44 | |
jobuuu | 7:e9086c72bb22 | 45 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 46 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 50 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 51 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 52 | { |
Lightvalve | 11:82d8768d7351 | 53 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 54 | } |
jobuuu | 2:a1c0a37df760 | 55 | |
jobuuu | 7:e9086c72bb22 | 56 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 57 | State pos; |
jobuuu | 7:e9086c72bb22 | 58 | State vel; |
jobuuu | 7:e9086c72bb22 | 59 | State Vout; |
jobuuu | 7:e9086c72bb22 | 60 | State torq; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 62 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 63 | State cur; |
Lightvalve | 14:8e7590227d22 | 64 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 65 | |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 70 | |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 72 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 73 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 74 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | |
Lightvalve | 61:bc8c8270f0ab | 83 | |
Lightvalve | 61:bc8c8270f0ab | 84 | |
Lightvalve | 61:bc8c8270f0ab | 85 | |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | |
Lightvalve | 12:6f2531038ea4 | 90 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 91 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 92 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 93 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 94 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 100 | }; |
Lightvalve | 12:6f2531038ea4 | 101 | |
Lightvalve | 12:6f2531038ea4 | 102 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 103 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 104 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 105 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 106 | //control mode |
Lightvalve | 12:6f2531038ea4 | 107 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 108 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 109 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 110 | |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 112 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 12:6f2531038ea4 | 113 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 114 | |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 121 | |
Lightvalve | 14:8e7590227d22 | 122 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 124 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 125 | |
Lightvalve | 12:6f2531038ea4 | 126 | //utility |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 130 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 134 | |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 138 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 139 | }; |
Lightvalve | 12:6f2531038ea4 | 140 | |
Lightvalve | 65:a2d7c63419c2 | 141 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 142 | { |
Lightvalve | 65:a2d7c63419c2 | 143 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 144 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 145 | |
Lightvalve | 65:a2d7c63419c2 | 146 | /** Configure the main internal regulator output voltage |
Lightvalve | 65:a2d7c63419c2 | 147 | */ |
Lightvalve | 65:a2d7c63419c2 | 148 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 65:a2d7c63419c2 | 149 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 65:a2d7c63419c2 | 150 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 151 | */ |
Lightvalve | 65:a2d7c63419c2 | 152 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 65:a2d7c63419c2 | 154 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 65:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 65:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 65:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 65:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 65:a2d7c63419c2 | 161 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 65:a2d7c63419c2 | 162 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 163 | { |
Lightvalve | 65:a2d7c63419c2 | 164 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 165 | } |
Lightvalve | 65:a2d7c63419c2 | 166 | /** Activate the Over-Drive mode |
Lightvalve | 65:a2d7c63419c2 | 167 | */ |
Lightvalve | 65:a2d7c63419c2 | 168 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 169 | { |
Lightvalve | 65:a2d7c63419c2 | 170 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 171 | } |
Lightvalve | 65:a2d7c63419c2 | 172 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 173 | */ |
Lightvalve | 65:a2d7c63419c2 | 174 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 65:a2d7c63419c2 | 175 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 65:a2d7c63419c2 | 176 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 65:a2d7c63419c2 | 177 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 65:a2d7c63419c2 | 179 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 180 | |
Lightvalve | 65:a2d7c63419c2 | 181 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 182 | { |
Lightvalve | 65:a2d7c63419c2 | 183 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 184 | } |
Lightvalve | 65:a2d7c63419c2 | 185 | } |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 99:7bbcb3c0fb06 | 187 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 189 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 190 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 191 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 192 | |
Lightvalve | 73:f80dc3970c99 | 193 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 194 | |
Lightvalve | 112:8dcb1600cb90 | 195 | const float h1[num_input][16] = { |
Lightvalve | 161:a3b26117104c | 196 | {-1.8954135179519653f,2.061840295791626f,0.12024858593940735f,0.41609469056129456f,-2.275137424468994f,1.83769690990448f,-0.1628284603357315f,1.0505378246307373f,-0.274306058883667f,-0.7378050684928894f,-0.21210439503192902f,-0.5697677731513977f,-0.5173769593238831f,-0.5410825610160828f,-0.2396446317434311f,-0.6752611398696899f}, |
Lightvalve | 161:a3b26117104c | 197 | {-1.3933558464050293f,1.460331916809082f,-0.36603355407714844f,0.0721883550286293f,-1.8067704439163208f,1.098659873008728f,-0.3777896761894226f,0.6261667013168335f,-0.0824921503663063f,-0.31913089752197266f,-0.24640965461730957f,-0.35485702753067017f,0.046066828072071075f,-0.7429036498069763f,-0.1953967958688736f,-0.2680785655975342f}, |
Lightvalve | 161:a3b26117104c | 198 | {-0.7722920179367065f,0.7257173657417297f,0.33912619948387146f,-0.3091577887535095f,-0.9742792248725891f,0.5726296901702881f,0.2676515281200409f,0.42674878239631653f,-0.158430278301239f,-0.08262304961681366f,-0.31468620896339417f,-0.26437973976135254f,-0.07669703662395477f,0.008433454670011997f,0.05209478735923767f,-0.3424776792526245f}, |
Lightvalve | 161:a3b26117104c | 199 | {0.05622508004307747f,-0.31402432918548584f,0.3703531324863434f,0.25495287775993347f,-0.25150421261787415f,-0.5527926087379456f,-0.10795548558235168f,0.21758970618247986f,0.012896922416985035f,0.3552055358886719f,0.09927070140838623f,0.25469693541526794f,-0.12730878591537476f,0.23795653879642487f,-0.27597576379776f,0.11622545123100281f}, |
Lightvalve | 161:a3b26117104c | 200 | {1.5033966302871704f,-1.1667131185531616f,-0.004794687032699585f,0.16070765256881714f,0.7266594767570496f,-1.289041519165039f,0.12058994174003601f,-0.9748788475990295f,0.018951361998915672f,0.9530174732208252f,0.3340449929237366f,0.16443736851215363f,0.06441787630319595f,0.7232279777526855f,-0.36018112301826477f,-0.00606316514313221f}, |
Lightvalve | 161:a3b26117104c | 201 | {2.9732558727264404f,-2.9658124446868896f,0.20290347933769226f,0.14411549270153046f,2.2027065753936768f,-2.835205316543579f,0.15389427542686462f,-2.5416502952575684f,0.02208642102777958f,2.2413923740386963f,-0.22055046260356903f,0.533970296382904f,-0.015460304915904999f,1.2844529151916504f,-0.38513508439064026f,0.16354717314243317f}, |
Lightvalve | 161:a3b26117104c | 202 | {0.35365065932273865f,-0.25539088249206543f,-0.2331579178571701f,-0.4873920679092407f,0.5935637950897217f,0.0767158642411232f,0.05604562163352966f,-0.9977914094924927f,0.3328070640563965f,0.49315786361694336f,0.1441093385219574f,0.2963859736919403f,-0.24228647351264954f,0.36950021982192993f,-0.14554673433303833f,-0.19456599652767181f}, |
Lightvalve | 161:a3b26117104c | 203 | {0.0459238700568676f,-0.23025165498256683f,-0.24806702136993408f,0.007744771894067526f,0.27619168162345886f,-0.027614563703536987f,-0.16704979538917542f,-0.8063437938690186f,0.018813233822584152f,0.41029712557792664f,0.10153167694807053f,-0.10331901162862778f,0.27167901396751404f,0.11213353276252747f,0.04009982943534851f,0.011260374449193478f}, |
Lightvalve | 161:a3b26117104c | 204 | {0.22730864584445953f,0.26934972405433655f,0.09550115466117859f,-0.45261427760124207f,0.3679940700531006f,0.13872577250003815f,-0.06753402948379517f,-0.9603257775306702f,-0.2574649155139923f,0.8211387395858765f,-0.27366748452186584f,0.2584075927734375f,0.14615985751152039f,0.16659781336784363f,-0.2847418785095215f,0.03212627395987511f}, |
Lightvalve | 161:a3b26117104c | 205 | {-0.03593531996011734f,-0.23766881227493286f,0.17205187678337097f,-0.23176325857639313f,0.42048585414886475f,0.33273908495903015f,-0.2786858379840851f,-0.40179765224456787f,-0.01258982066065073f,-0.19880501925945282f,-0.00432794401422143f,-0.5538689494132996f,0.2873327434062958f,-0.3315616846084595f,0.3247623145580292f,-0.17453411221504211f}, |
Lightvalve | 161:a3b26117104c | 206 | {0.23057182133197784f,0.1823364645242691f,0.34649983048439026f,0.11515120416879654f,-0.19699575006961823f,0.3659662902355194f,-0.1895401030778885f,0.45419904589653015f,-0.4028747081756592f,-0.6327208280563354f,0.32801246643066406f,-0.47007516026496887f,-0.11403506249189377f,-0.332431435585022f,0.24870619177818298f,-0.5064005255699158f}, |
Lightvalve | 161:a3b26117104c | 207 | {-0.6944490671157837f,-0.21209459006786346f,-0.3757385015487671f,-0.13702787458896637f,-0.6265223026275635f,0.5131163001060486f,0.1429324448108673f,1.6821873188018799f,-0.14448182284832f,-1.52317214012146f,-0.3825119137763977f,-0.14606429636478424f,0.09395758807659149f,-0.4861217439174652f,0.09779238700866699f,-0.2896309792995453f}, |
Lightvalve | 161:a3b26117104c | 208 | {-0.2800028324127197f,-0.06282144784927368f,0.18496140837669373f,0.030517641454935074f,0.6801534295082092f,0.4457685649394989f,-0.22405625879764557f,0.8344350457191467f,-0.16424080729484558f,-0.6935765743255615f,-0.0980188176035881f,-0.423651784658432f,0.03238815814256668f,-0.20197975635528564f,-0.2075144499540329f,-0.5701436996459961f}, |
Lightvalve | 161:a3b26117104c | 209 | {-0.2293253391981125f,-0.09040852636098862f,0.38466766476631165f,-0.19960886240005493f,0.15400516986846924f,-0.09849456697702408f,-0.2982172966003418f,0.12253472954034805f,-0.11454647034406662f,-0.35973796248435974f,-0.17784970998764038f,-0.4023285210132599f,-0.32813894748687744f,-0.2429247349500656f,0.04470124840736389f,-0.09045199304819107f}, |
Lightvalve | 161:a3b26117104c | 210 | {0.09347659349441528f,0.0008082982967607677f,0.18900898098945618f,-0.06120866537094116f,0.6146573424339294f,-0.06504922360181808f,0.03916636109352112f,0.48007437586784363f,0.294809490442276f,0.18063610792160034f,-0.2563917934894562f,-0.6306189298629761f,0.07625232636928558f,-0.21370044350624084f,0.062258750200271606f,0.00815045926719904f}, |
Lightvalve | 161:a3b26117104c | 211 | {-0.0689467042684555f,-0.3365703821182251f,-0.37685394287109375f,-0.20837026834487915f,0.053242120891809464f,0.016820020973682404f,-0.14507901668548584f,0.07986551523208618f,0.20007987320423126f,0.2661718428134918f,-0.4374823272228241f,-0.295104056596756f,-0.25695890188217163f,-0.12613587081432343f,-0.07684260606765747f,0.0788344144821167f}, |
Lightvalve | 161:a3b26117104c | 212 | {-0.06860842555761337f,-0.1699381023645401f,0.15568438172340393f,-0.040645476430654526f,0.07755637913942337f,-0.242115780711174f,-0.03859376907348633f,0.06300511211156845f,-0.04657333716750145f,0.3980299234390259f,-0.3253058195114136f,0.11324697732925415f,0.11497766524553299f,0.2345767319202423f,0.2742314636707306f,-0.05325615778565407f}, |
Lightvalve | 161:a3b26117104c | 213 | {0.00857353676110506f,-0.07334724813699722f,0.19490453600883484f,-0.26787275075912476f,-0.3143249452114105f,-0.20300105214118958f,-0.336474746465683f,0.03190091997385025f,-0.3672536015510559f,0.3412991166114807f,-0.15078192949295044f,0.05409295856952667f,0.28317949175834656f,-0.17916610836982727f,-0.2561379373073578f,-0.09754713624715805f}, |
Lightvalve | 161:a3b26117104c | 214 | {-0.26665636897087097f,0.03565867990255356f,-0.2776013910770416f,0.1249362975358963f,0.21757642924785614f,-0.19518578052520752f,0.25546005368232727f,-0.2865125834941864f,-0.3631085157394409f,0.38881242275238037f,-0.3914984464645386f,0.04883434623479843f,0.11115027964115143f,0.12361021339893341f,-0.30415377020835876f,-0.5628020167350769f}, |
Lightvalve | 161:a3b26117104c | 215 | {0.2660556137561798f,0.3433205187320709f,0.1420871913433075f,-0.33024224638938904f,-0.5495144128799438f,0.09280199557542801f,-0.13263443112373352f,-0.25689104199409485f,-0.15029919147491455f,0.3603525161743164f,0.10471759736537933f,0.0782412514090538f,0.25936394929885864f,0.2581365704536438f,0.13351169228553772f,0.02357879839837551f}, |
Lightvalve | 161:a3b26117104c | 216 | {-0.2560797929763794f,-0.22619254887104034f,-0.07561364769935608f,0.0776611715555191f,-0.6862970590591431f,-0.22922146320343018f,0.14428457617759705f,-0.004054178949445486f,-0.347451776266098f,0.24695457518100739f,-0.37855178117752075f,-0.48709622025489807f,-0.1475732922554016f,0.3500412106513977f,0.019461065530776978f,0.16023290157318115f}, |
Lightvalve | 161:a3b26117104c | 217 | {0.03209909051656723f,-0.5990995764732361f,0.2631795108318329f,-0.5585244297981262f,0.1044234186410904f,-0.8019652962684631f,0.27224990725517273f,-0.6752288341522217f,-0.05590752884745598f,1.5368984937667847f,0.04196930676698685f,-0.4491702914237976f,0.2668069303035736f,0.23039138317108154f,0.06011766195297241f,0.1083567887544632f}, |
Lightvalve | 65:a2d7c63419c2 | 218 | }; |
Lightvalve | 65:a2d7c63419c2 | 219 | |
Lightvalve | 112:8dcb1600cb90 | 220 | const float h2[16][16] = { |
Lightvalve | 161:a3b26117104c | 221 | {-1.4149234294891357f,-8.221246719360352f,-0.06966331601142883f,2.2407708168029785f,-0.21907491981983185f,1.4261970520019531f,-0.2203816920518875f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,2.437359094619751f,-0.27653780579566956f,-0.031542371958494186f,-1.0710999965667725f,-1.128833293914795f,0.1499631404876709f}, |
Lightvalve | 161:a3b26117104c | 222 | {0.06675814092159271f,-0.7906604409217834f,0.057057321071624756f,-0.44593504071235657f,-0.35503754019737244f,-0.9169399738311768f,-2.5735878944396973f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-2.196497678756714f,-0.8267930746078491f,-0.03286423161625862f,0.5358306169509888f,-0.2996438443660736f,-2.177964448928833f}, |
