Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@237:aa3863117889, 2021-01-02 (annotated)

Committer:
Lightvalve
Date:
Sat Jan 02 07:20:26 2021 +0000
Revision:
237:aa3863117889
Parent:
236:1276112e0147
Child:
238:e4bda4d06a7d
210102-1 Minor modify

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 236:1276112e0147 1 //210102_1 1kHz
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 11 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 12 #include <string>
Lightvalve 170:42c938a40313 13 #include <iostream>
Lightvalve 179:d5377766d7ea 14 #include <cmath>
Lightvalve 61:bc8c8270f0ab 15
Lightvalve 61:bc8c8270f0ab 16 using namespace std;
Lightvalve 61:bc8c8270f0ab 17 Timer t;
GiJeongKim 0:51c43836c1d7 18
Lightvalve 31:66738bfecec5 19 ///191008////
Lightvalve 31:66738bfecec5 20
jobuuu 7:e9086c72bb22 21 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 22 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 23 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 24 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 25 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 26 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 27 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 28 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 29
Lightvalve 24:ef6e1092e9e6 30
jobuuu 7:e9086c72bb22 31 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 32 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 33 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 34
jobuuu 7:e9086c72bb22 35 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 36 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 37 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 38 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 39
jobuuu 7:e9086c72bb22 40 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 41 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 42 DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 43 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 44 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 45 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 46 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 50
jobuuu 7:e9086c72bb22 51 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 52 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 53 CANMessage msg;
Lightvalve 11:82d8768d7351 54 void onMsgReceived()
Lightvalve 11:82d8768d7351 55 {
Lightvalve 11:82d8768d7351 56 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 57 }
jobuuu 2:a1c0a37df760 58
jobuuu 7:e9086c72bb22 59 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 60 State pos;
jobuuu 7:e9086c72bb22 61 State vel;
jobuuu 7:e9086c72bb22 62 State Vout;
jobuuu 7:e9086c72bb22 63 State torq;
Lightvalve 207:c70c5a9f17dd 64 State torq_dot;
jobuuu 7:e9086c72bb22 65 State pres_A;
jobuuu 7:e9086c72bb22 66 State pres_B;
jobuuu 7:e9086c72bb22 67 State cur;
Lightvalve 14:8e7590227d22 68 State valve_pos;
Lightvalve 14:8e7590227d22 69
Lightvalve 14:8e7590227d22 70 State INIT_Vout;
Lightvalve 14:8e7590227d22 71 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 72 State INIT_Pos;
Lightvalve 14:8e7590227d22 73 State INIT_torq;
jobuuu 5:a4319f79457b 74
Lightvalve 19:23b7c1ad8683 75 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 76 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 77 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 78 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 79
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 86
Lightvalve 61:bc8c8270f0ab 87
Lightvalve 61:bc8c8270f0ab 88
Lightvalve 61:bc8c8270f0ab 89
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91 // =============================================================================
jobuuu 7:e9086c72bb22 92 // =============================================================================
jobuuu 7:e9086c72bb22 93
Lightvalve 12:6f2531038ea4 94 /*******************************************************************************
Lightvalve 12:6f2531038ea4 95 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 96 ******************************************************************************/
Lightvalve 13:747daba9cf59 97 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 98 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 99 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 100 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 101 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 102 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 103 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 104 };
Lightvalve 12:6f2531038ea4 105
Lightvalve 12:6f2531038ea4 106 /*******************************************************************************
Lightvalve 12:6f2531038ea4 107 * CONTROL MODE
Lightvalve 12:6f2531038ea4 108 ******************************************************************************/
Lightvalve 13:747daba9cf59 109 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 110 //control mode
Lightvalve 12:6f2531038ea4 111 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 112 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 113 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 114
Lightvalve 47:fdcb8bd86fd6 115 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 116 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 117 MODE_RL, //5
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 120 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 121 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 122
Lightvalve 12:6f2531038ea4 123 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 124 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 125
Lightvalve 14:8e7590227d22 126 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 127 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 128 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 171:bfc1fd2629d8 129 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 130
Lightvalve 12:6f2531038ea4 131 //utility
Lightvalve 12:6f2531038ea4 132 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 133 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 134 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 135 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 136 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 137 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 138 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 139
Lightvalve 12:6f2531038ea4 140 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 141 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 142 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 143 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 144 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 145 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 146 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 147 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 148 };
Lightvalve 12:6f2531038ea4 149
Lightvalve 65:a2d7c63419c2 150 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 151 {
Lightvalve 169:645207e160ca 152 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 153 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 154
Lightvalve 169:645207e160ca 155 /** Configure the main internal regulator output voltage
Lightvalve 169:645207e160ca 156 */
Lightvalve 169:645207e160ca 157 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 158 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 169:645207e160ca 159 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 160 */
Lightvalve 169:645207e160ca 161 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 169:645207e160ca 162 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 169:645207e160ca 163 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 164 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 169:645207e160ca 165 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 169:645207e160ca 166 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 169:645207e160ca 167 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 169:645207e160ca 168 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 169 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 170 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 171 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 172 //Error_Handler();
Lightvalve 169:645207e160ca 173 }
Lightvalve 169:645207e160ca 174 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 175 */
Lightvalve 169:645207e160ca 176 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 177 //Error_Handler();
Lightvalve 169:645207e160ca 178 }
Lightvalve 169:645207e160ca 179 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 180 */
Lightvalve 169:645207e160ca 181 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 182 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 183 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 184 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 185 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 186 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 187
Lightvalve 169:645207e160ca 188 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 169:645207e160ca 189 //Error_Handler();
Lightvalve 169:645207e160ca 190 }
Lightvalve 65:a2d7c63419c2 191 }
Lightvalve 65:a2d7c63419c2 192
Lightvalve 99:7bbcb3c0fb06 193 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 194 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 195 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 196 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 197 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 198
Lightvalve 73:f80dc3970c99 199 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 200
Lightvalve 169:645207e160ca 201 const float h1[num_input][16] = {
Lightvalve 236:1276112e0147 202 {-0.35735204815864563f,-2.0120394229888916f,-2.093839406967163f,0.07576480507850647f,0.41469141840934753f,-2.199093818664551f,-0.24579298496246338f,0.02284291386604309f,-0.3877490162849426f,0.17370828986167908f,-1.4995439052581787f,-0.2709868252277374f,0.07921501994132996f,-0.12744995951652527f,2.269115686416626f,0.010293110273778439f},
Lightvalve 236:1276112e0147 203 {-0.23665226995944977f,-0.7177719473838806f,-1.0387173891067505f,-0.29000353813171387f,-0.42037737369537354f,-0.9696995615959167f,-0.3375835716724396f,0.342672199010849f,0.019521623849868774f,0.02559378743171692f,-0.4734799563884735f,-0.34987595677375793f,0.0774562656879425f,0.35824331641197205f,0.9874460101127625f,-0.05785252898931503f},
Lightvalve 236:1276112e0147 204 {0.05515164136886597f,-0.6749873757362366f,-0.2352294921875f,-0.4059182107448578f,0.38427677750587463f,-0.9802049994468689f,-0.33892711997032166f,-0.21414342522621155f,0.18477019667625427f,-0.15726223587989807f,-0.7241458892822266f,0.28268030285835266f,-0.11085942387580872f,0.12095917016267776f,0.28847527503967285f,0.3022002577781677f},
Lightvalve 236:1276112e0147 205 {-0.293906033039093f,0.34803834557533264f,-0.2669774293899536f,-0.3599902093410492f,-0.3435198664665222f,0.06436814367771149f,-0.4288424849510193f,0.2546727955341339f,0.41220441460609436f,0.157757967710495f,0.06655163317918777f,-0.24026387929916382f,-0.36544665694236755f,-0.42647603154182434f,-0.3519967198371887f,-0.04412488639354706f},
Lightvalve 236:1276112e0147 206 {0.2640465199947357f,0.904367208480835f,0.5193630456924438f,-0.38190406560897827f,0.08256778120994568f,0.40447431802749634f,0.3589477241039276f,0.052499860525131226f,0.4019247591495514f,0.3316250741481781f,0.5236570835113525f,-0.2648654580116272f,0.39075466990470886f,0.34046316146850586f,-1.3720402717590332f,0.2527320981025696f},
Lightvalve 236:1276112e0147 207 {0.07481440901756287f,2.2716588973999023f,2.8302807807922363f,0.22307810187339783f,0.42348000407218933f,2.272399663925171f,0.16381725668907166f,-0.05261331796646118f,0.03706562519073486f,0.31807008385658264f,1.7584786415100098f,0.07445400208234787f,-0.004441112279891968f,0.346279114484787f,-2.3773412704467773f,0.3872787058353424f},
Lightvalve 236:1276112e0147 208 {-0.18784843385219574f,-0.9034362435340881f,-0.5523645877838135f,0.1102200448513031f,-0.3520759642124176f,-0.21641212701797485f,-0.07993438839912415f,-0.3477243483066559f,-0.07343432307243347f,-0.0942053496837616f,0.5279899835586548f,0.3579176962375641f,0.16083213686943054f,0.24892422556877136f,0.09569017589092255f,0.12257940322160721f},
Lightvalve 236:1276112e0147 209 {0.34154585003852844f,-0.335442453622818f,-0.04132276028394699f,0.29770025610923767f,-0.25710541009902954f,-0.04430774599313736f,-0.16236284375190735f,-0.16324034333229065f,-0.3948678970336914f,-0.038886457681655884f,0.9114609956741333f,0.06612622737884521f,-0.030775129795074463f,0.03140873461961746f,0.12029732018709183f,-0.3530910313129425f},
Lightvalve 236:1276112e0147 210 {-0.009080827236175537f,0.1405850350856781f,0.01660717837512493f,-0.2640567421913147f,0.3757037818431854f,0.6386660933494568f,0.06253659725189209f,0.40207985043525696f,-0.011718571186065674f,-0.391109824180603f,0.7676808834075928f,-0.21167980134487152f,-0.3546040654182434f,-0.4745349884033203f,0.2616451680660248f,-0.251031756401062f},
Lightvalve 236:1276112e0147 211 {-0.23690436780452728f,0.028534289449453354f,0.18085666000843048f,-0.1501888632774353f,-0.15719512104988098f,-0.09556744247674942f,-0.10092943906784058f,0.11112162470817566f,-0.3380192518234253f,0.3309914171695709f,0.07824462652206421f,-0.013350500725209713f,0.025461345911026f,-0.16327187418937683f,-0.20799875259399414f,-0.11351343989372253f},
Lightvalve 236:1276112e0147 212 {-0.29338788986206055f,0.31110334396362305f,-0.09373106807470322f,0.3643277585506439f,-0.41339731216430664f,-0.26774197816848755f,-0.15025204420089722f,0.12862393260002136f,0.2227536141872406f,0.29028818011283875f,-0.3675321936607361f,0.13465528190135956f,-0.36083322763442993f,-0.06896445155143738f,-0.20208565890789032f,0.29474756121635437f},
Lightvalve 236:1276112e0147 213 {-0.35457348823547363f,0.2837545871734619f,0.013558747246861458f,-0.09786233305931091f,-0.3524658679962158f,0.20859229564666748f,-0.2525781989097595f,-0.34944450855255127f,-0.20541803538799286f,-0.3180798888206482f,-0.39250877499580383f,-0.11374253034591675f,0.11942306160926819f,0.09776416420936584f,-0.012553866021335125f,-0.2696262001991272f},
Lightvalve 236:1276112e0147 214 {0.3914450705051422f,0.13063785433769226f,0.006528916303068399f,-0.4241181015968323f,-0.419852614402771f,-0.18112421035766602f,0.3027491271495819f,-0.40583428740501404f,-0.06627288460731506f,0.0366000235080719f,-0.7475209832191467f,0.06403577327728271f,-0.3075958490371704f,0.1415783017873764f,-0.20164917409420013f,0.19146141409873962f},
Lightvalve 236:1276112e0147 215 {-0.42939120531082153f,0.3477157950401306f,0.0039906916208565235f,-0.14956367015838623f,-0.379102498292923f,0.17808063328266144f,-0.09384587407112122f,-0.04873517155647278f,-0.1762535274028778f,-0.05385279655456543f,-0.12105021625757217f,-0.16004778444766998f,-0.3452017307281494f,0.16584442555904388f,0.19096966087818146f,-0.3307840824127197f},
Lightvalve 236:1276112e0147 216 {0.2886703908443451f,0.3412364721298218f,-0.24555246531963348f,-0.17536580562591553f,-0.17029348015785217f,0.1320163756608963f,-0.19134336709976196f,0.3643942177295685f,-0.32944923639297485f,0.3735049068927765f,-0.3756035268306732f,0.37796643376350403f,-0.007067888975143433f,-0.08091842383146286f,0.06385673582553864f,-0.4109695255756378f},
Lightvalve 236:1276112e0147 217 {0.31146004796028137f,0.17528820037841797f,-0.18560504913330078f,-0.25158917903900146f,0.29755982756614685f,-0.1040550172328949f,-0.2920011878013611f,0.3506803810596466f,-0.0803089439868927f,0.26866766810417175f,-0.9237697124481201f,-0.41730308532714844f,0.2480909526348114f,0.11072329431772232f,-0.31992876529693604f,-0.21243035793304443f},
Lightvalve 65:a2d7c63419c2 218 };
Lightvalve 65:a2d7c63419c2 219
Lightvalve 169:645207e160ca 220 const float h2[16][16] = {
Lightvalve 234:1cdc45c27ba7 221 {-0.055980950593948364f,0.23325034976005554f,0.1310378611087799f,0.3538874685764313f,-0.3786364793777466f,0.3037426769733429f,-0.17743819952011108f,0.03198641538619995f,-0.25820767879486084f,-0.025972992181777954f,-0.1812897026538849f,-0.19700877368450165f,-0.23905162513256073f,0.3336930572986603f,-0.2611466646194458f,-0.14968061447143555f},