Lightvalve | 112:8dcb1600cb90 | 223 | {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f}, |
Lightvalve | 161:a3b26117104c | 224 | {0.00037817173870280385f,-0.2971179485321045f,-0.2894435524940491f,0.3345993161201477f,0.08946844935417175f,0.269562691450119f,-0.1220422089099884f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.22127428650856018f,0.33625349402427673f,-0.4890212416648865f,-0.16970062255859375f,0.27696576714515686f,0.1764375865459442f}, |
Lightvalve | 161:a3b26117104c | 225 | {-0.6627513766288757f,-3.6495959758758545f,-0.25313520431518555f,-0.6872364282608032f,0.036378175020217896f,1.7615959644317627f,-3.844204902648926f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,0.20684999227523804f,-0.7964684367179871f,-0.15686243772506714f,-1.9698841571807861f,-0.5833307504653931f,0.8811274766921997f}, |
Lightvalve | 161:a3b26117104c | 226 | {0.3915741741657257f,-1.8311468362808228f,-0.3519742488861084f,1.8813673257827759f,-0.3015052080154419f,-0.9981861114501953f,-2.57273268699646f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.7768073678016663f,-0.41386348009109497f,-0.5715640187263489f,1.0438435077667236f,0.2210693508386612f,-1.7864001989364624f}, |
Lightvalve | 112:8dcb1600cb90 | 227 | {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f}, |
Lightvalve | 161:a3b26117104c | 228 | {0.2719742953777313f,-0.5918595790863037f,0.33083590865135193f,-0.24734418094158173f,-0.14358049631118774f,-1.280016541481018f,-1.4565234184265137f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.731331467628479f,-0.3868115544319153f,-0.7149967551231384f,0.8175680041313171f,0.19921045005321503f,0.13130705058574677f}, |
Lightvalve | 161:a3b26117104c | 229 | {-0.25856563448905945f,0.3172719478607178f,-0.11379697918891907f,0.088182233273983f,0.041274964809417725f,-0.37140029668807983f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.03279193863272667f,-0.3197441101074219f,-0.37024784088134766f,-0.2649827301502228f,-0.3698978126049042f,-0.24531885981559753f}, |
Lightvalve | 161:a3b26117104c | 230 | {-0.4769535958766937f,1.4760633707046509f,-0.13502129912376404f,-0.3820866346359253f,0.12987366318702698f,0.409596711397171f,0.10057093948125839f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,-0.4638362526893616f,-0.2579232454299927f,0.008082401938736439f,-0.375869482755661f,-0.2459457814693451f,0.12602509558200836f}, |
Lightvalve | 161:a3b26117104c | 231 | {-0.2709399461746216f,-0.046167198568582535f,0.0457797646522522f,-0.39113956689834595f,-0.03321319818496704f,-0.4463159143924713f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.25252240896224976f,0.3545852601528168f,-0.3647043704986572f,0.46133115887641907f,-0.34892070293426514f,-0.3220515251159668f}, |
Lightvalve | 161:a3b26117104c | 232 | {0.23252029716968536f,0.14104707539081573f,0.3954955041408539f,0.04682459309697151f,0.0033026933670043945f,0.08521943539381027f,-0.2121642827987671f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.3302416503429413f,-0.24103686213493347f,-0.15225455164909363f,-0.15551511943340302f,0.2549321949481964f,-0.0172280166298151f}, |
Lightvalve | 161:a3b26117104c | 233 | {-0.17599348723888397f,-0.30498379468917847f,-0.15798500180244446f,0.006913657765835524f,-0.37393757700920105f,0.20840831100940704f,-0.7214387059211731f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.18604308366775513f,-0.31451216340065f,0.33477315306663513f,-0.00666414899751544f,-0.09796348214149475f,-0.01855120249092579f}, |
Lightvalve | 161:a3b26117104c | 234 | {-0.46010053157806396f,0.46722856163978577f,-0.2018718123435974f,0.4959852397441864f,0.07545611262321472f,0.4781644940376282f,-0.31310269236564636f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.32211029529571533f,-0.6505396962165833f,-0.390186071395874f,-0.5101735591888428f,-0.5108092427253723f,0.12839919328689575f}, |
Lightvalve | 112:8dcb1600cb90 | 235 | {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, |
Lightvalve | 161:a3b26117104c | 236 | {-0.3440137803554535f,0.24742190539836884f,0.12081471085548401f,-0.13798409700393677f,0.29976895451545715f,0.03644004464149475f,-0.015634635463356972f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.3084188997745514f,-0.18034115433692932f,-0.5072152614593506f,-0.11024320870637894f,0.14975693821907043f,-0.04733842983841896f}, |
Lightvalve | 65:a2d7c63419c2 | 237 | }; |
Lightvalve | 65:a2d7c63419c2 | 238 | |
Lightvalve | 112:8dcb1600cb90 | 239 | const float h3[16][16] = { |
Lightvalve | 161:a3b26117104c | 240 | {-0.36079341173171997f,-1.0544452667236328f,0.6978123784065247f,-0.871442437171936f,0.5853394865989685f,-0.7604526281356812f,0.3332441747188568f,0.3036012351512909f,-0.34396663308143616f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.7708577513694763f,-0.5298871994018555f,-1.2042515277862549f,0.9389740228652954f}, |
Lightvalve | 161:a3b26117104c | 241 | {0.047732532024383545f,1.9760838747024536f,-0.3319854438304901f,-0.05651003122329712f,0.16568204760551453f,1.6888208389282227f,-0.3198729455471039f,0.06247803568840027f,0.15138906240463257f,-0.1780138611793518f,0.39250925183296204f,-0.20516811311244965f,-0.0705946609377861f,1.3485279083251953f,1.5808995962142944f,-1.0221248865127563f}, |
Lightvalve | 115:f41863b95e6f | 242 | {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f}, |
Lightvalve | 161:a3b26117104c | 243 | {-0.30922991037368774f,-0.9786229729652405f,0.0447266548871994f,0.8436069488525391f,-1.0423678159713745f,-0.11033640801906586f,0.20021501183509827f,-0.019495464861392975f,-0.3955146372318268f,-0.995495080947876f,0.024069594219326973f,0.16580861806869507f,-0.3412694036960602f,-0.37099555134773254f,0.2960534691810608f,-1.9063494205474854f}, |
Lightvalve | 130:26b416050376 | 244 | {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f}, |
Lightvalve | 161:a3b26117104c | 245 | {-0.37449589371681213f,1.1136798858642578f,-0.41699525713920593f,-0.8607317805290222f,-0.5609610676765442f,0.8959813117980957f,-0.18732719123363495f,0.07474447041749954f,-0.5360782742500305f,-0.3399319052696228f,-0.17468851804733276f,-0.06915804743766785f,-0.25768864154815674f,-0.14714008569717407f,0.5617286562919617f,-1.5051937103271484f}, |
Lightvalve | 161:a3b26117104c | 246 | {0.4110594093799591f,0.78630131483078f,-0.6450133323669434f,-0.008402800187468529f,-0.32279857993125916f,1.1440786123275757f,-0.08670487999916077f,-0.25336313247680664f,-0.17651404440402985f,-0.08124587684869766f,-0.1344406008720398f,0.35264110565185547f,0.15909500420093536f,0.15391074120998383f,1.4198027849197388f,-1.21132493019104f}, |
Lightvalve | 161:a3b26117104c | 247 | {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f}, |
Lightvalve | 115:f41863b95e6f | 248 | {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f}, |
Lightvalve | 152:a1aa20ae5332 | 249 | {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, |
Lightvalve | 161:a3b26117104c | 250 | {0.15459725260734558f,-0.7474811673164368f,-4.309510707855225f,-0.5836078524589539f,-0.26115214824676514f,0.00889985915273428f,-0.08742031455039978f,-0.07468682527542114f,-0.17930063605308533f,-0.5245974063873291f,0.03877042606472969f,-1.605802059173584f,-0.0976514220237732f,-0.8848958611488342f,0.33983904123306274f,-8.166439056396484f}, |
Lightvalve | 161:a3b26117104c | 251 | {-0.408692330121994f,-0.14552755653858185f,0.0954647809267044f,-0.05043145269155502f,0.013434916734695435f,-0.19936445355415344f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.040784213691949844f,-0.4311254620552063f,-0.27929094433784485f,-0.32302793860435486f,0.2955302298069f}, |
Lightvalve | 161:a3b26117104c | 252 | {-0.2991822361946106f,0.14890679717063904f,0.07163208723068237f,0.14030085504055023f,0.33410418033599854f,0.04110364615917206f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.264950692653656f,-0.3796345591545105f,0.10643193125724792f,-0.04422954097390175f}, |
Lightvalve | 161:a3b26117104c | 253 | {-0.2675279378890991f,-0.47068309783935547f,0.413285493850708f,0.7849901914596558f,-0.11329436302185059f,-0.5369298458099365f,-0.32875844836235046f,-0.31893211603164673f,-0.554490327835083f,-0.9232566356658936f,-0.44507408142089844f,-0.6649309396743774f,0.32159000635147095f,-1.4503411054611206f,-0.4707498550415039f,2.586827039718628f}, |
Lightvalve | 161:a3b26117104c | 254 | {-0.015470266342163086f,-0.9361926317214966f,0.85772305727005f,1.6152592897415161f,0.5753886699676514f,-0.8444603085517883f,0.05196094512939453f,-0.008358269929885864f,-0.4502861201763153f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.7613057494163513f,-0.5449571013450623f,-0.3422447741031647f,0.12619388103485107f}, |
Lightvalve | 161:a3b26117104c | 255 | {0.1863725483417511f,0.3401188552379608f,-0.3819473683834076f,-0.6704044342041016f,0.006878119893372059f,-0.006658011116087437f,0.04860696196556091f,0.03533736988902092f,-0.17769290506839752f,0.12980200350284576f,-0.5105772018432617f,0.4451523721218109f,0.3094521760940552f,-0.7750046253204346f,-0.49882543087005615f,-17.386110305786133f}, |
Lightvalve | 66:a8e6799dbce3 | 256 | }; |
Lightvalve | 65:a2d7c63419c2 | 257 | |
Lightvalve | 161:a3b26117104c | 258 | const float hout[16] = { 0.45773375034332275f,0.1045747771859169f,-0.2609619200229645f,-0.16448500752449036f,0.012055673636496067f,0.2897934019565582f,0.0030125975608825684f,0.1194910779595375f,-0.10572303831577301f,0.0845501571893692f,0.2928183674812317f,-0.05663624778389931f,-0.2690132260322571f,0.5545154213905334f,0.9956949353218079f,-0.3017843961715698f }; |
Lightvalve | 66:a8e6799dbce3 | 259 | |
Lightvalve | 161:a3b26117104c | 260 | const float b1[16] = { 0.39336520433425903f,1.1249428987503052f,-1.7145336866378784f,0.24362370371818542f,1.6444652080535889f,1.2420988082885742f,-0.058932315558195114f,1.667996883392334f,0.5253145098686218f,-1.5228825807571411f,0.5778790712356567f,1.4138038158416748f,-0.43705815076828003f,-1.02257239818573f,-1.087764859199524f,0.9317583441734314f }; |
Lightvalve | 87:471334725012 | 261 | |
Lightvalve | 161:a3b26117104c | 262 | const float b2[16] = { -0.29958510398864746f,-0.4038909375667572f,-1.4564176797866821f,-0.2930338382720947f,-0.6939148902893066f,0.19727440178394318f,-0.22042614221572876f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.1345239281654358f,0.2660270631313324f,-0.4689517319202423f,1.9678999185562134f,-0.05483059585094452f,0.8317065834999084f }; |
Lightvalve | 65:a2d7c63419c2 | 263 | |
Lightvalve | 161:a3b26117104c | 264 | const float b3[16] = { -1.963319182395935f,-0.021526452153921127f,0.6601975560188293f,0.3744125962257385f,-0.2781398594379425f,0.5429407954216003f,-0.45353031158447266f,-0.7976158261299133f,0.3646324574947357f,0.142522931098938f,-0.22223100066184998f,-0.17252527177333832f,-0.6005617380142212f,-0.5316801071166992f,-1.7298851013183594f,-2.4713284969329834f }; |
Lightvalve | 87:471334725012 | 265 | |
Lightvalve | 161:a3b26117104c | 266 | const float bout[1] = { -0.17714238166809082f }; |
Lightvalve | 65:a2d7c63419c2 | 267 | |
Lightvalve | 66:a8e6799dbce3 | 268 | |
Lightvalve | 87:471334725012 | 269 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 270 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 271 | |
GiJeongKim | 0:51c43836c1d7 | 272 | int main() |
GiJeongKim | 0:51c43836c1d7 | 273 | { |
Lightvalve | 66:a8e6799dbce3 | 274 | |
Lightvalve | 65:a2d7c63419c2 | 275 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 276 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 277 | |
jobuuu | 6:df07d3491e3a | 278 | /********************************* |
jobuuu | 1:e04e563be5ce | 279 | *** Initialization |
jobuuu | 6:df07d3491e3a | 280 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 281 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 282 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 283 | |
GiJeongKim | 0:51c43836c1d7 | 284 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 285 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 286 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 287 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 288 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 289 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 290 | |
GiJeongKim | 0:51c43836c1d7 | 291 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 292 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 293 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 294 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 295 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 296 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 297 | |
Lightvalve | 16:903b5a4433b4 | 298 | //rom |
Lightvalve | 19:23b7c1ad8683 | 299 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 300 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 301 | |
GiJeongKim | 0:51c43836c1d7 | 302 | // ADC init |
jobuuu | 5:a4319f79457b | 303 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 304 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 305 | |
GiJeongKim | 0:51c43836c1d7 | 306 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 307 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 308 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 309 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 310 | |
Lightvalve | 11:82d8768d7351 | 311 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 312 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 313 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 314 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 315 | |
Lightvalve | 50:3c630b5eba9f | 316 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 317 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 318 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 319 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 320 | |
GiJeongKim | 0:51c43836c1d7 | 321 | // CAN |
jobuuu | 2:a1c0a37df760 | 322 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 323 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 324 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 325 | |
Lightvalve | 23:59218d4a256d | 326 | //Timer priority |
Lightvalve | 23:59218d4a256d | 327 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 328 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 329 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 330 | |
Lightvalve | 23:59218d4a256d | 331 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 332 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 333 | |
GiJeongKim | 0:51c43836c1d7 | 334 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 335 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 336 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 337 | |
Lightvalve | 11:82d8768d7351 | 338 | //DAC init |
Lightvalve | 58:2eade98630e2 | 339 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 340 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 341 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 342 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 343 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 344 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 345 | } |
Lightvalve | 11:82d8768d7351 | 346 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 347 | |
Lightvalve | 19:23b7c1ad8683 | 348 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 349 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 350 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 351 | else |
Lightvalve | 38:118df027d851 | 352 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 353 | } |
Lightvalve | 61:bc8c8270f0ab | 354 | |
Lightvalve | 61:bc8c8270f0ab | 355 | |
jobuuu | 6:df07d3491e3a | 356 | /************************************ |
jobuuu | 1:e04e563be5ce | 357 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 358 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 359 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 360 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 361 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 362 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 363 | |
Lightvalve | 65:a2d7c63419c2 | 364 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 365 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 366 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 367 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 368 | // } else |
Lightvalve | 65:a2d7c63419c2 | 369 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 370 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 371 | //} |
Lightvalve | 66:a8e6799dbce3 | 372 | |
Lightvalve | 66:a8e6799dbce3 | 373 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 374 | |
Lightvalve | 87:471334725012 | 375 | //LED = 0; |
Lightvalve | 87:471334725012 | 376 | |
Lightvalve | 73:f80dc3970c99 | 377 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 378 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 379 | } |
Lightvalve | 66:a8e6799dbce3 | 380 | |
Lightvalve | 73:f80dc3970c99 | 381 | else if(NN_Control_Flag == 1) { |
Lightvalve | 117:7141c0517b82 | 382 | |
Lightvalve | 162:9dd4f35e9de8 | 383 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 384 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 385 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 386 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 387 | } |
Lightvalve | 162:9dd4f35e9de8 | 388 | |
Lightvalve | 162:9dd4f35e9de8 | 389 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 390 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 391 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 392 | } |
Lightvalve | 162:9dd4f35e9de8 | 393 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 394 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 395 | |
Lightvalve | 162:9dd4f35e9de8 | 396 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 397 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 398 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 399 | // } |
Lightvalve | 162:9dd4f35e9de8 | 400 | |
Lightvalve | 162:9dd4f35e9de8 | 401 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 402 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 403 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 404 | } |
Lightvalve | 162:9dd4f35e9de8 | 405 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 406 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 407 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 408 | input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f; |
Lightvalve | 149:b273ae9cec75 | 409 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 410 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 411 | } |
Lightvalve | 117:7141c0517b82 | 412 | |
Lightvalve | 112:8dcb1600cb90 | 413 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 414 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 415 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 416 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 417 | |
Lightvalve | 112:8dcb1600cb90 | 418 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 419 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 420 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 421 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 422 | } |
Lightvalve | 66:a8e6799dbce3 | 423 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 424 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 425 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 426 | } |
Lightvalve | 66:a8e6799dbce3 | 427 | } |
Lightvalve | 65:a2d7c63419c2 | 428 | |
Lightvalve | 112:8dcb1600cb90 | 429 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 430 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 431 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 432 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 433 | } |
Lightvalve | 66:a8e6799dbce3 | 434 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 435 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 436 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 437 | } |
Lightvalve | 66:a8e6799dbce3 | 438 | } |
Lightvalve | 65:a2d7c63419c2 | 439 | |
Lightvalve | 112:8dcb1600cb90 | 440 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 441 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 442 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 443 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 444 | } |
Lightvalve | 66:a8e6799dbce3 | 445 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 446 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 447 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 448 | } |
Lightvalve | 65:a2d7c63419c2 | 449 | } |
Lightvalve | 66:a8e6799dbce3 | 450 | |
Lightvalve | 66:a8e6799dbce3 | 451 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 452 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 453 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 454 | } |
Lightvalve | 66:a8e6799dbce3 | 455 | output = output + bout[index2]; |
Lightvalve | 73:f80dc3970c99 | 456 | |
Lightvalve | 66:a8e6799dbce3 | 457 | } |
Lightvalve | 73:f80dc3970c99 | 458 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 459 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 460 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 101:50159049a518 | 461 | |
Lightvalve | 66:a8e6799dbce3 | 462 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 463 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 464 | } else { |
Lightvalve | 66:a8e6799dbce3 | 465 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 466 | } |
Lightvalve | 87:471334725012 | 467 | |
Lightvalve | 88:d6e591bece22 | 468 | // // torque feedback |
Lightvalve | 88:d6e591bece22 | 469 | // torq.err = f_past[0] - torq.sen; //[N] |
Lightvalve | 88:d6e591bece22 | 470 | //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 88:d6e591bece22 | 471 | // torq.err_sum += torq.err/(float) 1500.0f; //[N] |
Lightvalve | 88:d6e591bece22 | 472 | // |
Lightvalve | 88:d6e591bece22 | 473 | // |
Lightvalve | 88:d6e591bece22 | 474 | // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f; |
Lightvalve | 88:d6e591bece22 | 475 | // |
Lightvalve | 88:d6e591bece22 | 476 | // if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 88:d6e591bece22 | 477 | // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 88:d6e591bece22 | 478 | // if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 88:d6e591bece22 | 479 | // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 480 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 481 | // valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 482 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 483 | // } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 88:d6e591bece22 | 484 | // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 485 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 486 | // valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 487 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 488 | // } |
Lightvalve | 88:d6e591bece22 | 489 | // } |
Lightvalve | 87:471334725012 | 490 | |
Lightvalve | 69:3995ffeaa786 | 491 | |
Lightvalve | 69:3995ffeaa786 | 492 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 493 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 494 | } else |
Lightvalve | 69:3995ffeaa786 | 495 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 496 | |
Lightvalve | 65:a2d7c63419c2 | 497 | } |
Lightvalve | 62:b5452adfb2cd | 498 | |
Lightvalve | 87:471334725012 | 499 | //LED = 1; |
Lightvalve | 69:3995ffeaa786 | 500 | |
Lightvalve | 66:a8e6799dbce3 | 501 | |
GiJeongKim | 0:51c43836c1d7 | 502 | } |
jobuuu | 1:e04e563be5ce | 503 | } |
jobuuu | 1:e04e563be5ce | 504 | |
Lightvalve | 33:91b17819ec30 | 505 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 506 | { |
Lightvalve | 14:8e7590227d22 | 507 | |
Lightvalve | 13:747daba9cf59 | 508 | int i = 0; |
Lightvalve | 48:889798ff9329 | 509 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 510 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 511 | 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 | 512 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 513 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 514 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 515 | } else { |
Lightvalve | 57:f4819de54e7a | 516 | 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 | 517 | } |
Lightvalve | 14:8e7590227d22 | 518 | } else { |
Lightvalve | 50:3c630b5eba9f | 519 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 520 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 521 | } else { |
Lightvalve | 57:f4819de54e7a | 522 | 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 | 523 | } |
Lightvalve | 13:747daba9cf59 | 524 | } |
Lightvalve | 13:747daba9cf59 | 525 | break; |
Lightvalve | 13:747daba9cf59 | 526 | } |
Lightvalve | 13:747daba9cf59 | 527 | } |
Lightvalve | 14:8e7590227d22 | 528 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 529 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 530 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 531 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 532 | } |
Lightvalve | 36:a46e63505ed8 | 533 | |
Lightvalve | 57:f4819de54e7a | 534 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 535 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 536 | |
Lightvalve | 13:747daba9cf59 | 537 | } |
jobuuu | 6:df07d3491e3a | 538 | |
jobuuu | 6:df07d3491e3a | 539 | |
Lightvalve | 30:8d561f16383b | 540 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 541 | { |
Lightvalve | 13:747daba9cf59 | 542 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 543 | |
Lightvalve | 38:118df027d851 | 544 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 545 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 546 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 547 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 548 | } |
Lightvalve | 38:118df027d851 | 549 | |
Lightvalve | 89:a7b45368ea0f | 550 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 551 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 552 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 553 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 554 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 555 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 556 | |
Lightvalve | 13:747daba9cf59 | 557 | 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 | 558 | |
Lightvalve | 18:b8adf1582ea3 | 559 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 560 | 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 | 561 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 562 | 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 | 563 | } else { |
Lightvalve | 48:889798ff9329 | 564 | 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 | 565 | } |
Lightvalve | 13:747daba9cf59 | 566 | break; |
Lightvalve | 13:747daba9cf59 | 567 | } |
Lightvalve | 13:747daba9cf59 | 568 | } |
Lightvalve | 59:f308b1656d9c | 569 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 570 | } |
Lightvalve | 13:747daba9cf59 | 571 | |
Lightvalve | 14:8e7590227d22 | 572 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 573 | 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 | 574 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 575 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 576 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 577 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 578 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 579 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 580 | 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 | 581 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 582 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 583 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 584 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 585 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 586 | }; // mV |
Lightvalve | 13:747daba9cf59 | 587 | |
Lightvalve | 30:8d561f16383b | 588 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 589 | { |
Lightvalve | 30:8d561f16383b | 590 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 591 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 592 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 593 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 594 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 595 | } else { |
Lightvalve | 13:747daba9cf59 | 596 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 597 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 598 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 599 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 600 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 601 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 602 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 603 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 604 | break; |
Lightvalve | 13:747daba9cf59 | 605 | } |
Lightvalve | 13:747daba9cf59 | 606 | } |
Lightvalve | 13:747daba9cf59 | 607 | } |
Lightvalve | 14:8e7590227d22 | 608 | |
Lightvalve | 13:747daba9cf59 | 609 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 610 | } |
jobuuu | 6:df07d3491e3a | 611 | |
Lightvalve | 57:f4819de54e7a | 612 | |
Lightvalve | 57:f4819de54e7a | 613 | |
Lightvalve | 57:f4819de54e7a | 614 | |
Lightvalve | 57:f4819de54e7a | 615 | |
jobuuu | 2:a1c0a37df760 | 616 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 617 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 618 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 619 | |