Lightvalve 236:1276112e0147 222 {-2.1463944911956787f,0.3085605204105377f,-1.5364868640899658f,-1.059834361076355f,-1.3532617092132568f,-0.017979100346565247f,-0.6657243967056274f,-1.2610880136489868f,-0.040404435247182846f,0.2273702323436737f,-0.2186730057001114f,-0.09930881857872009f,-0.9734147191047668f,-0.30929386615753174f,-0.21292872726917267f,-1.084805965423584f},
Lightvalve 236:1276112e0147 223 {1.1777337789535522f,0.3188628852367401f,-0.8884216547012329f,-1.5668562650680542f,-0.8606882691383362f,0.06576482206583023f,-1.243653416633606f,-0.4017029106616974f,-0.18697510659694672f,0.229490727186203f,-0.29371505975723267f,-0.13699811697006226f,0.384287029504776f,0.02075192518532276f,0.056768983602523804f,-0.6898939609527588f},
Lightvalve 234:1cdc45c27ba7 224 {-0.28563398122787476f,0.07789990305900574f,0.40358296036720276f,0.3720850646495819f,-0.03832319378852844f,-0.1494518518447876f,-0.11764177680015564f,0.34294649958610535f,0.054388612508773804f,0.3634087145328522f,0.1569826900959015f,0.28783395886421204f,-0.13846668601036072f,0.12138035893440247f,-0.3007376194000244f,0.12193700671195984f},
Lightvalve 234:1cdc45c27ba7 225 {0.1812863051891327f,0.25741907954216003f,-0.005224883556365967f,0.3340524137020111f,0.024127095937728882f,0.11559751629829407f,0.13140985369682312f,-0.02607312798500061f,0.060811251401901245f,0.1730591356754303f,0.4128219783306122f,0.03628826141357422f,-0.040624260902404785f,0.2442089021205902f,-0.39249828457832336f,-0.21546570956707f},
Lightvalve 236:1276112e0147 226 {0.6896087527275085f,-0.3289546072483063f,-0.6547867059707642f,-0.9677802920341492f,-0.295799195766449f,-0.3906203508377075f,-0.4158453345298767f,-0.7322367429733276f,0.000888723589014262f,0.17989537119865417f,-0.191977858543396f,0.26149240136146545f,1.0005666017532349f,0.1274717152118683f,-0.4196912348270416f,-0.693223237991333f},
Lightvalve 234:1cdc45c27ba7 227 {0.03675055503845215f,-0.05131736397743225f,-0.2540779709815979f,-0.4151476323604584f,-0.3318796753883362f,0.2645241320133209f,0.06107431650161743f,-0.3474422097206116f,0.4012340009212494f,0.12852928042411804f,0.2119675576686859f,0.39421865344047546f,-0.14612942934036255f,0.4053405821323395f,-0.15860587358474731f,-0.00642770528793335f},
Lightvalve 234:1cdc45c27ba7 228 {-0.011466562747955322f,-0.293976753950119f,-0.2703247666358948f,0.13940533995628357f,-0.3086448609828949f,-0.10881850123405457f,-0.18203827738761902f,-0.3606947958469391f,0.05907437205314636f,0.17521318793296814f,0.16556969285011292f,-0.017545759677886963f,0.4063515365123749f,0.1637323796749115f,0.0436977744102478f,0.21962454915046692f},
Lightvalve 234:1cdc45c27ba7 229 {0.1453019678592682f,0.31070712208747864f,0.10406997799873352f,-0.34301185607910156f,-0.14203324913978577f,0.1393299400806427f,-0.07359349727630615f,-0.4255761206150055f,-0.24196511507034302f,0.4100019037723541f,-0.2432931661605835f,0.4171271026134491f,0.26163145899772644f,0.24838712811470032f,-0.31029027700424194f,0.24932292103767395f},
Lightvalve 234:1cdc45c27ba7 230 {-0.09909564256668091f,-0.22814129292964935f,0.18748918175697327f,-0.08129695057868958f,0.17022588849067688f,0.2918822467327118f,-0.3036908507347107f,-0.09228748083114624f,0.024910658597946167f,-0.4239048957824707f,0.050207048654556274f,-0.4021540582180023f,0.4068380892276764f,-0.20195016264915466f,0.35390153527259827f,0.03321918845176697f},
Lightvalve 236:1276112e0147 231 {1.1097264289855957f,0.11061021685600281f,-0.6238017678260803f,0.36240458488464355f,-0.5829976201057434f,-0.12090136855840683f,-1.0479249954223633f,-0.2988470494747162f,-0.43462252616882324f,0.08167347311973572f,0.41236647963523865f,-0.19175507128238678f,-0.6528332829475403f,-0.2299557626247406f,0.2710213363170624f,-0.7960361838340759f},
Lightvalve 236:1276112e0147 232 {-0.34519389271736145f,-0.39544427394866943f,-0.40249112248420715f,0.08116465061903f,0.17276908457279205f,-0.004713055212050676f,0.15504460036754608f,0.41018518805503845f,-0.11885038018226624f,0.2575679123401642f,-0.36203885078430176f,0.2510797083377838f,0.1733463555574417f,0.00006646246038144454f,0.10656675696372986f,-0.07071559876203537f},
Lightvalve 234:1cdc45c27ba7 233 {-0.01594102382659912f,-0.19719429314136505f,0.2015570104122162f,0.23486098647117615f,0.36742570996284485f,0.19432035088539124f,-0.24415965378284454f,0.16870906949043274f,-0.1409781575202942f,-0.15576940774917603f,-0.05214834213256836f,-0.16751256585121155f,0.12201771140098572f,0.031148135662078857f,-0.22613362967967987f,-0.3668502867221832f},
Lightvalve 236:1276112e0147 234 {-0.037963882088661194f,-0.10105487704277039f,0.3577341139316559f,-0.060322701930999756f,-0.2615357041358948f,-0.2617179751396179f,-0.2733955383300781f,-0.35561829805374146f,-0.1208827868103981f,-0.19223688542842865f,-0.13938084244728088f,-0.1388394832611084f,-0.23633825778961182f,-0.1022484079003334f,0.04871204495429993f,0.19872865080833435f},
Lightvalve 236:1276112e0147 235 {-2.564844846725464f,-0.008572280406951904f,0.6003588438034058f,3.0607717037200928f,0.776870608329773f,-0.310710608959198f,-2.187302827835083f,0.48503586649894714f,0.31953272223472595f,0.11613044142723083f,-0.22509463131427765f,-0.3847343325614929f,-2.833681106567383f,-0.33584195375442505f,0.06784489750862122f,0.7165175676345825f},
Lightvalve 236:1276112e0147 236 {-0.0164337195456028f,-0.35415053367614746f,-0.37155482172966003f,0.0538923554122448f,-0.05211840569972992f,0.028057783842086792f,-0.20561406016349792f,0.00019631125906016678f,0.26847031712532043f,0.021969109773635864f,-0.42253369092941284f,-0.02782580256462097f,-0.2900928854942322f,0.041248150169849396f,-0.08373728394508362f,0.2805810868740082f},
Lightvalve 65:a2d7c63419c2 237 };
Lightvalve 65:a2d7c63419c2 238
Lightvalve 169:645207e160ca 239 const float h3[16][16] = {
Lightvalve 236:1276112e0147 240 {-1.771646499633789f,-0.14559394121170044f,1.4628738164901733f,2.6977522373199463f,-0.21907491981983185f,0.11600030213594437f,-1.0515238046646118f,0.04651227965950966f,-1.9034440517425537f,-0.1847420185804367f,-0.2102704793214798f,-0.10159772634506226f,-0.25009530782699585f,-0.13627253472805023f,-0.060674071311950684f,2.819528102874756f},
Lightvalve 234:1cdc45c27ba7 241 {0.11036357283592224f,-0.3038245439529419f,0.057057321071624756f,0.08777192234992981f,-0.35503754019737244f,-0.29007279872894287f,-0.33918139338493347f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.3337714970111847f,-0.37158891558647156f,0.33698758482933044f,0.16647490859031677f,-0.3480874300003052f,-0.2740727365016937f},
Lightvalve 236:1276112e0147 242 {0.5753528475761414f,0.003037691116333008f,-0.061119019985198975f,0.9859564900398254f,0.05568113923072815f,-0.15551023185253143f,-1.0265138149261475f,-0.08465918898582458f,1.1227432489395142f,0.0048825982958078384f,0.3230370283126831f,0.3004753887653351f,0.31284230947494507f,-0.5756801962852478f,0.08652284741401672f,-0.855650007724762f},
Lightvalve 236:1276112e0147 243 {-0.024826720356941223f,-0.38710832595825195f,-0.14085865020751953f,1.2322874069213867f,0.08946844935417175f,-0.0691494569182396f,-2.135308265686035f,0.3963567912578583f,-0.027629083022475243f,0.2515743374824524f,0.08592427521944046f,0.4110986292362213f,-0.5930200815200806f,-0.5239672660827637f,0.27305224537849426f,-2.8295881748199463f},
Lightvalve 236:1276112e0147 244 {1.1108759641647339f,0.40231046080589294f,-0.25313520431518555f,1.5314010381698608f,0.036378175020217896f,-0.03187068924307823f,-1.6890592575073242f,-0.08570799231529236f,1.3848036527633667f,-0.5586535930633545f,0.3252018392086029f,-0.4229513108730316f,-0.15799948573112488f,-0.21627092361450195f,-0.2544192671775818f,-1.7995922565460205f},
Lightvalve 236:1276112e0147 245 {-0.017818210646510124f,0.294185608625412f,-0.3519742488861084f,0.022115010768175125f,-0.3015052080154419f,-0.18821308016777039f,-0.06464698165655136f,-0.019414573907852173f,-0.4239131808280945f,0.4000220000743866f,-0.0970444530248642f,0.001658409833908081f,-0.17532514035701752f,0.3993215262889862f,0.15392538905143738f,-0.17922121286392212f},
Lightvalve 236:1276112e0147 246 {-3.087456703186035f,-0.02554568648338318f,-0.3260969817638397f,-0.44333475828170776f,-0.38453540205955505f,-0.1815117597579956f,0.9104711413383484f,0.12387624382972717f,-0.7149780988693237f,0.16980008780956268f,-1.1905796527862549f,-0.32796353101730347f,-0.8951786756515503f,0.049302369356155396f,-0.27088475227355957f,0.11074401438236237f},
Lightvalve 236:1276112e0147 247 {0.5263171792030334f,0.33974209427833557f,0.33083590865135193f,1.1615447998046875f,-0.14358049631118774f,-1.7622140645980835f,-1.6714271306991577f,-0.3003333508968353f,1.7242130041122437f,-1.7911338806152344f,2.1776010990142822f,-0.2890920341014862f,-2.0218605995178223f,0.36012205481529236f,0.048003822565078735f,-1.358321189880371f},
Lightvalve 236:1276112e0147 248 {-0.25820738077163696f,0.35453304648399353f,-0.11379697918891907f,0.24301044642925262f,0.041274964809417725f,-0.3833408057689667f,-0.23701369762420654f,0.0019084513187408447f,0.17138820886611938f,-0.560668408870697f,0.17645809054374695f,-0.3197441101074219f,-0.34869617223739624f,-0.30194157361984253f,-0.4068881571292877f,-0.33665692806243896f},
Lightvalve 234:1cdc45c27ba7 249 {-0.14576366543769836f,0.22098979353904724f,-0.13502129912376404f,0.1006976068019867f,0.12987366318702698f,0.11301741003990173f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.24499371647834778f,0.39862415194511414f,0.3811538517475128f,-0.23332324624061584f,0.011877655982971191f,-0.23860150575637817f},
Lightvalve 234:1cdc45c27ba7 250 {-0.2709399461746216f,-0.006022721529006958f,0.0457797646522522f,-0.38090792298316956f,-0.03321319818496704f,-0.4148826003074646f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.20706263184547424f,0.3545852601528168f,-0.3647043704986572f,0.42127421498298645f,-0.39804020524024963f,-0.2870290279388428f},
Lightvalve 234:1cdc45c27ba7 251 {0.33538809418678284f,0.3494977056980133f,0.3954955041408539f,0.3170476257801056f,0.0033026933670043945f,0.3035760819911957f,-0.18492193520069122f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.3952759802341461f,-0.15237495303153992f,0.0820283591747284f,-0.3793424367904663f,0.2430708110332489f,0.24988999962806702f},
Lightvalve 236:1276112e0147 252 {-1.2291382551193237f,-0.180922269821167f,-0.6075759530067444f,-1.6845953464508057f,-0.37393757700920105f,0.12070825695991516f,-0.02958189696073532f,-0.43799540400505066f,-1.426308512687683f,0.18098291754722595f,-0.21991410851478577f,-0.2837170362472534f,0.2398146092891693f,-0.37816184759140015f,-0.15901821851730347f,2.485809087753296f},
Lightvalve 236:1276112e0147 253 {0.4588259756565094f,0.26506301760673523f,-0.20059140026569366f,0.10840140283107758f,0.07545611262321472f,-0.009657952934503555f,-0.06502822041511536f,-0.21416273713111877f,-0.3103412985801697f,0.2800082862377167f,0.27845215797424316f,-0.25593626499176025f,-0.127348393201828f,0.27643296122550964f,-0.23556609451770782f,0.005459318403154612f},
Lightvalve 234:1cdc45c27ba7 254 {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 236:1276112e0147 255 {1.1311722993850708f,0.3827712833881378f,0.12081471085548401f,1.728609323501587f,0.29976895451545715f,-0.3225926160812378f,-2.0222890377044678f,0.31089308857917786f,1.532584309577942f,-0.49519553780555725f,1.944858431816101f,-0.11613789200782776f,-0.9402145743370056f,-0.020097048953175545f,0.22754064202308655f,-1.9156906604766846f},
Lightvalve 66:a8e6799dbce3 256 };
Lightvalve 65:a2d7c63419c2 257
Lightvalve 236:1276112e0147 258 const float hout[16] = { -0.8755320906639099f,-0.17660260200500488f,-0.8777269721031189f,-0.9667772054672241f,-0.20271384716033936f,0.04433249682188034f,1.199018955230713f,0.3603998124599457f,-1.0205823183059692f,0.5076796412467957f,-1.132434606552124f,0.5489715337753296f,0.6103102564811707f,0.005986696109175682f,-0.480579137802124f,-0.44109928607940674f };
Lightvalve 236:1276112e0147 259
Lightvalve 236:1276112e0147 260 const float b1[16] = { -0.31192219257354736f,0.02977970615029335f,1.1881095170974731f,-0.407010555267334f,-0.8632325530052185f,1.1802211999893188f,-0.8388656973838806f,-0.8200502991676331f,-0.2854437828063965f,-1.6282782554626465f,0.12946973741054535f,-0.15634459257125854f,-1.5856122970581055f,-0.6293735504150391f,0.6503711342811584f,-0.3639060854911804f };
Lightvalve 236:1276112e0147 261
Lightvalve 236:1276112e0147 262 const float b2[16] = { -0.5213443636894226f,-1.3118138313293457f,0.4097781181335449f,1.3549435138702393f,0.2654208242893219f,-0.10533243417739868f,0.4010799825191498f,0.17212264239788055f,-0.18781042098999023f,-1.6486880779266357f,-0.22539173066616058f,-2.15936541557312f,0.295309841632843f,-0.06378956139087677f,-0.6625781655311584f,0.2849578261375427f };
Lightvalve 236:1276112e0147 263
Lightvalve 236:1276112e0147 264 const float b3[16] = { -0.006179598160088062f,-0.1894310712814331f,-0.38112419843673706f,-0.17881307005882263f,-0.4563063681125641f,-0.761942446231842f,0.7420015335083008f,-0.7311421036720276f,-0.1677386313676834f,-0.6010317206382751f,-0.30912360548973083f,-0.7519525289535522f,-0.39950934052467346f,-0.04798943176865578f,-0.45795938372612f,0.6159868836402893f };
Lightvalve 236:1276112e0147 265
Lightvalve 236:1276112e0147 266 const float bout[1] = { -0.04572715237736702f };
Lightvalve 225:278b48b86f27 267
Lightvalve 225:278b48b86f27 268 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 269
Lightvalve 170:42c938a40313 270 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 271 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 272
Lightvalve 170:42c938a40313 273 //Critic Networks
Lightvalve 173:68c7914679ec 274 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 275 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 276 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 277 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 278 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 279 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 280
Lightvalve 170:42c938a40313 281 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 282 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 283 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 284 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 285 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 286 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 287 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 288
Lightvalve 170:42c938a40313 289 //Actor Networks
Lightvalve 173:68c7914679ec 290 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 291 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 292 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 293 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 294 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 295 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 296
Lightvalve 170:42c938a40313 297 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 298 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 299 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 300 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 301 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 302 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 303 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 304
Lightvalve 87:471334725012 305 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 306 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 307
Lightvalve 179:d5377766d7ea 308 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 309 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 310 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 311 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 312 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 313
Lightvalve 170:42c938a40313 314 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 315 {
Lightvalve 173:68c7914679ec 316 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 317 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 318 float output = 0.0f;
Lightvalve 173:68c7914679ec 319 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 320 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 321 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 322 }
Lightvalve 173:68c7914679ec 323 //ReLU
Lightvalve 173:68c7914679ec 324 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 325 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 326 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 327 output1[index2] = 0;
Lightvalve 173:68c7914679ec 328 }
Lightvalve 173:68c7914679ec 329 //tanh