Lightvalve | 51:b46bed7fec80 | 620 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 621 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 622 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 623 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 624 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 625 | { |
Lightvalve | 19:23b7c1ad8683 | 626 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 627 | |
Lightvalve | 21:e5f1a43ea6f9 | 628 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 629 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 630 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 631 | |
Lightvalve | 57:f4819de54e7a | 632 | //Encoder |
Lightvalve | 57:f4819de54e7a | 633 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 634 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 635 | } |
Lightvalve | 61:bc8c8270f0ab | 636 | |
Lightvalve | 61:bc8c8270f0ab | 637 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 638 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 639 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 640 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 641 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 642 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 643 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 644 | |
Lightvalve | 67:c2812cf26c38 | 645 | |
Lightvalve | 67:c2812cf26c38 | 646 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 647 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 648 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 649 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 650 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 651 | |
Lightvalve | 17:1865016ca2e7 | 652 | |
Lightvalve | 58:2eade98630e2 | 653 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 654 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 655 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 656 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 657 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 658 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 659 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 660 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 661 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 662 | |
Lightvalve | 58:2eade98630e2 | 663 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 664 | 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 | 665 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 666 | 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 | 667 | } |
Lightvalve | 58:2eade98630e2 | 668 | } |
Lightvalve | 61:bc8c8270f0ab | 669 | |
Lightvalve | 58:2eade98630e2 | 670 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 671 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 672 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 673 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 674 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 675 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 676 | // 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 | 677 | // |
Lightvalve | 58:2eade98630e2 | 678 | // |
Lightvalve | 58:2eade98630e2 | 679 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 680 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 681 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 682 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 683 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 684 | |
Lightvalve | 17:1865016ca2e7 | 685 | |
Lightvalve | 21:e5f1a43ea6f9 | 686 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 687 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 688 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 689 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 690 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 691 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 692 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 693 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 694 | |
Lightvalve | 57:f4819de54e7a | 695 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 696 | } |
Lightvalve | 11:82d8768d7351 | 697 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 698 | } |
Lightvalve | 19:23b7c1ad8683 | 699 | |
Lightvalve | 19:23b7c1ad8683 | 700 | |
Lightvalve | 18:b8adf1582ea3 | 701 | int j =0; |
Lightvalve | 54:647072f5307a | 702 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 703 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 704 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 705 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 706 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 707 | |
Lightvalve | 11:82d8768d7351 | 708 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 709 | { |
Lightvalve | 19:23b7c1ad8683 | 710 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 711 | |
Lightvalve | 57:f4819de54e7a | 712 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 713 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 714 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 715 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 716 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 717 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 718 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 719 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 720 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 721 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 722 | } |
Lightvalve | 50:3c630b5eba9f | 723 | |
Lightvalve | 50:3c630b5eba9f | 724 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 725 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 726 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 727 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 728 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 729 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 730 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 731 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 732 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 733 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 734 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 735 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 736 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 737 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 738 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 739 | } else { |
Lightvalve | 58:2eade98630e2 | 740 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 741 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 742 | } |
Lightvalve | 45:35fa6884d0c6 | 743 | |
Lightvalve | 50:3c630b5eba9f | 744 | |
Lightvalve | 57:f4819de54e7a | 745 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 746 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 747 | |
Lightvalve | 57:f4819de54e7a | 748 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 749 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 750 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 751 | } else { |
Lightvalve | 57:f4819de54e7a | 752 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 753 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 754 | } |
Lightvalve | 56:6f50d9d3bfee | 755 | |
Lightvalve | 56:6f50d9d3bfee | 756 | |
Lightvalve | 56:6f50d9d3bfee | 757 | |
Lightvalve | 57:f4819de54e7a | 758 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 759 | |
Lightvalve | 57:f4819de54e7a | 760 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 761 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 762 | break; |
Lightvalve | 13:747daba9cf59 | 763 | } |
Lightvalve | 14:8e7590227d22 | 764 | |
Lightvalve | 14:8e7590227d22 | 765 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 766 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 767 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 768 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 769 | |
Lightvalve | 14:8e7590227d22 | 770 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 771 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 772 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 773 | |
Lightvalve | 84:c355d3e52bf1 | 774 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 775 | |
Lightvalve | 30:8d561f16383b | 776 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 777 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 778 | |
Lightvalve | 16:903b5a4433b4 | 779 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 780 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 781 | } |
Lightvalve | 13:747daba9cf59 | 782 | } else { |
Lightvalve | 58:2eade98630e2 | 783 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 784 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 785 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 786 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 787 | |
Lightvalve | 16:903b5a4433b4 | 788 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 789 | |
Lightvalve | 30:8d561f16383b | 790 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 791 | |
Lightvalve | 13:747daba9cf59 | 792 | } |
Lightvalve | 14:8e7590227d22 | 793 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 794 | break; |
Lightvalve | 19:23b7c1ad8683 | 795 | } |
Lightvalve | 14:8e7590227d22 | 796 | |
Lightvalve | 50:3c630b5eba9f | 797 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 798 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 799 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 800 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 801 | // } |
Lightvalve | 50:3c630b5eba9f | 802 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 803 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 804 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 805 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 806 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 807 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 808 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 809 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 810 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 811 | // } |
Lightvalve | 50:3c630b5eba9f | 812 | // |
Lightvalve | 50:3c630b5eba9f | 813 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 814 | // 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 | 815 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 816 | // |
Lightvalve | 50:3c630b5eba9f | 817 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 818 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 819 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 820 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 821 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 822 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 823 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 824 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 825 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 826 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 827 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 828 | // |
Lightvalve | 50:3c630b5eba9f | 829 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 830 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 831 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 832 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 833 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 834 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 835 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 836 | // |
Lightvalve | 50:3c630b5eba9f | 837 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 838 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 839 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 840 | // } else { |
Lightvalve | 50:3c630b5eba9f | 841 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 842 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 843 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 844 | // } |
Lightvalve | 50:3c630b5eba9f | 845 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 846 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 847 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 848 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 849 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 850 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 851 | // } |
Lightvalve | 50:3c630b5eba9f | 852 | // } else { |
Lightvalve | 50:3c630b5eba9f | 853 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 854 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 855 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 856 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 857 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 858 | // } |
Lightvalve | 50:3c630b5eba9f | 859 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 860 | // |
Lightvalve | 50:3c630b5eba9f | 861 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 862 | // |
Lightvalve | 50:3c630b5eba9f | 863 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 864 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 865 | // |
Lightvalve | 50:3c630b5eba9f | 866 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 867 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 868 | // } |
Lightvalve | 50:3c630b5eba9f | 869 | // } |
Lightvalve | 50:3c630b5eba9f | 870 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 871 | // break; |
Lightvalve | 50:3c630b5eba9f | 872 | // } |
Lightvalve | 14:8e7590227d22 | 873 | |
Lightvalve | 14:8e7590227d22 | 874 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 875 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 876 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 877 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 878 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 879 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 880 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 881 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 882 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 883 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 884 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 885 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 886 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 887 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 888 | } |
Lightvalve | 29:69f3f5445d6d | 889 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 890 | |
Lightvalve | 29:69f3f5445d6d | 891 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 892 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 893 | } else { |
Lightvalve | 29:69f3f5445d6d | 894 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 895 | } |
Lightvalve | 19:23b7c1ad8683 | 896 | |
Lightvalve | 57:f4819de54e7a | 897 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 898 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 899 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 900 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 901 | |
Lightvalve | 59:f308b1656d9c | 902 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 903 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 904 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 905 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 906 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 907 | |
Lightvalve | 59:f308b1656d9c | 908 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 909 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 910 | |
Lightvalve | 34:bb2ca2fc2a8e | 911 | |
Lightvalve | 29:69f3f5445d6d | 912 | } else { |
Lightvalve | 29:69f3f5445d6d | 913 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 914 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 915 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 916 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 917 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 918 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 919 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 920 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 921 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 922 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 923 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 924 | |
Lightvalve | 67:c2812cf26c38 | 925 | |
Lightvalve | 67:c2812cf26c38 | 926 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 927 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 928 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 929 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 930 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 931 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 932 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 933 | |
Lightvalve | 67:c2812cf26c38 | 934 | |
Lightvalve | 29:69f3f5445d6d | 935 | } |
Lightvalve | 29:69f3f5445d6d | 936 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 937 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 938 | 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 | 939 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 940 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 941 | |
Lightvalve | 29:69f3f5445d6d | 942 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 943 | |
Lightvalve | 67:c2812cf26c38 | 944 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 945 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 946 | |
Lightvalve | 67:c2812cf26c38 | 947 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 948 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 949 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 950 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 951 | |
Lightvalve | 67:c2812cf26c38 | 952 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 953 | |
Lightvalve | 67:c2812cf26c38 | 954 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 955 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 956 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 957 | |
Lightvalve | 67:c2812cf26c38 | 958 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 959 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 960 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 961 | |
Lightvalve | 69:3995ffeaa786 | 962 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 963 | 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 | 964 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 965 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 966 | 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 | 967 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 968 | } |
Lightvalve | 67:c2812cf26c38 | 969 | 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 | 970 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 971 | |
Lightvalve | 67:c2812cf26c38 | 972 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 973 | |
Lightvalve | 67:c2812cf26c38 | 974 | |
Lightvalve | 67:c2812cf26c38 | 975 | |
Lightvalve | 67:c2812cf26c38 | 976 | } else { |
Lightvalve | 67:c2812cf26c38 | 977 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 978 | 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 | 979 | |
Lightvalve | 67:c2812cf26c38 | 980 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 981 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 982 | } else { |
Lightvalve | 67:c2812cf26c38 | 983 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 984 | } |
Lightvalve | 67:c2812cf26c38 | 985 | |
Lightvalve | 67:c2812cf26c38 | 986 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 987 | |
Lightvalve | 67:c2812cf26c38 | 988 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 989 | |
Lightvalve | 67:c2812cf26c38 | 990 | } |
Lightvalve | 67:c2812cf26c38 | 991 | |
Lightvalve | 67:c2812cf26c38 | 992 | |
Lightvalve | 67:c2812cf26c38 | 993 | |
Lightvalve | 67:c2812cf26c38 | 994 | |
Lightvalve | 59:f308b1656d9c | 995 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 996 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 997 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 998 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 999 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1000 | |
Lightvalve | 29:69f3f5445d6d | 1001 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1002 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1003 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1004 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1005 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1006 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1007 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1008 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1009 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1010 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1011 | } |
Lightvalve | 13:747daba9cf59 | 1012 | } |
Lightvalve | 19:23b7c1ad8683 | 1013 | |
Lightvalve | 13:747daba9cf59 | 1014 | break; |
Lightvalve | 13:747daba9cf59 | 1015 | } |
Lightvalve | 14:8e7590227d22 | 1016 | |
Lightvalve | 50:3c630b5eba9f | 1017 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1018 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1019 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1020 | // else { |
Lightvalve | 50:3c630b5eba9f | 1021 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1022 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1023 | // } |
Lightvalve | 50:3c630b5eba9f | 1024 | // } |
Lightvalve | 50:3c630b5eba9f | 1025 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1026 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1027 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1028 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1029 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1030 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1031 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1032 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1033 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1034 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1035 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1036 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1037 | // } |
Lightvalve | 50:3c630b5eba9f | 1038 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1039 | // } |
Lightvalve | 50:3c630b5eba9f | 1040 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1041 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1042 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1043 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1044 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1045 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1046 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1047 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1048 | // 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 | 1049 | // // 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 | 1050 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1051 | // } |
Lightvalve | 50:3c630b5eba9f | 1052 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1053 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1054 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1055 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1056 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1057 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1058 | // 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 | 1059 | // // 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 | 1060 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1061 | // } |
Lightvalve | 50:3c630b5eba9f | 1062 | // } |
Lightvalve | 50:3c630b5eba9f | 1063 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1064 | // |
Lightvalve | 50:3c630b5eba9f | 1065 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1066 | // |
Lightvalve | 50:3c630b5eba9f | 1067 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1068 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1069 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1070 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1071 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1072 | // } |
Lightvalve | 50:3c630b5eba9f | 1073 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1074 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1075 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1076 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1077 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1078 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1079 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1080 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1081 | // } |
Lightvalve | 50:3c630b5eba9f | 1082 | // |
Lightvalve | 50:3c630b5eba9f | 1083 | // } |
Lightvalve | 50:3c630b5eba9f | 1084 | // break; |
Lightvalve | 50:3c630b5eba9f | 1085 | // } |
Lightvalve | 50:3c630b5eba9f | 1086 | // |
Lightvalve | 50:3c630b5eba9f | 1087 | // } |
Lightvalve | 14:8e7590227d22 | 1088 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1089 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1090 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1091 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1092 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1093 | |
Lightvalve | 14:8e7590227d22 | 1094 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1095 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1096 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1097 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1098 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1099 | |
Lightvalve | 38:118df027d851 | 1100 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1101 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1102 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1103 | |
Lightvalve | 30:8d561f16383b | 1104 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1105 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1106 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1107 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1108 | |
Lightvalve | 30:8d561f16383b | 1109 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1110 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1111 | } |
Lightvalve | 13:747daba9cf59 | 1112 | } else { |
Lightvalve | 57:f4819de54e7a | 1113 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1114 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1115 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1116 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1117 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1118 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1119 | |
Lightvalve | 16:903b5a4433b4 | 1120 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1121 | |
Lightvalve | 30:8d561f16383b | 1122 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1123 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1124 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1125 | } |
Lightvalve | 14:8e7590227d22 | 1126 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1127 | break; |
Lightvalve | 13:747daba9cf59 | 1128 | } |
Lightvalve | 14:8e7590227d22 | 1129 | |
Lightvalve | 50:3c630b5eba9f | 1130 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1131 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1132 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1133 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1134 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1135 | // } |
Lightvalve | 50:3c630b5eba9f | 1136 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1137 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1138 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1139 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1140 | // } |
Lightvalve | 50:3c630b5eba9f | 1141 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1142 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1143 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1144 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1145 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1146 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1147 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1148 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1149 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1150 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1151 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1152 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1153 | // |
Lightvalve | 50:3c630b5eba9f | 1154 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1155 | // |
Lightvalve | 50:3c630b5eba9f | 1156 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1157 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1158 | // } |
Lightvalve | 50:3c630b5eba9f | 1159 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1160 | // break; |
Lightvalve | 50:3c630b5eba9f | 1161 | // } |
Lightvalve | 19:23b7c1ad8683 | 1162 | |
Lightvalve | 50:3c630b5eba9f | 1163 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1164 | // 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 | 1165 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1166 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1167 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1168 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1169 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1170 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1171 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1172 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1173 | // } |
Lightvalve | 50:3c630b5eba9f | 1174 | // break; |