Lightvalve 173:68c7914679ec 330 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 331 }
Lightvalve 173:68c7914679ec 332 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 333 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 334 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 335 }
Lightvalve 173:68c7914679ec 336 //ReLU
Lightvalve 173:68c7914679ec 337 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 338 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 339 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 340 output2[index2] = 0;
Lightvalve 173:68c7914679ec 341 }
Lightvalve 173:68c7914679ec 342 //tanh
Lightvalve 173:68c7914679ec 343 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 344 }
Lightvalve 170:42c938a40313 345 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 346 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 347 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 348 }
Lightvalve 173:68c7914679ec 349 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 350 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 351 }
Lightvalve 170:42c938a40313 352 return output;
Lightvalve 170:42c938a40313 353 }
Lightvalve 170:42c938a40313 354
Lightvalve 170:42c938a40313 355
Lightvalve 170:42c938a40313 356 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 357 {
Lightvalve 173:68c7914679ec 358 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 359 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 360 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 361
Lightvalve 173:68c7914679ec 362 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 363 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 364 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 365 }
Lightvalve 178:1074553d2f6f 366 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 367 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 368 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 369 output1[index2] = 0;
Lightvalve 173:68c7914679ec 370 }
Lightvalve 173:68c7914679ec 371 }
Lightvalve 173:68c7914679ec 372 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 373 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 374 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 375 }
Lightvalve 178:1074553d2f6f 376 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 377 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 378 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 379 output2[index2] = 0;
Lightvalve 173:68c7914679ec 380 }
Lightvalve 173:68c7914679ec 381 }
Lightvalve 173:68c7914679ec 382 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 383 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 384 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 385 }
Lightvalve 178:1074553d2f6f 386 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 387 }
Lightvalve 178:1074553d2f6f 388
Lightvalve 178:1074553d2f6f 389 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 390 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 391 //Softplus
Lightvalve 173:68c7914679ec 392 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 393 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 394 logging2 = mean;
Lightvalve 179:d5377766d7ea 395 logging4 = deviation;
Lightvalve 173:68c7914679ec 396 }
Lightvalve 173:68c7914679ec 397
Lightvalve 173:68c7914679ec 398
Lightvalve 173:68c7914679ec 399 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 400 {
Lightvalve 173:68c7914679ec 401 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 402 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 403 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 404
Lightvalve 173:68c7914679ec 405 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 406 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 407 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 408 }
Lightvalve 170:42c938a40313 409 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 410 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 411 output1[index2] = 0;
Lightvalve 170:42c938a40313 412 }
Lightvalve 170:42c938a40313 413 }
Lightvalve 173:68c7914679ec 414 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 415 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 416 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 417 }
Lightvalve 173:68c7914679ec 418 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 419 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 420 output2[index2] = 0;
Lightvalve 170:42c938a40313 421 }
Lightvalve 170:42c938a40313 422 }
Lightvalve 170:42c938a40313 423 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 424 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 425 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 426 }
Lightvalve 170:42c938a40313 427 }
Lightvalve 173:68c7914679ec 428 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 429 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 430 //Softplus
Lightvalve 173:68c7914679ec 431 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 432 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 433 }
Lightvalve 170:42c938a40313 434
Lightvalve 170:42c938a40313 435 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 436 {
Lightvalve 170:42c938a40313 437 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 438 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 439 return grad_mean;
Lightvalve 170:42c938a40313 440 }
Lightvalve 170:42c938a40313 441
Lightvalve 170:42c938a40313 442 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 443 {
Lightvalve 170:42c938a40313 444 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 445 grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation));
Lightvalve 170:42c938a40313 446 return grad_dev;
Lightvalve 170:42c938a40313 447 }
Lightvalve 170:42c938a40313 448
Lightvalve 173:68c7914679ec 449 float ReLU(float x)
Lightvalve 173:68c7914679ec 450 {
Lightvalve 173:68c7914679ec 451 if (x >= 0) {
Lightvalve 173:68c7914679ec 452 return x;
Lightvalve 173:68c7914679ec 453 } else {
Lightvalve 173:68c7914679ec 454 return 0.0f;
Lightvalve 173:68c7914679ec 455 }
Lightvalve 173:68c7914679ec 456 }
Lightvalve 173:68c7914679ec 457
Lightvalve 170:42c938a40313 458 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 459 {
Lightvalve 173:68c7914679ec 460 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 461 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 462 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 463 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 464 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 465 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 466 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 467 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 468 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 469 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 470 }
Lightvalve 173:68c7914679ec 471 }
Lightvalve 170:42c938a40313 472 }
Lightvalve 177:8e9cf31d63f4 473 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 474 }
Lightvalve 170:42c938a40313 475 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 476 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 477 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 478 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 479 }
Lightvalve 173:68c7914679ec 480 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 481 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 482 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 483 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 484 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 485 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 486 }
Lightvalve 173:68c7914679ec 487 }
Lightvalve 173:68c7914679ec 488 }
Lightvalve 177:8e9cf31d63f4 489 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 490 }
Lightvalve 173:68c7914679ec 491 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 492 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 493 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 494 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 495 }
Lightvalve 173:68c7914679ec 496
Lightvalve 175:2f7289dbd488 497
Lightvalve 173:68c7914679ec 498 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 499 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 500 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 501 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 502 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 503 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 504 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 505 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 506 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 507 }
Lightvalve 173:68c7914679ec 508 }
Lightvalve 177:8e9cf31d63f4 509 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 510 }
Lightvalve 173:68c7914679ec 511 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 512 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 513 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 514 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 515 }
Lightvalve 173:68c7914679ec 516 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 517 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 518 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 519 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 520 }
Lightvalve 177:8e9cf31d63f4 521 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 522 }
Lightvalve 173:68c7914679ec 523 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 524 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 525 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 526 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 527 }
Lightvalve 173:68c7914679ec 528
Lightvalve 173:68c7914679ec 529 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 530 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 531 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 532 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 533 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 534 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 535 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 536 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 537 }
Lightvalve 177:8e9cf31d63f4 538 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 539 }
Lightvalve 173:68c7914679ec 540 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 541 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 542 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 543 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 544 }
Lightvalve 173:68c7914679ec 545 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 546 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 547 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 548 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 549 }
Lightvalve 173:68c7914679ec 550 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 551 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 552 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 553 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 554 }
Lightvalve 173:68c7914679ec 555
Lightvalve 173:68c7914679ec 556 // Simultaneous Update
Lightvalve 173:68c7914679ec 557 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 558 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 559 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 560 }
Lightvalve 179:d5377766d7ea 561 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 562 }
Lightvalve 173:68c7914679ec 563 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 564 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 565 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 566 }
Lightvalve 179:d5377766d7ea 567 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 568 }
Lightvalve 170:42c938a40313 569 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 570 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 571 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 572 }
Lightvalve 179:d5377766d7ea 573 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 574 }
Lightvalve 170:42c938a40313 575 }
Lightvalve 170:42c938a40313 576
Lightvalve 173:68c7914679ec 577 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 578 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 579 {
Lightvalve 218:066030f7951f 580
Lightvalve 173:68c7914679ec 581
Lightvalve 173:68c7914679ec 582 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 583 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 584
Lightvalve 173:68c7914679ec 585 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 586 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 587 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 588 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 589 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 590 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 591 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 592 } else {
Lightvalve 173:68c7914679ec 593 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 594 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 595 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 596 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 597 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 598 }
Lightvalve 171:bfc1fd2629d8 599 }
Lightvalve 170:42c938a40313 600 }
Lightvalve 170:42c938a40313 601 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 602 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 603 d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1;
Lightvalve 177:8e9cf31d63f4 604 d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1;
Lightvalve 173:68c7914679ec 605
Lightvalve 173:68c7914679ec 606 G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 607 }
Lightvalve 170:42c938a40313 608 }
Lightvalve 176:589ea3edcf3c 609 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 610 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 611 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 612 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 613 }
Lightvalve 173:68c7914679ec 614
Lightvalve 173:68c7914679ec 615 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 616 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 617 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 618 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 619 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 620 } else {
Lightvalve 173:68c7914679ec 621 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 622 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 623 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 624 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 625 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 626 }
Lightvalve 171:bfc1fd2629d8 627 }
Lightvalve 170:42c938a40313 628 }
Lightvalve 170:42c938a40313 629 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 630 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 631 d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1;
Lightvalve 177:8e9cf31d63f4 632 d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1;
Lightvalve 173:68c7914679ec 633
Lightvalve 173:68c7914679ec 634 G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 635 }
Lightvalve 170:42c938a40313 636 }
Lightvalve 176:589ea3edcf3c 637 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 638 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 639 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 640 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 641 }
Lightvalve 170:42c938a40313 642
Lightvalve 173:68c7914679ec 643 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 644 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 645
Lightvalve 173:68c7914679ec 646 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 647 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 648 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 649 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 650 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 651 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 652 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 653 } else {
Lightvalve 173:68c7914679ec 654 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 655 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 656 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 657 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 658 }
Lightvalve 170:42c938a40313 659 }
Lightvalve 173:68c7914679ec 660
Lightvalve 170:42c938a40313 661 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 662 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 663 d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2;
Lightvalve 177:8e9cf31d63f4 664 d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2;
Lightvalve 173:68c7914679ec 665
Lightvalve 173:68c7914679ec 666 G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 667 }
Lightvalve 170:42c938a40313 668 }
Lightvalve 176:589ea3edcf3c 669 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 670 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 671 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 672 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 673 }
Lightvalve 173:68c7914679ec 674
Lightvalve 173:68c7914679ec 675 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 676 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 677 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 678 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 679 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 680 } else {
Lightvalve 170:42c938a40313 681
Lightvalve 173:68c7914679ec 682 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 683 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 684 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 685 }
Lightvalve 173:68c7914679ec 686 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 687 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 688 d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2;
Lightvalve 177:8e9cf31d63f4 689 d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2;
Lightvalve 173:68c7914679ec 690
Lightvalve 173:68c7914679ec 691 G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 692 }
Lightvalve 170:42c938a40313 693 }
Lightvalve 176:589ea3edcf3c 694 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 695 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 696 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 697 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 698 }
Lightvalve 173:68c7914679ec 699
Lightvalve 173:68c7914679ec 700 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 701 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 702
Lightvalve 173:68c7914679ec 703 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 704 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 705 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 706 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 707 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 708 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 709 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 710 } else {
Lightvalve 173:68c7914679ec 711 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 712 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 713 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 714 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 715 }
Lightvalve 173:68c7914679ec 716 }
Lightvalve 173:68c7914679ec 717 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 718 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 719 d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3;
Lightvalve 177:8e9cf31d63f4 720 d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3;
Lightvalve 173:68c7914679ec 721
Lightvalve 173:68c7914679ec 722 G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 173:68c7914679ec 723 }
Lightvalve 173:68c7914679ec 724 }
Lightvalve 176:589ea3edcf3c 725 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 726 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 727 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 728 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 729 }
Lightvalve 173:68c7914679ec 730
Lightvalve 173:68c7914679ec 731 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 732 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 733 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 734 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 735 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 736 } else {
Lightvalve 173:68c7914679ec 737
Lightvalve 177:8e9cf31d63f4 738 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 739 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 740
Lightvalve 173:68c7914679ec 741 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 742 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 743 d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3;
Lightvalve 177:8e9cf31d63f4 744 d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3;
Lightvalve 173:68c7914679ec 745
Lightvalve 173:68c7914679ec 746 G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 173:68c7914679ec 747 }
Lightvalve 173:68c7914679ec 748 }
Lightvalve 176:589ea3edcf3c 749 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 750 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 751 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 752 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 753 }
Lightvalve 177:8e9cf31d63f4 754
Lightvalve 175:2f7289dbd488 755 // Simultaneous Update
Lightvalve 175:2f7289dbd488 756 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 757 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 758 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 759 }
Lightvalve 179:d5377766d7ea 760 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 761 }
Lightvalve 175:2f7289dbd488 762 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 763 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 764 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 765 }
Lightvalve 179:d5377766d7ea 766 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 767 }
Lightvalve 175:2f7289dbd488 768 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 769 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 770 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 771 }
Lightvalve 179:d5377766d7ea 772 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 773 }
Lightvalve 170:42c938a40313 774 }
Lightvalve 170:42c938a40313 775
Lightvalve 170:42c938a40313 776 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 777 {
Lightvalve 170:42c938a40313 778 //Box muller method
Lightvalve 170:42c938a40313 779 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 780 static int n2_cached = 0;
Lightvalve 170:42c938a40313 781 if (!n2_cached) {
Lightvalve 170:42c938a40313 782 double x, y, r;
Lightvalve 170:42c938a40313 783 do {
Lightvalve 170:42c938a40313 784 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 785 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 786
Lightvalve 170:42c938a40313 787 r = x*x + y*y;
Lightvalve 170:42c938a40313 788 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 789 {
Lightvalve 170:42c938a40313 790 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 791 double n1 = x*d;
Lightvalve 170:42c938a40313 792 n2 = y*d;
Lightvalve 170:42c938a40313 793 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 794 n2_cached = 1;
Lightvalve 170:42c938a40313 795 return result;
Lightvalve 170:42c938a40313 796 }
Lightvalve 170:42c938a40313 797 } else {
Lightvalve 170:42c938a40313 798 n2_cached = 0;
Lightvalve 170:42c938a40313 799 return n2*stddev + mean;
Lightvalve 170:42c938a40313 800 }
Lightvalve 170:42c938a40313 801 }
Lightvalve 170:42c938a40313 802
Lightvalve 179:d5377766d7ea 803 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 804 {
Lightvalve 179:d5377766d7ea 805 float add = 0.0f;
Lightvalve 179:d5377766d7ea 806 float result;
Lightvalve 218:066030f7951f 807
Lightvalve 218:066030f7951f 808 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 809 add += x[i];
Lightvalve 179:d5377766d7ea 810 }
Lightvalve 179:d5377766d7ea 811 result = (float) add/size;
Lightvalve 179:d5377766d7ea 812 return result;
Lightvalve 179:d5377766d7ea 813 }
Lightvalve 179:d5377766d7ea 814 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 815 {
Lightvalve 179:d5377766d7ea 816 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 817 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 818
Lightvalve 218:066030f7951f 819 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 820 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 821 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 822 }
Lightvalve 179:d5377766d7ea 823 return resultDeb;
Lightvalve 218:066030f7951f 824 }
Lightvalve 218:066030f7951f 825
Lightvalve 173:68c7914679ec 826
Lightvalve 170:42c938a40313 827 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 828 {
Lightvalve 173:68c7914679ec 829 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 830 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 831 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 832 }
Lightvalve 170:42c938a40313 833 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 834 }
Lightvalve 173:68c7914679ec 835 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 836 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 837 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 838 }
Lightvalve 173:68c7914679ec 839 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 840 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 841 }
Lightvalve 173:68c7914679ec 842 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 843 }
Lightvalve 170:42c938a40313 844 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 845 {
Lightvalve 173:68c7914679ec 846 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 847 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 848 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 849 }
Lightvalve 170:42c938a40313 850 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 851 }
Lightvalve 173:68c7914679ec 852 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 853 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 854 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 855 }
Lightvalve 170:42c938a40313 856 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 857 }
Lightvalve 173:68c7914679ec 858 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 859 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 860 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 861 }
Lightvalve 173:68c7914679ec 862 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 863 }
Lightvalve 170:42c938a40313 864 }
Lightvalve 170:42c938a40313 865
Lightvalve 170:42c938a40313 866
GiJeongKim 0:51c43836c1d7 867 int main()
GiJeongKim 0:51c43836c1d7 868 {
Lightvalve 66:a8e6799dbce3 869
Lightvalve 65:a2d7c63419c2 870 HAL_Init();
Lightvalve 65:a2d7c63419c2 871 SystemClock_Config();
Lightvalve 169:645207e160ca 872
jobuuu 6:df07d3491e3a 873 /*********************************
jobuuu 1:e04e563be5ce 874 *** Initialization
jobuuu 6:df07d3491e3a 875 *********************************/
Lightvalve 69:3995ffeaa786 876 LED = 0;
Lightvalve 61:bc8c8270f0ab 877 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 878
GiJeongKim 0:51c43836c1d7 879 // i2c init
Lightvalve 8:5d2eebdad025 880 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 881 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 882 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 883 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 884 make_delay();
jobuuu 2:a1c0a37df760 885
GiJeongKim 0:51c43836c1d7 886 // // spi init
Lightvalve 170:42c938a40313 887 eeprom.format(8,3);
Lightvalve 170:42c938a40313 888 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 889 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 890 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 891 make_delay();
Lightvalve 21:e5f1a43ea6f9 892
Lightvalve 16:903b5a4433b4 893 //rom
Lightvalve 19:23b7c1ad8683 894 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 895 make_delay();
Lightvalve 13:747daba9cf59 896
GiJeongKim 0:51c43836c1d7 897 // ADC init
jobuuu 5:a4319f79457b 898 Init_ADC();
Lightvalve 11:82d8768d7351 899 make_delay();
jobuuu 2:a1c0a37df760 900
GiJeongKim 0:51c43836c1d7 901 // Pwm init
GiJeongKim 0:51c43836c1d7 902 Init_PWM();
GiJeongKim 0:51c43836c1d7 903 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 904 make_delay();
Lightvalve 13:747daba9cf59 905
Lightvalve 11:82d8768d7351 906 // TMR3 init
Lightvalve 11:82d8768d7351 907 Init_TMR3();
Lightvalve 11:82d8768d7351 908 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 909 make_delay();
Lightvalve 21:e5f1a43ea6f9 910
Lightvalve 50:3c630b5eba9f 911 // TMR2 init
Lightvalve 56:6f50d9d3bfee 912 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 913 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 914 // make_delay();
Lightvalve 21:e5f1a43ea6f9 915
GiJeongKim 0:51c43836c1d7 916 // CAN
jobuuu 2:a1c0a37df760 917 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 918 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 919 make_delay();
Lightvalve 34:bb2ca2fc2a8e 920
Lightvalve 23:59218d4a256d 921 //Timer priority
Lightvalve 23:59218d4a256d 922 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 923 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 924 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 925
Lightvalve 23:59218d4a256d 926 //can.reset();
Lightvalve 19:23b7c1ad8683 927 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 928
GiJeongKim 0:51c43836c1d7 929 // spi _ enc
GiJeongKim 0:51c43836c1d7 930 spi_enc_set_init();
Lightvalve 11:82d8768d7351 931 make_delay();
Lightvalve 13:747daba9cf59 932
Lightvalve 11:82d8768d7351 933 //DAC init
Lightvalve 58:2eade98630e2 934 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 935 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 936 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 937 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 938 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 939 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 940 }
Lightvalve 11:82d8768d7351 941 make_delay();
Lightvalve 13:747daba9cf59 942
Lightvalve 19:23b7c1ad8683 943 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 944 if(i%2==0)
Lightvalve 38:118df027d851 945 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 946 else
Lightvalve 38:118df027d851 947 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 948 }
Lightvalve 169:645207e160ca 949
Lightvalve 173:68c7914679ec 950 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 951 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 952 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 953 }
Lightvalve 179:d5377766d7ea 954 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 955 }
Lightvalve 173:68c7914679ec 956 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 957 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 958 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 959 }
Lightvalve 179:d5377766d7ea 960 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 961 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 962 }
Lightvalve 179:d5377766d7ea 963 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 964
Lightvalve 173:68c7914679ec 965 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 966 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 967 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 968 }
Lightvalve 179:d5377766d7ea 969 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 970 }
Lightvalve 173:68c7914679ec 971 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 972 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 973 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 974 }
Lightvalve 179:d5377766d7ea 975 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 976 }
Lightvalve 170:42c938a40313 977 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 978 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 979 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 980 }
Lightvalve 179:d5377766d7ea 981 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 982 }
Lightvalve 171:bfc1fd2629d8 983
Lightvalve 170:42c938a40313 984 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 985 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 986
jobuuu 6:df07d3491e3a 987 /************************************
jobuuu 1:e04e563be5ce 988 *** Program is operating!