Lightvalve | 50:3c630b5eba9f | 1175 | // } |
Lightvalve | 14:8e7590227d22 | 1176 | |
Lightvalve | 14:8e7590227d22 | 1177 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1178 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1179 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1180 | |
Lightvalve | 14:8e7590227d22 | 1181 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1182 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1183 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1184 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1185 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1186 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1187 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1188 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1189 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1190 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1191 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1192 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1193 | } else { |
Lightvalve | 13:747daba9cf59 | 1194 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1195 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1196 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1197 | } |
Lightvalve | 14:8e7590227d22 | 1198 | |
Lightvalve | 17:1865016ca2e7 | 1199 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1200 | int i; |
Lightvalve | 13:747daba9cf59 | 1201 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1202 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1203 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1204 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1205 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1206 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1207 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1208 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1209 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1210 | } |
Lightvalve | 13:747daba9cf59 | 1211 | } |
Lightvalve | 59:f308b1656d9c | 1212 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1213 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1214 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1215 | } |
Lightvalve | 14:8e7590227d22 | 1216 | |
Lightvalve | 14:8e7590227d22 | 1217 | |
Lightvalve | 13:747daba9cf59 | 1218 | break; |
Lightvalve | 13:747daba9cf59 | 1219 | } |
Lightvalve | 14:8e7590227d22 | 1220 | |
Lightvalve | 14:8e7590227d22 | 1221 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1222 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1223 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1224 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1225 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1226 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1227 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1228 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1229 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1230 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1231 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1232 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1233 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1234 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1235 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1236 | 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 | 1237 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1238 | 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 | 1239 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1240 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1241 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1242 | 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 | 1243 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1244 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1245 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1246 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1247 | |
Lightvalve | 30:8d561f16383b | 1248 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1249 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1250 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1251 | |
Lightvalve | 30:8d561f16383b | 1252 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1253 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1254 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1255 | |
Lightvalve | 30:8d561f16383b | 1256 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1257 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1258 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1259 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1260 | |
Lightvalve | 60:64181f1d3e60 | 1261 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1262 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1263 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1264 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1265 | } else { |
Lightvalve | 13:747daba9cf59 | 1266 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1267 | } |
Lightvalve | 61:bc8c8270f0ab | 1268 | |
Lightvalve | 60:64181f1d3e60 | 1269 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1270 | |
Lightvalve | 13:747daba9cf59 | 1271 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1272 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1273 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1274 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1275 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1276 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1277 | |
Lightvalve | 13:747daba9cf59 | 1278 | } |
Lightvalve | 19:23b7c1ad8683 | 1279 | } else { |
Lightvalve | 14:8e7590227d22 | 1280 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1281 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1282 | 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 | 1283 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1284 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1285 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1286 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1287 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1288 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1289 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1290 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1291 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1292 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1293 | } |
Lightvalve | 14:8e7590227d22 | 1294 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1295 | |
Lightvalve | 30:8d561f16383b | 1296 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1297 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1298 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1299 | |
Lightvalve | 14:8e7590227d22 | 1300 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1301 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1302 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1303 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1304 | } else { |
Lightvalve | 13:747daba9cf59 | 1305 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1306 | } |
Lightvalve | 14:8e7590227d22 | 1307 | |
Lightvalve | 13:747daba9cf59 | 1308 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1309 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1310 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1311 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1312 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1313 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1314 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1315 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1316 | } |
Lightvalve | 13:747daba9cf59 | 1317 | } |
Lightvalve | 14:8e7590227d22 | 1318 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1319 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1320 | 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 | 1321 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1322 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1323 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1324 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1325 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1326 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1327 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1328 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1329 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1330 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1331 | } |
Lightvalve | 14:8e7590227d22 | 1332 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1333 | |
Lightvalve | 30:8d561f16383b | 1334 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1335 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1336 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1337 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1338 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1339 | |
Lightvalve | 14:8e7590227d22 | 1340 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1341 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1342 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1343 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1344 | } else { |
Lightvalve | 60:64181f1d3e60 | 1345 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1346 | } |
Lightvalve | 14:8e7590227d22 | 1347 | |
Lightvalve | 13:747daba9cf59 | 1348 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1349 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1350 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1351 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1352 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1353 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1354 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1355 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1356 | |
Lightvalve | 16:903b5a4433b4 | 1357 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1358 | |
Lightvalve | 60:64181f1d3e60 | 1359 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1360 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1361 | } |
Lightvalve | 13:747daba9cf59 | 1362 | } |
Lightvalve | 14:8e7590227d22 | 1363 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1364 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1365 | 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 | 1366 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1367 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1368 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1369 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1370 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1371 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1372 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1373 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1374 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1375 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1376 | } |
Lightvalve | 14:8e7590227d22 | 1377 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1378 | |
Lightvalve | 30:8d561f16383b | 1379 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1380 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1381 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1382 | |
Lightvalve | 14:8e7590227d22 | 1383 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1384 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1385 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1386 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1387 | } else { |
Lightvalve | 13:747daba9cf59 | 1388 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1389 | } |
Lightvalve | 13:747daba9cf59 | 1390 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1391 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1392 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1393 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1394 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1395 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1396 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1397 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1398 | } |
Lightvalve | 13:747daba9cf59 | 1399 | } |
Lightvalve | 14:8e7590227d22 | 1400 | } else { |
Lightvalve | 30:8d561f16383b | 1401 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1402 | 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 | 1403 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1404 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1405 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1406 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1407 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1408 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1409 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1410 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1411 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1412 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1413 | } |
Lightvalve | 14:8e7590227d22 | 1414 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1415 | |
Lightvalve | 30:8d561f16383b | 1416 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1417 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1418 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1419 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1420 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1421 | |
Lightvalve | 60:64181f1d3e60 | 1422 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1423 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1424 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1425 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1426 | } else { |
Lightvalve | 13:747daba9cf59 | 1427 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1428 | } |
Lightvalve | 14:8e7590227d22 | 1429 | |
Lightvalve | 13:747daba9cf59 | 1430 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1431 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1432 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1433 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1434 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1435 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1436 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1437 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1438 | |
Lightvalve | 59:f308b1656d9c | 1439 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1440 | |
Lightvalve | 57:f4819de54e7a | 1441 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1442 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1443 | } |
Lightvalve | 13:747daba9cf59 | 1444 | } |
Lightvalve | 13:747daba9cf59 | 1445 | } |
Lightvalve | 14:8e7590227d22 | 1446 | } |
Lightvalve | 13:747daba9cf59 | 1447 | break; |