jobuuu 6:df07d3491e3a 989 *************************************/
GiJeongKim 0:51c43836c1d7 990 while(1) {
Lightvalve 169:645207e160ca 991
Lightvalve 171:bfc1fd2629d8 992 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 993 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 994 // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5);
Lightvalve 171:bfc1fd2629d8 995 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 996 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 997 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 998 // }
Lightvalve 169:645207e160ca 999
Lightvalve 171:bfc1fd2629d8 1000
Lightvalve 171:bfc1fd2629d8 1001 //i2c
Lightvalve 180:02be1711ee0b 1002 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 1003 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 1004
Lightvalve 177:8e9cf31d63f4 1005 //timer_while ++;
Lightvalve 169:645207e160ca 1006
Lightvalve 170:42c938a40313 1007 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1008
Lightvalve 73:f80dc3970c99 1009 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1010 LED = 0;
Lightvalve 73:f80dc3970c99 1011 }
Lightvalve 169:645207e160ca 1012
Lightvalve 73:f80dc3970c99 1013 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1014
Lightvalve 162:9dd4f35e9de8 1015 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1016 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1017 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1018 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1019 }
Lightvalve 162:9dd4f35e9de8 1020
Lightvalve 162:9dd4f35e9de8 1021 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1022 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1023 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1024 }
Lightvalve 162:9dd4f35e9de8 1025 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1026 ind = ind + 1;
Lightvalve 169:645207e160ca 1027
Lightvalve 162:9dd4f35e9de8 1028 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1029 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1030 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1031 // }
Lightvalve 162:9dd4f35e9de8 1032
Lightvalve 162:9dd4f35e9de8 1033 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1034 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1035 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1036 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1037 }
Lightvalve 208:408f9f15c486 1038 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1039 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1040 ind = ind + 1;
Lightvalve 236:1276112e0147 1041 for(int i=1; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1042 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1043 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1044 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1045 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1046 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1047 }
Lightvalve 169:645207e160ca 1048
Lightvalve 112:8dcb1600cb90 1049 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1050 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1051 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1052 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1053
Lightvalve 112:8dcb1600cb90 1054 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1055 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1056 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1057 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1058 }
Lightvalve 66:a8e6799dbce3 1059 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1060 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1061 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1062 }
Lightvalve 66:a8e6799dbce3 1063 }
Lightvalve 65:a2d7c63419c2 1064
Lightvalve 112:8dcb1600cb90 1065 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1066 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1067 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1068 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1069 }
Lightvalve 66:a8e6799dbce3 1070 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1071 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1072 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1073 }
Lightvalve 66:a8e6799dbce3 1074 }
Lightvalve 65:a2d7c63419c2 1075
Lightvalve 112:8dcb1600cb90 1076 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1077 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1078 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1079 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1080 }
Lightvalve 66:a8e6799dbce3 1081 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1082 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1083 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1084 }
Lightvalve 65:a2d7c63419c2 1085 }
Lightvalve 66:a8e6799dbce3 1086
Lightvalve 66:a8e6799dbce3 1087 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1088 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1089 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1090 }
Lightvalve 66:a8e6799dbce3 1091 output = output + bout[index2];
Lightvalve 169:645207e160ca 1092
Lightvalve 66:a8e6799dbce3 1093 }
Lightvalve 73:f80dc3970c99 1094 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1095 output_normalized = output;
Lightvalve 68:328e1be06f5d 1096 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1097
Lightvalve 66:a8e6799dbce3 1098 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1099 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1100 } else {
Lightvalve 66:a8e6799dbce3 1101 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1102 }
Lightvalve 87:471334725012 1103
Lightvalve 169:645207e160ca 1104
Lightvalve 69:3995ffeaa786 1105 if(LED==1) {
Lightvalve 69:3995ffeaa786 1106 LED=0;
Lightvalve 69:3995ffeaa786 1107 } else
Lightvalve 69:3995ffeaa786 1108 LED = 1;
Lightvalve 169:645207e160ca 1109
Lightvalve 65:a2d7c63419c2 1110 }
Lightvalve 171:bfc1fd2629d8 1111
Lightvalve 171:bfc1fd2629d8 1112
Lightvalve 170:42c938a40313 1113 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1114 switch (Update_Case) {
Lightvalve 170:42c938a40313 1115 case 0: {
Lightvalve 170:42c938a40313 1116 break;
Lightvalve 170:42c938a40313 1117 }
Lightvalve 170:42c938a40313 1118 case 1: {
Lightvalve 170:42c938a40313 1119 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1120 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1121 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1122 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1123 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1124 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1125 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1126 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1127 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1128 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1129 }
Lightvalve 173:68c7914679ec 1130 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1131 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1132 }
Lightvalve 175:2f7289dbd488 1133 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1134
Lightvalve 175:2f7289dbd488 1135 pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]);
Lightvalve 170:42c938a40313 1136 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1137 pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old);
Lightvalve 179:d5377766d7ea 1138 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1139 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1140 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1141 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1142 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1143 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1144 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1145 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1146 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1147 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1148 }
Lightvalve 179:d5377766d7ea 1149 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1150 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1151 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1152 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1153 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1154 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1155 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1156 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1157 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1158 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1159 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1160 } else {
Lightvalve 175:2f7289dbd488 1161 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1162 }
Lightvalve 175:2f7289dbd488 1163 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1164 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1165 }
Lightvalve 170:42c938a40313 1166 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1167 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1168 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1169 }
Lightvalve 170:42c938a40313 1170 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1171
Lightvalve 171:bfc1fd2629d8 1172
Lightvalve 170:42c938a40313 1173 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1174 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1175 //Update Networks
Lightvalve 170:42c938a40313 1176 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1177 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1178 }
Lightvalve 170:42c938a40313 1179 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1180 Update_Case = 0;
Lightvalve 170:42c938a40313 1181 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1182
Lightvalve 170:42c938a40313 1183 break;
Lightvalve 170:42c938a40313 1184 }
Lightvalve 170:42c938a40313 1185 case 2: {
Lightvalve 170:42c938a40313 1186 //Network apply to next Network
Lightvalve 170:42c938a40313 1187 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1188 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1189 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1190 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1191 Update_Case = 0;
Lightvalve 170:42c938a40313 1192 break;
Lightvalve 170:42c938a40313 1193 }
Lightvalve 169:645207e160ca 1194
Lightvalve 170:42c938a40313 1195 }
GiJeongKim 0:51c43836c1d7 1196 }
jobuuu 1:e04e563be5ce 1197 }
jobuuu 1:e04e563be5ce 1198
Lightvalve 33:91b17819ec30 1199 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1200 {
Lightvalve 14:8e7590227d22 1201
Lightvalve 13:747daba9cf59 1202 int i = 0;
Lightvalve 48:889798ff9329 1203 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1204 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1205 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 1206 if(i==0) {
Lightvalve 50:3c630b5eba9f 1207 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1208 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1209 } else {
Lightvalve 57:f4819de54e7a 1210 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 1211 }
Lightvalve 14:8e7590227d22 1212 } else {
Lightvalve 50:3c630b5eba9f 1213 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1214 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1215 } else {
Lightvalve 57:f4819de54e7a 1216 Ref_Valve_Pos_FF = ((float) 10*(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 1217 }
Lightvalve 13:747daba9cf59 1218 }
Lightvalve 13:747daba9cf59 1219 break;
Lightvalve 13:747daba9cf59 1220 }
Lightvalve 13:747daba9cf59 1221 }
Lightvalve 14:8e7590227d22 1222 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1223 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1224 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1225 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1226 }
Lightvalve 36:a46e63505ed8 1227
Lightvalve 57:f4819de54e7a 1228 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1229 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1230
Lightvalve 13:747daba9cf59 1231 }
jobuuu 6:df07d3491e3a 1232
jobuuu 6:df07d3491e3a 1233
Lightvalve 30:8d561f16383b 1234 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1235 {
Lightvalve 13:747daba9cf59 1236 int i = 0;
Lightvalve 13:747daba9cf59 1237
Lightvalve 38:118df027d851 1238 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1239 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1240 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1241 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1242 }
Lightvalve 38:118df027d851 1243
Lightvalve 89:a7b45368ea0f 1244 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1245 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1246 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1247 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1248 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1249 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1250
Lightvalve 13:747daba9cf59 1251 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 1252
Lightvalve 18:b8adf1582ea3 1253 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1254 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 1255 if(i==0) {
Lightvalve 48:889798ff9329 1256 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 1257 } else {
Lightvalve 48:889798ff9329 1258 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 1259 }
Lightvalve 13:747daba9cf59 1260 break;
Lightvalve 13:747daba9cf59 1261 }
Lightvalve 13:747daba9cf59 1262 }
Lightvalve 59:f308b1656d9c 1263 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1264 }
Lightvalve 13:747daba9cf59 1265
Lightvalve 14:8e7590227d22 1266 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1267 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 1268 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1269 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1270 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1271 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1272 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1273 }; // duty
Lightvalve 67:c2812cf26c38 1274 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 1275 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1276 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1277 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1278 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1279 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1280 }; // mV
Lightvalve 13:747daba9cf59 1281
Lightvalve 30:8d561f16383b 1282 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1283 {
Lightvalve 30:8d561f16383b 1284 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1285 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1286 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1287 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1288 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1289 } else {
Lightvalve 13:747daba9cf59 1290 int idx = 0;
Lightvalve 13:747daba9cf59 1291 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1292 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1293 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1294 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1295 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1296 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1297 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1298 break;
Lightvalve 13:747daba9cf59 1299 }
Lightvalve 13:747daba9cf59 1300 }
Lightvalve 13:747daba9cf59 1301 }
Lightvalve 14:8e7590227d22 1302
Lightvalve 13:747daba9cf59 1303 return PWM_duty;
Lightvalve 13:747daba9cf59 1304 }
jobuuu 6:df07d3491e3a 1305
Lightvalve 57:f4819de54e7a 1306
Lightvalve 57:f4819de54e7a 1307
Lightvalve 57:f4819de54e7a 1308
Lightvalve 57:f4819de54e7a 1309
jobuuu 2:a1c0a37df760 1310 /*******************************************************************************
jobuuu 2:a1c0a37df760 1311 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1312 *******************************************************************************/
jobuuu 2:a1c0a37df760 1313
Lightvalve 51:b46bed7fec80 1314 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1315 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1316 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1317 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1318 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1319 {
Lightvalve 19:23b7c1ad8683 1320 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1321
Lightvalve 21:e5f1a43ea6f9 1322 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1323 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1324 ********************************************************/
Lightvalve 13:747daba9cf59 1325
Lightvalve 57:f4819de54e7a 1326 //Encoder
Lightvalve 57:f4819de54e7a 1327 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1328 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1329 }
Lightvalve 61:bc8c8270f0ab 1330
Lightvalve 61:bc8c8270f0ab 1331 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1332 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1333 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1334 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1335 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1336 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1337 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1338
Lightvalve 67:c2812cf26c38 1339
Lightvalve 67:c2812cf26c38 1340 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1341 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1342 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1343 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1344 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1345
Lightvalve 17:1865016ca2e7 1346
Lightvalve 58:2eade98630e2 1347 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1348 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1349 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1350 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1351 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1352 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1353 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1354 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1355 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1356
Lightvalve 58:2eade98630e2 1357 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1358 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 1359 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1360 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 1361 }
Lightvalve 58:2eade98630e2 1362 }
Lightvalve 61:bc8c8270f0ab 1363
Lightvalve 58:2eade98630e2 1364 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1365 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1366 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1367 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1368 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1369 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1370 // 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 1371 //
Lightvalve 58:2eade98630e2 1372 //
Lightvalve 58:2eade98630e2 1373 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1374 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1375 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1376 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1377 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1378
Lightvalve 17:1865016ca2e7 1379
Lightvalve 21:e5f1a43ea6f9 1380 //Current
Lightvalve 21:e5f1a43ea6f9 1381 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1382 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1383 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1384 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1385 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1386 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1387 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1388
Lightvalve 57:f4819de54e7a 1389 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1390 }
Lightvalve 11:82d8768d7351 1391 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1392 }
Lightvalve 19:23b7c1ad8683 1393
Lightvalve 19:23b7c1ad8683 1394
Lightvalve 18:b8adf1582ea3 1395 int j =0;
Lightvalve 54:647072f5307a 1396 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1397 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1398 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1399 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 1400
Lightvalve 11:82d8768d7351 1401 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1402 {
Lightvalve 19:23b7c1ad8683 1403 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1404
Lightvalve 57:f4819de54e7a 1405 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1406 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1407 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1408 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1409 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1410 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1411 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1412 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1413 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1414 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1415 }
Lightvalve 50:3c630b5eba9f 1416
Lightvalve 50:3c630b5eba9f 1417 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1418 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1419 cnt_trans++;
Lightvalve 46:2694daea349b 1420 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1421 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1422 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1423 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1424 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1425 cnt_trans++;
Lightvalve 46:2694daea349b 1426 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1427 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1428 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1429 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1430 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1431 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1432 } else {
Lightvalve 58:2eade98630e2 1433 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1434 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1435 }
Lightvalve 45:35fa6884d0c6 1436
Lightvalve 50:3c630b5eba9f 1437
Lightvalve 57:f4819de54e7a 1438 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1439 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1440
Lightvalve 57:f4819de54e7a 1441 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1442 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1443 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1444 } else {
Lightvalve 57:f4819de54e7a 1445 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1446 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1447 }
Lightvalve 56:6f50d9d3bfee 1448
Lightvalve 56:6f50d9d3bfee 1449
Lightvalve 56:6f50d9d3bfee 1450
Lightvalve 57:f4819de54e7a 1451 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1452
Lightvalve 57:f4819de54e7a 1453 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1454 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1455 break;
Lightvalve 13:747daba9cf59 1456 }
Lightvalve 14:8e7590227d22 1457
Lightvalve 14:8e7590227d22 1458 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1459 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1460 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1461 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1462
Lightvalve 14:8e7590227d22 1463 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1464 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1465 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1466
Lightvalve 84:c355d3e52bf1 1467 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1468
Lightvalve 30:8d561f16383b 1469 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1470 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1471
Lightvalve 16:903b5a4433b4 1472 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1473 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1474 }
Lightvalve 13:747daba9cf59 1475 } else {
Lightvalve 58:2eade98630e2 1476 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1477 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1478 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1479 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1480
Lightvalve 170:42c938a40313 1481 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1482 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1483
Lightvalve 30:8d561f16383b 1484 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1485
Lightvalve 13:747daba9cf59 1486 }
Lightvalve 14:8e7590227d22 1487 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1488 break;
Lightvalve 19:23b7c1ad8683 1489 }
Lightvalve 14:8e7590227d22 1490
Lightvalve 50:3c630b5eba9f 1491 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1492 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1493 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1494 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1495 // }
Lightvalve 50:3c630b5eba9f 1496 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1497 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1498 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1499 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1500 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1501 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1502 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1503 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1504 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1505 // }
Lightvalve 50:3c630b5eba9f 1506 //
Lightvalve 50:3c630b5eba9f 1507 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1508 // 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 1509 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1510 //
Lightvalve 50:3c630b5eba9f 1511 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1512 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1513 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1514 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1515 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1516 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1517 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1518 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1519 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1520 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1521 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1522 //
Lightvalve 50:3c630b5eba9f 1523 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1524 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1525 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1526 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1527 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1528 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1529 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1530 //
Lightvalve 50:3c630b5eba9f 1531 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1532 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1533 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1534 // } else {
Lightvalve 50:3c630b5eba9f 1535 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1536 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1537 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1538 // }
Lightvalve 50:3c630b5eba9f 1539 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1540 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1541 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1542 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1543 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1544 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1545 // }
Lightvalve 50:3c630b5eba9f 1546 // } else {
Lightvalve 50:3c630b5eba9f 1547 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1548 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1549 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1550 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1551 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1552 // }
Lightvalve 50:3c630b5eba9f 1553 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1554 //
Lightvalve 50:3c630b5eba9f 1555 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1556 //
Lightvalve 50:3c630b5eba9f 1557 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1558 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1559 //
Lightvalve 50:3c630b5eba9f 1560 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1561 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1562 // }
Lightvalve 50:3c630b5eba9f 1563 // }
Lightvalve 50:3c630b5eba9f 1564 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1565 // break;
Lightvalve 50:3c630b5eba9f 1566 // }
Lightvalve 14:8e7590227d22 1567
Lightvalve 14:8e7590227d22 1568 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1569 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1570 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1571 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1572 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1573 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1574 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1575 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1576 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1577 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1578 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1579 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1580 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1581 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1582 }
Lightvalve 29:69f3f5445d6d 1583 cnt_findhome++;
Lightvalve 14:8e7590227d22 1584
Lightvalve 29:69f3f5445d6d 1585 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1586 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1587 } else {
Lightvalve 29:69f3f5445d6d 1588 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1589 }
Lightvalve 19:23b7c1ad8683 1590
Lightvalve 57:f4819de54e7a 1591 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1592 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1593 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1594 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1595
Lightvalve 59:f308b1656d9c 1596 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1597 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1598 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1599 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1600 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1601
Lightvalve 59:f308b1656d9c 1602 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1603 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1604
Lightvalve 34:bb2ca2fc2a8e 1605
Lightvalve 29:69f3f5445d6d 1606 } else {
Lightvalve 29:69f3f5445d6d 1607 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1608 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1609 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1610 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1611 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1612 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1613 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1614 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1615 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1616 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1617 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1618
Lightvalve 67:c2812cf26c38 1619
Lightvalve 67:c2812cf26c38 1620 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1621 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1622 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1623 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1624 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1625 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1626 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1627
Lightvalve 169:645207e160ca 1628
Lightvalve 29:69f3f5445d6d 1629 }
Lightvalve 29:69f3f5445d6d 1630 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1631 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1632 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 1633 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1634 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1635
Lightvalve 29:69f3f5445d6d 1636 // input for position control
Lightvalve 169:645207e160ca 1637
Lightvalve 67:c2812cf26c38 1638 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1639 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1640
Lightvalve 67:c2812cf26c38 1641 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1642 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1643 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1644 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1645
Lightvalve 67:c2812cf26c38 1646 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1647
Lightvalve 67:c2812cf26c38 1648 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1649 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1650 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1651
Lightvalve 67:c2812cf26c38 1652 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1653 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1654 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1655
Lightvalve 69:3995ffeaa786 1656 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1657 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 1658 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1659 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1660 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 1661 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1662 }
Lightvalve 67:c2812cf26c38 1663 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 1664 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1665
Lightvalve 67:c2812cf26c38 1666 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1667
Lightvalve 67:c2812cf26c38 1668
Lightvalve 67:c2812cf26c38 1669
Lightvalve 67:c2812cf26c38 1670 } else {
Lightvalve 67:c2812cf26c38 1671 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1672 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 1673
Lightvalve 67:c2812cf26c38 1674 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1675 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1676 } else {
Lightvalve 67:c2812cf26c38 1677 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1678 }
Lightvalve 67:c2812cf26c38 1679
Lightvalve 67:c2812cf26c38 1680 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1681
Lightvalve 67:c2812cf26c38 1682 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1683
Lightvalve 67:c2812cf26c38 1684 }
Lightvalve 67:c2812cf26c38 1685
Lightvalve 67:c2812cf26c38 1686
Lightvalve 169:645207e160ca 1687
Lightvalve 169:645207e160ca 1688
Lightvalve 59:f308b1656d9c 1689 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1690 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1691 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1692 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1693 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1694
Lightvalve 29:69f3f5445d6d 1695 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1696 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1697 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1698 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1699 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1700 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1701 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1702 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1703 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1704 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1705 }
Lightvalve 13:747daba9cf59 1706 }
Lightvalve 19:23b7c1ad8683 1707
Lightvalve 13:747daba9cf59 1708 break;
Lightvalve 13:747daba9cf59 1709 }
Lightvalve 14:8e7590227d22 1710
Lightvalve 50:3c630b5eba9f 1711 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1712 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1713 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1714 // else {
Lightvalve 50:3c630b5eba9f 1715 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1716 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1717 // }
Lightvalve 50:3c630b5eba9f 1718 // }
Lightvalve 50:3c630b5eba9f 1719 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1720 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1721 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1722 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1723 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1724 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1725 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1726 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1727 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1728 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1729 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1730 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1731 // }
Lightvalve 50:3c630b5eba9f 1732 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1733 // }
Lightvalve 50:3c630b5eba9f 1734 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1735 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1736 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1737 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1738 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1739 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1740 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1741 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1742 // 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 1743 // // 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 1744 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1745 // }
Lightvalve 50:3c630b5eba9f 1746 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1747 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1748 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1749 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1750 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1751 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1752 // 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 1753 // // 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 1754 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1755 // }
Lightvalve 50:3c630b5eba9f 1756 // }
Lightvalve 50:3c630b5eba9f 1757 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1758 //
Lightvalve 50:3c630b5eba9f 1759 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1760 //
Lightvalve 50:3c630b5eba9f 1761 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1762 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1763 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1764 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1765 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1766 // }
Lightvalve 50:3c630b5eba9f 1767 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1768 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1769 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1770 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1771 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1772 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1773 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1774 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1775 // }
Lightvalve 50:3c630b5eba9f 1776 //
Lightvalve 50:3c630b5eba9f 1777 // }
Lightvalve 50:3c630b5eba9f 1778 // break;
Lightvalve 50:3c630b5eba9f 1779 // }
Lightvalve 50:3c630b5eba9f 1780 //
Lightvalve 50:3c630b5eba9f 1781 // }
Lightvalve 14:8e7590227d22 1782 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1783 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1784 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1785 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1786 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1787
Lightvalve 14:8e7590227d22 1788 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1789 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1790 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1791 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1792 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1793
Lightvalve 38:118df027d851 1794 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1795 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1796 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1797
Lightvalve 30:8d561f16383b 1798 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1799 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1800 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1801 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1802
Lightvalve 30:8d561f16383b 1803 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1804 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1805 }
Lightvalve 13:747daba9cf59 1806 } else {
Lightvalve 57:f4819de54e7a 1807 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1808 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1809 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1810 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1811 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1812 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1813
Lightvalve 170:42c938a40313 1814 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1815 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1816 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1817
Lightvalve 30:8d561f16383b 1818 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1819 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1820 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1821 }
Lightvalve 14:8e7590227d22 1822 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1823 break;
Lightvalve 13:747daba9cf59 1824 }
Lightvalve 14:8e7590227d22 1825
Lightvalve 50:3c630b5eba9f 1826 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1827 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1828 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1829 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1830 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1831 // }
Lightvalve 50:3c630b5eba9f 1832 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1833 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1834 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1835 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1836 // }
Lightvalve 50:3c630b5eba9f 1837 // } else {
Lightvalve 50:3c630b5eba9f 1838 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1839 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1840 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1841 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1842 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1843 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1844 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1845 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1846 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1847 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1848 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1849 //
Lightvalve 50:3c630b5eba9f 1850 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1851 //
Lightvalve 50:3c630b5eba9f 1852 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1853 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1854 // }
Lightvalve 50:3c630b5eba9f 1855 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1856 // break;
Lightvalve 50:3c630b5eba9f 1857 // }
Lightvalve 19:23b7c1ad8683 1858
Lightvalve 50:3c630b5eba9f 1859 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1860 // 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 1861 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1862 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1863 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1864 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1865 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1866 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1867 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1868 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1869 // }
Lightvalve 50:3c630b5eba9f 1870 // break;
Lightvalve 50:3c630b5eba9f 1871 // }
Lightvalve 14:8e7590227d22 1872
Lightvalve 14:8e7590227d22 1873 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1874 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1875 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1876
Lightvalve 14:8e7590227d22 1877 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1878 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1879 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1880 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1881 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1882 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1883 data_num = 0;
Lightvalve 14:8e7590227d22 1884 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1885 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1886 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1887 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1888 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1889 } else {
Lightvalve 13:747daba9cf59 1890 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1891 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1892 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1893 }
Lightvalve 14:8e7590227d22 1894
Lightvalve 17:1865016ca2e7 1895 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1896 int i;
Lightvalve 13:747daba9cf59 1897 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1898 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1899 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1900 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1901 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1902 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1903 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1904 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1905 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1906 }
Lightvalve 13:747daba9cf59 1907 }
Lightvalve 170:42c938a40313 1908 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1909 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1910 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1911 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1912 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1913 }
Lightvalve 13:747daba9cf59 1914 ID_index = 0;
Lightvalve 57:f4819de54e7a 1915 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1916 }
Lightvalve 14:8e7590227d22 1917
Lightvalve 14:8e7590227d22 1918
Lightvalve 13:747daba9cf59 1919 break;
Lightvalve 13:747daba9cf59 1920 }
Lightvalve 14:8e7590227d22 1921
Lightvalve 14:8e7590227d22 1922 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1923 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1924 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1925 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1926 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1927 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1928 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1929 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1930 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1931 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1932 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1933 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1934 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1935 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1936 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1937 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 1938 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1939 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 1940 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1941 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1942 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1943 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 1944 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1945 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1946 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1947 data_num = 0;