Lightvalve | 13:747daba9cf59 | 1448 | } |
Lightvalve | 14:8e7590227d22 | 1449 | |
Lightvalve | 14:8e7590227d22 | 1450 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1451 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1452 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1453 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1454 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1455 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1456 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1457 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1458 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1459 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1460 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1461 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1462 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1463 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1464 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1465 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1466 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1467 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1468 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1469 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1470 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1471 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1472 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1473 | } |
Lightvalve | 14:8e7590227d22 | 1474 | } else { |
Lightvalve | 30:8d561f16383b | 1475 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1476 | //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 | 1477 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1478 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1479 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1480 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1481 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1482 | |
Lightvalve | 14:8e7590227d22 | 1483 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1484 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1485 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1486 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1487 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1488 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1489 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1490 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1491 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1492 | } |
Lightvalve | 30:8d561f16383b | 1493 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1494 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1495 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1496 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1497 | } |
Lightvalve | 14:8e7590227d22 | 1498 | |
Lightvalve | 14:8e7590227d22 | 1499 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1500 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1501 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1502 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1503 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1504 | } |
Lightvalve | 13:747daba9cf59 | 1505 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1506 | |
Lightvalve | 13:747daba9cf59 | 1507 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1508 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1509 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1510 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1511 | } |
Lightvalve | 14:8e7590227d22 | 1512 | |
Lightvalve | 14:8e7590227d22 | 1513 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1514 | |
Lightvalve | 13:747daba9cf59 | 1515 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1516 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1517 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1518 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1519 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1520 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1521 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1522 | } |
Lightvalve | 13:747daba9cf59 | 1523 | } |
Lightvalve | 13:747daba9cf59 | 1524 | break; |
Lightvalve | 13:747daba9cf59 | 1525 | } |
Lightvalve | 58:2eade98630e2 | 1526 | |
Lightvalve | 57:f4819de54e7a | 1527 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1528 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1529 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1530 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1531 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1532 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1533 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1534 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1535 | } |
Lightvalve | 57:f4819de54e7a | 1536 | break; |
Lightvalve | 57:f4819de54e7a | 1537 | } |
Lightvalve | 58:2eade98630e2 | 1538 | |
Lightvalve | 58:2eade98630e2 | 1539 | |
Lightvalve | 57:f4819de54e7a | 1540 | |
Lightvalve | 57:f4819de54e7a | 1541 | default: |
Lightvalve | 57:f4819de54e7a | 1542 | break; |
Lightvalve | 57:f4819de54e7a | 1543 | } |
Lightvalve | 57:f4819de54e7a | 1544 | |
Lightvalve | 57:f4819de54e7a | 1545 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1546 | |
Lightvalve | 57:f4819de54e7a | 1547 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1548 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1549 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1550 | break; |
Lightvalve | 57:f4819de54e7a | 1551 | } |
Lightvalve | 57:f4819de54e7a | 1552 | |
Lightvalve | 57:f4819de54e7a | 1553 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1554 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1555 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1556 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1557 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1558 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1559 | } else { |
Lightvalve | 67:c2812cf26c38 | 1560 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1561 | } |
Lightvalve | 58:2eade98630e2 | 1562 | |
Lightvalve | 57:f4819de54e7a | 1563 | break; |
Lightvalve | 57:f4819de54e7a | 1564 | } |
Lightvalve | 57:f4819de54e7a | 1565 | |
Lightvalve | 57:f4819de54e7a | 1566 | case MODE_JOINT_CONTROL: { |
Lightvalve | 137:ccf70b9b1705 | 1567 | |
Lightvalve | 138:a843f32ced33 | 1568 | |
Lightvalve | 57:f4819de54e7a | 1569 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1570 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1571 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1572 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1573 | |
Lightvalve | 67:c2812cf26c38 | 1574 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1575 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1576 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1577 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1578 | |
Lightvalve | 139:15621998925b | 1579 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 1580 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 1581 | |
Lightvalve | 57:f4819de54e7a | 1582 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1583 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1584 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1585 | |
Lightvalve | 57:f4819de54e7a | 1586 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1587 | |
Lightvalve | 57:f4819de54e7a | 1588 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1589 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1590 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1591 | |
Lightvalve | 57:f4819de54e7a | 1592 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1593 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1594 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1595 | |
Lightvalve | 69:3995ffeaa786 | 1596 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1597 | 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 | 1598 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1599 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1600 | 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 | 1601 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1602 | } |
Lightvalve | 57:f4819de54e7a | 1603 | 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 | 1604 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1605 | |
Lightvalve | 57:f4819de54e7a | 1606 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1607 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1608 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1609 | // 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 | 1610 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1611 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1612 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1613 | 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 | 1614 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1615 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1616 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1617 | } |
Lightvalve | 57:f4819de54e7a | 1618 | 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 | 1619 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1620 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1621 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1622 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1623 | |
Lightvalve | 57:f4819de54e7a | 1624 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1625 | |
Lightvalve | 67:c2812cf26c38 | 1626 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1627 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1628 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1629 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1630 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1631 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1632 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1633 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1634 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1635 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1636 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1637 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1638 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1639 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1640 | } |
Lightvalve | 67:c2812cf26c38 | 1641 | } |
Lightvalve | 57:f4819de54e7a | 1642 | |
Lightvalve | 57:f4819de54e7a | 1643 | } else { |
Lightvalve | 57:f4819de54e7a | 1644 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1645 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1646 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1647 | |
Lightvalve | 57:f4819de54e7a | 1648 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f |
Lightvalve | 57:f4819de54e7a | 1649 | + 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 | 1650 | |
Lightvalve | 72:3436ce769b1e | 1651 | 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 | 72:3436ce769b1e | 1652 | |
Lightvalve | 72:3436ce769b1e | 1653 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1654 | |
Lightvalve | 72:3436ce769b1e | 1655 | |
Lightvalve | 72:3436ce769b1e | 1656 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1657 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1658 | } else { |
Lightvalve | 72:3436ce769b1e | 1659 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1660 | } |
Lightvalve | 57:f4819de54e7a | 1661 | |
Lightvalve | 57:f4819de54e7a | 1662 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 1663 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1664 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1665 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1666 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1667 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1668 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1669 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1670 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1671 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1672 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1673 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1674 | } |
Lightvalve | 57:f4819de54e7a | 1675 | } |
Lightvalve | 61:bc8c8270f0ab | 1676 | |
Lightvalve | 57:f4819de54e7a | 1677 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1678 | |
Lightvalve | 67:c2812cf26c38 | 1679 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1680 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1681 | |
Lightvalve | 57:f4819de54e7a | 1682 | } |
Lightvalve | 72:3436ce769b1e | 1683 | |
Lightvalve | 72:3436ce769b1e | 1684 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1685 | |
Lightvalve | 133:22ab22818e01 | 1686 | |
Lightvalve | 57:f4819de54e7a | 1687 | break; |
Lightvalve | 57:f4819de54e7a | 1688 | } |
Lightvalve | 58:2eade98630e2 | 1689 | |
Lightvalve | 57:f4819de54e7a | 1690 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1691 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1692 | break; |
Lightvalve | 57:f4819de54e7a | 1693 | } |
Lightvalve | 138:a843f32ced33 | 1694 | |
Lightvalve | 138:a843f32ced33 | 1695 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 138:a843f32ced33 | 1696 | |
Lightvalve | 138:a843f32ced33 | 1697 | |
Lightvalve | 139:15621998925b | 1698 | 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 | 1699 | 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 | 138:a843f32ced33 | 1700 | |
Lightvalve | 139:15621998925b | 1701 | // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 |
Lightvalve | 139:15621998925b | 1702 | // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 138:a843f32ced33 | 1703 | V = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 138:a843f32ced33 | 1704 | |
Lightvalve | 138:a843f32ced33 | 1705 | |
Lightvalve | 139:15621998925b | 1706 | float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 138:a843f32ced33 | 1707 | |
Lightvalve | 138:a843f32ced33 | 1708 | float g3_prime = 0.0f; |
Lightvalve | 138:a843f32ced33 | 1709 | if (torq.sen > Amm*(Ps-Pt)*0.000001f){ |
Lightvalve | 138:a843f32ced33 | 1710 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 1711 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 1712 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 1713 | } else { |
Lightvalve | 138:a843f32ced33 | 1714 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 138:a843f32ced33 | 1715 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 1716 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 1717 | } else { |
Lightvalve | 138:a843f32ced33 | 1718 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 1719 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 1720 | } |
Lightvalve | 138:a843f32ced33 | 1721 | } |