Lightvalve 14:8e7590227d22 1948
Lightvalve 30:8d561f16383b 1949 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1950 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1951 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1952
Lightvalve 30:8d561f16383b 1953 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1954 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1955 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1956
Lightvalve 30:8d561f16383b 1957 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1958 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1959 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1960 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1961
Lightvalve 60:64181f1d3e60 1962 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1963 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1964 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1965 DZ_case = -1;
Lightvalve 14:8e7590227d22 1966 } else {
Lightvalve 13:747daba9cf59 1967 DZ_case = 0;
Lightvalve 13:747daba9cf59 1968 }
Lightvalve 61:bc8c8270f0ab 1969
Lightvalve 60:64181f1d3e60 1970 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1971
Lightvalve 13:747daba9cf59 1972 first_check = 1;
Lightvalve 13:747daba9cf59 1973 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1974 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1975 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1976 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1977 DZ_index = 1;
Lightvalve 14:8e7590227d22 1978
Lightvalve 13:747daba9cf59 1979 }
Lightvalve 19:23b7c1ad8683 1980 } else {
Lightvalve 14:8e7590227d22 1981 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1982 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1983 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 1984 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1985 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1986 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1987 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1988 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1989 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1990 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1991 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1992 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1993 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1994 }
Lightvalve 14:8e7590227d22 1995 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1996
Lightvalve 30:8d561f16383b 1997 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1998 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1999 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2000
Lightvalve 14:8e7590227d22 2001 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2002 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2003 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2004 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2005 } else {
Lightvalve 13:747daba9cf59 2006 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2007 }
Lightvalve 14:8e7590227d22 2008
Lightvalve 13:747daba9cf59 2009 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2010 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2011 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2012 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2013 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2014 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2015 DZ_index = 1;
Lightvalve 13:747daba9cf59 2016 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2017 }
Lightvalve 13:747daba9cf59 2018 }
Lightvalve 14:8e7590227d22 2019 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2020 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2021 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 2022 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2023 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2024 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2025 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2026 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2027 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2028 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2029 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2030 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2031 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2032 }
Lightvalve 14:8e7590227d22 2033 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2034
Lightvalve 30:8d561f16383b 2035 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2036 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2037 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2038 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2039 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2040
Lightvalve 14:8e7590227d22 2041 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2042 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2043 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2044 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2045 } else {
Lightvalve 60:64181f1d3e60 2046 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2047 }
Lightvalve 14:8e7590227d22 2048
Lightvalve 13:747daba9cf59 2049 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2050 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2051 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2052 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2053 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2054 first_check = 0;
Lightvalve 33:91b17819ec30 2055 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2056 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2057
Lightvalve 170:42c938a40313 2058 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2059 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2060 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2061 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2062
Lightvalve 60:64181f1d3e60 2063 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2064 DZ_index = 1;
Lightvalve 13:747daba9cf59 2065 }
Lightvalve 13:747daba9cf59 2066 }
Lightvalve 14:8e7590227d22 2067 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2068 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2069 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 2070 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2071 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2072 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2073 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2074 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2075 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2076 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2077 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2078 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2079 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2080 }
Lightvalve 14:8e7590227d22 2081 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2082
Lightvalve 30:8d561f16383b 2083 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2084 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2085 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2086
Lightvalve 14:8e7590227d22 2087 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2088 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2089 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2090 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2091 } else {
Lightvalve 13:747daba9cf59 2092 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2093 }
Lightvalve 13:747daba9cf59 2094 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2095 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2096 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2097 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2098 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2099 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2100 DZ_index = 1;
Lightvalve 13:747daba9cf59 2101 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2102 }
Lightvalve 13:747daba9cf59 2103 }
Lightvalve 14:8e7590227d22 2104 } else {
Lightvalve 30:8d561f16383b 2105 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2106 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 2107 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2108 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2109 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2110 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2111 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2112 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2113 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2114 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2115 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2116 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2117 }
Lightvalve 14:8e7590227d22 2118 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2119
Lightvalve 30:8d561f16383b 2120 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2121 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2122 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2123 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2124 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2125
Lightvalve 60:64181f1d3e60 2126 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2127 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2128 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2129 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2130 } else {
Lightvalve 13:747daba9cf59 2131 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2132 }
Lightvalve 14:8e7590227d22 2133
Lightvalve 13:747daba9cf59 2134 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2135 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2136 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2137 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2138 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2139 first_check = 0;
Lightvalve 33:91b17819ec30 2140 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2141 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2142
Lightvalve 170:42c938a40313 2143 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2144 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2145 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2146 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2147
Lightvalve 57:f4819de54e7a 2148 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2149 DZ_index = 1;
Lightvalve 13:747daba9cf59 2150 }
Lightvalve 13:747daba9cf59 2151 }
Lightvalve 13:747daba9cf59 2152 }
Lightvalve 14:8e7590227d22 2153 }
Lightvalve 13:747daba9cf59 2154 break;
Lightvalve 13:747daba9cf59 2155 }
Lightvalve 14:8e7590227d22 2156
Lightvalve 14:8e7590227d22 2157 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2158 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2159 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2160 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2161 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2162 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2163 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2164 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2165 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2166 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2167 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2168 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2169 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2170 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2171 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2172 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2173 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2174 first_check = 1;
Lightvalve 13:747daba9cf59 2175 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2176 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2177 ID_index = 0;
Lightvalve 13:747daba9cf59 2178 max_check = 0;
Lightvalve 13:747daba9cf59 2179 min_check = 0;
Lightvalve 13:747daba9cf59 2180 }
Lightvalve 14:8e7590227d22 2181 } else {
Lightvalve 30:8d561f16383b 2182 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2183 //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 2184 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2185 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2186 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2187 data_num = 0;
Lightvalve 57:f4819de54e7a 2188 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2189
Lightvalve 14:8e7590227d22 2190 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2191 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2192 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2193 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2194 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2195 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2196 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2197 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2198 one_period_end = 1;
Lightvalve 13:747daba9cf59 2199 }
Lightvalve 30:8d561f16383b 2200 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2201 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2202 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2203 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2204 }
Lightvalve 14:8e7590227d22 2205
Lightvalve 14:8e7590227d22 2206 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2207 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2208 max_check = 1;
Lightvalve 14:8e7590227d22 2209 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2210 min_check = 1;
Lightvalve 13:747daba9cf59 2211 }
Lightvalve 13:747daba9cf59 2212 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2213
Lightvalve 13:747daba9cf59 2214 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2215 one_period_end = 0;
Lightvalve 13:747daba9cf59 2216 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2217 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2218 }
Lightvalve 14:8e7590227d22 2219
Lightvalve 14:8e7590227d22 2220 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2221
Lightvalve 13:747daba9cf59 2222 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2223 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2224 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2225 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2226 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2227 }
Lightvalve 13:747daba9cf59 2228 ID_index = 0;
Lightvalve 13:747daba9cf59 2229 first_check = 0;
Lightvalve 13:747daba9cf59 2230 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2231 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2232 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2233 }
Lightvalve 13:747daba9cf59 2234 }
Lightvalve 13:747daba9cf59 2235 break;
Lightvalve 13:747daba9cf59 2236 }
Lightvalve 58:2eade98630e2 2237
Lightvalve 57:f4819de54e7a 2238 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2239 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2240 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2241 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2242 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2243 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2244 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2245 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2246 }
Lightvalve 57:f4819de54e7a 2247 break;
Lightvalve 57:f4819de54e7a 2248 }
Lightvalve 58:2eade98630e2 2249
Lightvalve 169:645207e160ca 2250 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2251 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2252 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2253 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2254 } else {
Lightvalve 169:645207e160ca 2255 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2256 }
Lightvalve 169:645207e160ca 2257 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2258 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2259 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2260 } else {
Lightvalve 169:645207e160ca 2261 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2262 }
Lightvalve 58:2eade98630e2 2263
Lightvalve 169:645207e160ca 2264 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2265 cnt_freq_test++;
Lightvalve 169:645207e160ca 2266 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2267 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2268 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2269 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2270 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2271 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2272 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2273 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2274 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2275 }
Lightvalve 169:645207e160ca 2276 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2277 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2278
Lightvalve 169:645207e160ca 2279 }
Lightvalve 169:645207e160ca 2280 break;
Lightvalve 169:645207e160ca 2281 }
Lightvalve 169:645207e160ca 2282 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2283 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2284 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2285 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2286 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2287 // }
Lightvalve 169:645207e160ca 2288 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2289 // }
Lightvalve 169:645207e160ca 2290
Lightvalve 169:645207e160ca 2291 break;
Lightvalve 169:645207e160ca 2292 }
Lightvalve 169:645207e160ca 2293 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2294 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2295 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2296 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2297 break;
Lightvalve 169:645207e160ca 2298 }
Lightvalve 170:42c938a40313 2299
Lightvalve 169:645207e160ca 2300 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2301 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2302 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2303 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2304 } else {
Lightvalve 169:645207e160ca 2305 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2306 }
Lightvalve 169:645207e160ca 2307 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2308 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2309 } else {
Lightvalve 169:645207e160ca 2310 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2311 }
Lightvalve 169:645207e160ca 2312 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2313 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2314 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2315 } else {
Lightvalve 169:645207e160ca 2316 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2317 }
Lightvalve 169:645207e160ca 2318
Lightvalve 169:645207e160ca 2319 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2320 cnt_step_test++;
Lightvalve 170:42c938a40313 2321 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2322 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2323 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2324 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2325 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2326 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2327 }
Lightvalve 169:645207e160ca 2328 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2329 // {
Lightvalve 169:645207e160ca 2330 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2331 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2332 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2333 // }
Lightvalve 170:42c938a40313 2334
Lightvalve 169:645207e160ca 2335 break;
Lightvalve 169:645207e160ca 2336 }
Lightvalve 57:f4819de54e7a 2337
Lightvalve 57:f4819de54e7a 2338 default:
Lightvalve 57:f4819de54e7a 2339 break;
Lightvalve 57:f4819de54e7a 2340 }
Lightvalve 57:f4819de54e7a 2341
Lightvalve 57:f4819de54e7a 2342 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2343
Lightvalve 57:f4819de54e7a 2344 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2345 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2346 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2347 break;
Lightvalve 57:f4819de54e7a 2348 }
Lightvalve 57:f4819de54e7a 2349
Lightvalve 57:f4819de54e7a 2350 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2351 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2352 ////For Test LIMC//////////////////////////////////////////
Lightvalve 233:0a37cdd59651 2353 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 233:0a37cdd59651 2354 // for(int i=0; i<9; i++){
Lightvalve 233:0a37cdd59651 2355 // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 233:0a37cdd59651 2356 // }
Lightvalve 233:0a37cdd59651 2357 // valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 233:0a37cdd59651 2358 // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2359 ////////////////////////////////////////////////////////////
Lightvalve 225:278b48b86f27 2360
Lightvalve 59:f308b1656d9c 2361 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2362 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2363 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2364 } else {
Lightvalve 67:c2812cf26c38 2365 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2366 }
Lightvalve 57:f4819de54e7a 2367 break;
Lightvalve 57:f4819de54e7a 2368 }
Lightvalve 57:f4819de54e7a 2369
Lightvalve 57:f4819de54e7a 2370 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2371
Lightvalve 57:f4819de54e7a 2372 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2373 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2374 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2375 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2376
Lightvalve 67:c2812cf26c38 2377 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2378 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2379 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2380 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2381
Lightvalve 139:15621998925b 2382 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2383 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2384
Lightvalve 57:f4819de54e7a 2385 // torque feedback
Lightvalve 67:c2812cf26c38 2386 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2387 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2388
Lightvalve 57:f4819de54e7a 2389 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2390
Lightvalve 57:f4819de54e7a 2391 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2392 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2393 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2394
Lightvalve 57:f4819de54e7a 2395 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2396 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2397 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2398