Lightvalve | 138:a843f32ced33 | 1722 | float tau = 0.01f; |
Lightvalve | 142:43026242815a | 1723 | float K_valve = 0.0004f; |
Lightvalve | 138:a843f32ced33 | 1724 | |
Lightvalve | 138:a843f32ced33 | 1725 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 1726 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 1727 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 1728 | } else { |
Lightvalve | 138:a843f32ced33 | 1729 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 1730 | } |
Lightvalve | 138:a843f32ced33 | 1731 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 1732 | float g4 = K_valve/tau; |
Lightvalve | 138:a843f32ced33 | 1733 | |
Lightvalve | 139:15621998925b | 1734 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 138:a843f32ced33 | 1735 | |
Lightvalve | 138:a843f32ced33 | 1736 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 1737 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 1738 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 138:a843f32ced33 | 1739 | |
Lightvalve | 138:a843f32ced33 | 1740 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 1741 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 138:a843f32ced33 | 1742 | |
Lightvalve | 142:43026242815a | 1743 | float k3 = 20000.0f; //2000 |
Lightvalve | 142:43026242815a | 1744 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 1745 | float rho3 = 3.2f; |
Lightvalve | 142:43026242815a | 1746 | float rho4 = 25000000.0f; |
Lightvalve | 139:15621998925b | 1747 | float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 1748 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 1749 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 139:15621998925b | 1750 | |
Lightvalve | 139:15621998925b | 1751 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 1752 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 1753 | } else { |
Lightvalve | 139:15621998925b | 1754 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 1755 | } |
Lightvalve | 139:15621998925b | 1756 | |
Lightvalve | 139:15621998925b | 1757 | |
Lightvalve | 138:a843f32ced33 | 1758 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 1759 | x_4_des_old = x_4_des; |
Lightvalve | 138:a843f32ced33 | 1760 | |
Lightvalve | 139:15621998925b | 1761 | V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; |
Lightvalve | 138:a843f32ced33 | 1762 | |
Lightvalve | 142:43026242815a | 1763 | float rho_gamma = 50000.0f;//5000 |
Lightvalve | 139:15621998925b | 1764 | float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); |
Lightvalve | 138:a843f32ced33 | 1765 | gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 1766 | break; |
Lightvalve | 138:a843f32ced33 | 1767 | } |
Lightvalve | 14:8e7590227d22 | 1768 | |
Lightvalve | 12:6f2531038ea4 | 1769 | default: |
Lightvalve | 12:6f2531038ea4 | 1770 | break; |
Lightvalve | 12:6f2531038ea4 | 1771 | } |
Lightvalve | 14:8e7590227d22 | 1772 | |
Lightvalve | 57:f4819de54e7a | 1773 | |
Lightvalve | 57:f4819de54e7a | 1774 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1775 | |
Lightvalve | 57:f4819de54e7a | 1776 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1777 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1778 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1779 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1780 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1781 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1782 | |
Lightvalve | 57:f4819de54e7a | 1783 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1784 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1785 | |
Lightvalve | 57:f4819de54e7a | 1786 | |
Lightvalve | 57:f4819de54e7a | 1787 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1788 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1789 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1790 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1791 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1792 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1793 | |
Lightvalve | 57:f4819de54e7a | 1794 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1795 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1796 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1797 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1798 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1799 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1800 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1801 | } |
Lightvalve | 57:f4819de54e7a | 1802 | |
Lightvalve | 57:f4819de54e7a | 1803 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1804 | |
Lightvalve | 67:c2812cf26c38 | 1805 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1806 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1807 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1808 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1809 | // 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 | 1810 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1811 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1812 | |
Lightvalve | 57:f4819de54e7a | 1813 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1814 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1815 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1816 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1817 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1818 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1819 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1820 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1821 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1822 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1823 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1824 | } |
Lightvalve | 57:f4819de54e7a | 1825 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1826 | } else { |
Lightvalve | 57:f4819de54e7a | 1827 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1828 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1829 | } |
Lightvalve | 57:f4819de54e7a | 1830 | |
Lightvalve | 57:f4819de54e7a | 1831 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1832 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1833 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1834 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1835 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1836 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1837 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1838 | |
Lightvalve | 57:f4819de54e7a | 1839 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1840 | |
Lightvalve | 57:f4819de54e7a | 1841 | } else { |
Lightvalve | 57:f4819de54e7a | 1842 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1843 | } |
Lightvalve | 57:f4819de54e7a | 1844 | |
Lightvalve | 57:f4819de54e7a | 1845 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1846 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1847 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1848 | |
Lightvalve | 57:f4819de54e7a | 1849 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1850 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1851 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1852 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1853 | } |
Lightvalve | 89:a7b45368ea0f | 1854 | else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 1855 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 1856 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 1857 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 1858 | |
Lightvalve | 89:a7b45368ea0f | 1859 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 1860 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 1861 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 1862 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 1863 | |
Lightvalve | 135:79885a39c161 | 1864 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 1865 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 1866 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 1867 | } |
Lightvalve | 67:c2812cf26c38 | 1868 | |
Lightvalve | 67:c2812cf26c38 | 1869 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1870 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1871 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1872 | |
jobuuu | 7:e9086c72bb22 | 1873 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1874 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1875 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1876 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1877 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1878 | } |
Lightvalve | 67:c2812cf26c38 | 1879 | |
Lightvalve | 49:e7bcfc244d40 | 1880 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1881 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1882 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1883 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1884 | } |
Lightvalve | 49:e7bcfc244d40 | 1885 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1886 | |
Lightvalve | 19:23b7c1ad8683 | 1887 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1888 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1889 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1890 | |
Lightvalve | 30:8d561f16383b | 1891 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1892 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1893 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1894 | } else { |
jobuuu | 2:a1c0a37df760 | 1895 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1896 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1897 | } |
Lightvalve | 13:747daba9cf59 | 1898 | |
jobuuu | 1:e04e563be5ce | 1899 | //pwm |
Lightvalve | 30:8d561f16383b | 1900 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1901 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1902 | |
Lightvalve | 61:bc8c8270f0ab | 1903 | |
Lightvalve | 57:f4819de54e7a | 1904 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1905 | |
Lightvalve | 54:647072f5307a | 1906 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1907 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1908 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1909 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1910 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1911 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1912 | 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 | 1913 | } |
Lightvalve | 57:f4819de54e7a | 1914 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1915 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1916 | 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 | 1917 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1918 | 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 | 1919 | } |
Lightvalve | 52:8ea76864368a | 1920 | } |
Lightvalve | 52:8ea76864368a | 1921 | } |
Lightvalve | 56:6f50d9d3bfee | 1922 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1923 | //valve position |
Lightvalve | 54:647072f5307a | 1924 | double t_value = 0; |
Lightvalve | 97:d71c57e3515e | 1925 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1926 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1927 | } else { |
Lightvalve | 97:d71c57e3515e | 1928 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1929 | } |
Lightvalve | 97:d71c57e3515e | 1930 | // if(OPERATING_MODE==5) { |
Lightvalve | 97:d71c57e3515e | 1931 | // if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1932 | // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1933 | // } else { |
Lightvalve | 97:d71c57e3515e | 1934 | // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1935 | // } |
Lightvalve | 97:d71c57e3515e | 1936 | //t_value = (double) value; |
Lightvalve | 97:d71c57e3515e | 1937 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 97:d71c57e3515e | 1938 | // t_value = cur.sen * 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1939 | // } else { |
Lightvalve | 97:d71c57e3515e | 1940 | // t_value = V_out; |
Lightvalve | 89:a7b45368ea0f | 1941 | // } |
Lightvalve | 67:c2812cf26c38 | 1942 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1943 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1944 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1945 | } |
Lightvalve | 58:2eade98630e2 | 1946 | |
Lightvalve | 58:2eade98630e2 | 1947 | |
Lightvalve | 131:d08121ac87ba | 1948 | if (flag_data_request[2] == LOW) { |
Lightvalve | 89:a7b45368ea0f | 1949 | //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 |
Lightvalve | 89:a7b45368ea0f | 1950 | double t_value = 0; |
Lightvalve | 89:a7b45368ea0f | 1951 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 1952 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1953 | } else { |
Lightvalve | 131:d08121ac87ba | 1954 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1955 | } |
Lightvalve | 139:15621998925b | 1956 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (torq.ref)); // 1400 |
Lightvalve | 55:b25725257569 | 1957 | } |
Lightvalve | 58:2eade98630e2 | 1958 | |
Lightvalve | 57:f4819de54e7a | 1959 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1960 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1961 | ; |
Lightvalve | 57:f4819de54e7a | 1962 | } |
Lightvalve | 58:2eade98630e2 | 1963 | |
Lightvalve | 139:15621998925b | 1964 | if (flag_data_request[3] == LOW) { |
Lightvalve | 54:647072f5307a | 1965 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1966 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 139:15621998925b | 1967 | CAN_TX_PWM((int16_t) gamma_hat); //1500 |
Lightvalve | 54:647072f5307a | 1968 | } |
Lightvalve | 57:f4819de54e7a | 1969 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1970 | // ; |
Lightvalve | 57:f4819de54e7a | 1971 | // } |
Lightvalve | 56:6f50d9d3bfee | 1972 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1973 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1974 | CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600 |
Lightvalve | 54:647072f5307a | 1975 | } |
Lightvalve | 20:806196fda269 | 1976 | |
Lightvalve | 54:647072f5307a | 1977 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1978 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1979 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1980 | // } |
Lightvalve | 54:647072f5307a | 1981 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1982 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1983 | //} |
Lightvalve | 52:8ea76864368a | 1984 | |
Lightvalve | 54:647072f5307a | 1985 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1986 | } |
Lightvalve | 54:647072f5307a | 1987 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1988 | |
Lightvalve | 20:806196fda269 | 1989 | } |
Lightvalve | 52:8ea76864368a | 1990 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1991 | |
Lightvalve | 58:2eade98630e2 | 1992 | } |