Lightvalve 69:3995ffeaa786 2399 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2400 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 2401 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2402 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2403 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2404 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2405 }
Lightvalve 57:f4819de54e7a 2406 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 2407 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2408
Lightvalve 57:f4819de54e7a 2409 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2410 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2411 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2412 // 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 2413 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2414 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2415 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2416 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 2417 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2418 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2419 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2420 }
Lightvalve 57:f4819de54e7a 2421 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 2422 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2423 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2424 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2425 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2426
Lightvalve 57:f4819de54e7a 2427 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2428
Lightvalve 67:c2812cf26c38 2429 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2430 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2431 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2432 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2433 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2434 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2435 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2436 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2437 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2438 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2439 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2440 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2441 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2442 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2443 }
Lightvalve 67:c2812cf26c38 2444 }
Lightvalve 57:f4819de54e7a 2445
Lightvalve 57:f4819de54e7a 2446 } else {
Lightvalve 57:f4819de54e7a 2447 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2448 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2449 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2450
Lightvalve 209:ebc69d6ee6f1 2451 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 2452
Lightvalve 72:3436ce769b1e 2453 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 169:645207e160ca 2454
Lightvalve 72:3436ce769b1e 2455 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2456
Lightvalve 169:645207e160ca 2457
Lightvalve 72:3436ce769b1e 2458 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2459 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2460 } else {
Lightvalve 72:3436ce769b1e 2461 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2462 }
Lightvalve 57:f4819de54e7a 2463
Lightvalve 57:f4819de54e7a 2464 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2465 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2466 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2467 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2468 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2469 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2470 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2471 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2472 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2473 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2474 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2475 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2476 }
Lightvalve 57:f4819de54e7a 2477 }
Lightvalve 61:bc8c8270f0ab 2478
Lightvalve 57:f4819de54e7a 2479 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2480
Lightvalve 67:c2812cf26c38 2481 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2482 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2483
Lightvalve 57:f4819de54e7a 2484 }
Lightvalve 169:645207e160ca 2485
Lightvalve 72:3436ce769b1e 2486 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2487
Lightvalve 133:22ab22818e01 2488
Lightvalve 57:f4819de54e7a 2489 break;
Lightvalve 57:f4819de54e7a 2490 }
Lightvalve 58:2eade98630e2 2491
Lightvalve 57:f4819de54e7a 2492 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2493 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2494 break;
Lightvalve 57:f4819de54e7a 2495 }
Lightvalve 169:645207e160ca 2496
Lightvalve 138:a843f32ced33 2497 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2498
Lightvalve 169:645207e160ca 2499
Lightvalve 139:15621998925b 2500 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 2501 float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 218:066030f7951f 2502
Lightvalve 170:42c938a40313 2503 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2504
Lightvalve 218:066030f7951f 2505 //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 218:066030f7951f 2506 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2507
Lightvalve 138:a843f32ced33 2508 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2509 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2510 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2511 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2512 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2513 } else {
Lightvalve 138:a843f32ced33 2514 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2515 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2516 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2517 } else {
Lightvalve 138:a843f32ced33 2518 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2519 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2520 }
Lightvalve 138:a843f32ced33 2521 }
Lightvalve 138:a843f32ced33 2522 float tau = 0.01f;
Lightvalve 142:43026242815a 2523 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 2524
Lightvalve 138:a843f32ced33 2525 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2526 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2527 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2528 } else {
Lightvalve 138:a843f32ced33 2529 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2530 }
Lightvalve 138:a843f32ced33 2531 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2532 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2533
Lightvalve 139:15621998925b 2534 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2535
Lightvalve 138:a843f32ced33 2536 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2537 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2538 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2539
Lightvalve 138:a843f32ced33 2540 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2541 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2542
Lightvalve 212:ec41f1449ef9 2543 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2544 float k4 = 10.0f;
Lightvalve 142:43026242815a 2545 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2546 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2547 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2548 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2549 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2550
Lightvalve 139:15621998925b 2551 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2552 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2553 } else {
Lightvalve 139:15621998925b 2554 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2555 }
Lightvalve 169:645207e160ca 2556
Lightvalve 138:a843f32ced33 2557 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2558 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2559 float V_input = 0.0f;
Lightvalve 139:15621998925b 2560 V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
Lightvalve 212:ec41f1449ef9 2561 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2562 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2563 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2564
Lightvalve 218:066030f7951f 2565 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2566 // float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des));
Lightvalve 218:066030f7951f 2567 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2568 //
Lightvalve 218:066030f7951f 2569 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2570 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2571
Lightvalve 218:066030f7951f 2572 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2573 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2574 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2575
Lightvalve 218:066030f7951f 2576 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2577 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2578
Lightvalve 169:645207e160ca 2579 break;
Lightvalve 138:a843f32ced33 2580 }
Lightvalve 171:bfc1fd2629d8 2581
Lightvalve 170:42c938a40313 2582 case MODE_RL: {
Lightvalve 170:42c938a40313 2583 //t.reset();
Lightvalve 170:42c938a40313 2584 //t.start();
Lightvalve 170:42c938a40313 2585
Lightvalve 170:42c938a40313 2586 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2587 // else LED = 0;
Lightvalve 170:42c938a40313 2588
Lightvalve 170:42c938a40313 2589 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2590 //Gather Data on each loop
Lightvalve 170:42c938a40313 2591 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2592 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2593 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2594 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2595 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2596 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2597 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2598 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2599 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2600 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2601 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2602 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2603 }
Lightvalve 173:68c7914679ec 2604 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2605 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2606 }
Lightvalve 173:68c7914679ec 2607 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2608 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2609 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2610 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2611 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2612
Lightvalve 179:d5377766d7ea 2613 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2614 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2615 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2616 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2617 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2618 }
Lightvalve 171:bfc1fd2629d8 2619
Lightvalve 170:42c938a40313 2620 RL_timer++;
Lightvalve 170:42c938a40313 2621
Lightvalve 170:42c938a40313 2622
Lightvalve 170:42c938a40313 2623 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2624 RL_timer = 0;
Lightvalve 170:42c938a40313 2625 batch++;
Lightvalve 170:42c938a40313 2626 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2627 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2628 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2629 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2630 }
Lightvalve 170:42c938a40313 2631 Update_Case = 1;
Lightvalve 170:42c938a40313 2632 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2633 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2634
Lightvalve 170:42c938a40313 2635 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2636 batch = 0;
Lightvalve 170:42c938a40313 2637 RL_timer = 0;
Lightvalve 170:42c938a40313 2638 Update_Case = 2;
Lightvalve 170:42c938a40313 2639 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2640 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2641 }
Lightvalve 170:42c938a40313 2642 }
Lightvalve 170:42c938a40313 2643 }
Lightvalve 170:42c938a40313 2644
Lightvalve 170:42c938a40313 2645 else {
Lightvalve 170:42c938a40313 2646 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2647 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2648 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2649 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2650 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2651 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2652 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2653 //logging1 = action;
Lightvalve 179:d5377766d7ea 2654 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2655 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2656 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2657 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2658 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2659 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2660 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2661 }
Lightvalve 170:42c938a40313 2662
Lightvalve 170:42c938a40313 2663 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2664 }
Lightvalve 170:42c938a40313 2665
Lightvalve 170:42c938a40313 2666 //t.stop();
Lightvalve 170:42c938a40313 2667 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2668
Lightvalve 170:42c938a40313 2669 break;
Lightvalve 170:42c938a40313 2670 }
Lightvalve 14:8e7590227d22 2671
Lightvalve 12:6f2531038ea4 2672 default:
Lightvalve 12:6f2531038ea4 2673 break;
Lightvalve 12:6f2531038ea4 2674 }
Lightvalve 14:8e7590227d22 2675
Lightvalve 57:f4819de54e7a 2676
Lightvalve 57:f4819de54e7a 2677 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2678
Lightvalve 57:f4819de54e7a 2679 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2680 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2681 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2682 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2683 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2684 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2685
Lightvalve 57:f4819de54e7a 2686 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2687 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2688
Lightvalve 57:f4819de54e7a 2689
Lightvalve 57:f4819de54e7a 2690 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2691 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2692 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2693 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2694 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2695 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2696
Lightvalve 57:f4819de54e7a 2697 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2698 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2699 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2700 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2701 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2702 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2703 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2704 }
Lightvalve 57:f4819de54e7a 2705
Lightvalve 57:f4819de54e7a 2706 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2707
Lightvalve 67:c2812cf26c38 2708 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2709 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2710 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2711 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2712 // 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 2713 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2714 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2715
Lightvalve 57:f4819de54e7a 2716 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2717 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2718 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2719 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2720 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2721 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2722 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2723 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2724 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2725 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2726 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2727 }
Lightvalve 57:f4819de54e7a 2728 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2729 } else {
Lightvalve 57:f4819de54e7a 2730 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2731 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2732 }
Lightvalve 57:f4819de54e7a 2733
Lightvalve 57:f4819de54e7a 2734 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2735 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2736 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2737 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2738 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2739 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2740 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2741
Lightvalve 57:f4819de54e7a 2742 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2743
Lightvalve 57:f4819de54e7a 2744 } else {
Lightvalve 57:f4819de54e7a 2745 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2746 }
Lightvalve 57:f4819de54e7a 2747
Lightvalve 57:f4819de54e7a 2748 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2749 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2750 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2751
Lightvalve 57:f4819de54e7a 2752 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2753 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2754 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2755 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2756 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2757 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2758 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2759 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2760
Lightvalve 89:a7b45368ea0f 2761 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2762 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2763 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2764 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2765
Lightvalve 135:79885a39c161 2766 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2767 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2768 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2769 }
Lightvalve 169:645207e160ca 2770
Lightvalve 67:c2812cf26c38 2771 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2772 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2773 // else V_out = V_out;
Lightvalve 169:645207e160ca 2774
jobuuu 7:e9086c72bb22 2775 /*******************************************************
jobuuu 7:e9086c72bb22 2776 *** PWM
jobuuu 7:e9086c72bb22 2777 ********************************************************/
Lightvalve 169:645207e160ca 2778 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2779 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2780 }
Lightvalve 169:645207e160ca 2781
Lightvalve 49:e7bcfc244d40 2782 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2783 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2784 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2785 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2786 }
Lightvalve 49:e7bcfc244d40 2787 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2788
Lightvalve 19:23b7c1ad8683 2789 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2790 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2791 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2792
Lightvalve 30:8d561f16383b 2793 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2794 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2795 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2796 } else {
jobuuu 2:a1c0a37df760 2797 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2798 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2799 }
Lightvalve 13:747daba9cf59 2800
jobuuu 1:e04e563be5ce 2801 //pwm
Lightvalve 30:8d561f16383b 2802 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2803 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2804
Lightvalve 61:bc8c8270f0ab 2805
Lightvalve 233:0a37cdd59651 2806
Lightvalve 233:0a37cdd59651 2807 /*
Lightvalve 237:aa3863117889 2808 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 233:0a37cdd59651 2809
Lightvalve 54:647072f5307a 2810 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2811 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2812 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2813 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2814 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2815 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2816 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 2817 }
Lightvalve 57:f4819de54e7a 2818 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2819 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2820 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 2821 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2822 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 2823 }
Lightvalve 52:8ea76864368a 2824 }
Lightvalve 52:8ea76864368a 2825 }
Lightvalve 233:0a37cdd59651 2826
Lightvalve 56:6f50d9d3bfee 2827 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2828 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2829 }
Lightvalve 58:2eade98630e2 2830
Lightvalve 58:2eade98630e2 2831
Lightvalve 171:bfc1fd2629d8 2832 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2833 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2834 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2835 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2836 } else {
Lightvalve 131:d08121ac87ba 2837 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2838 }
Lightvalve 169:645207e160ca 2839 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2840 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2841 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2842 } else {
Lightvalve 169:645207e160ca 2843 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2844 }
Lightvalve 169:645207e160ca 2845
Lightvalve 169:645207e160ca 2846
Lightvalve 169:645207e160ca 2847 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2848 }
Lightvalve 58:2eade98630e2 2849
Lightvalve 57:f4819de54e7a 2850 //If it doesn't rest, below can can not work.
Lightvalve 233:0a37cdd59651 2851 for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2852 ;
Lightvalve 57:f4819de54e7a 2853 }
Lightvalve 58:2eade98630e2 2854
Lightvalve 169:645207e160ca 2855 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2856 //PWM
Lightvalve 209:ebc69d6ee6f1 2857 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 209:ebc69d6ee6f1 2858 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2859 }
Lightvalve 179:d5377766d7ea 2860
Lightvalve 56:6f50d9d3bfee 2861 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2862 //valve position
Lightvalve 212:ec41f1449ef9 2863 //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
Lightvalve 218:066030f7951f 2864 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 54:647072f5307a 2865 }
Lightvalve 237:aa3863117889 2866
Lightvalve 233:0a37cdd59651 2867
Lightvalve 20:806196fda269 2868
Lightvalve 54:647072f5307a 2869 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 237:aa3863117889 2870 if (flag_data_request[1] == HIGH) {
Lightvalve 237:aa3863117889 2871 CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 237:aa3863117889 2872 }
Lightvalve 237:aa3863117889 2873 if (flag_delay_test == 1){
Lightvalve 237:aa3863117889 2874 CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 237:aa3863117889 2875 }
Lightvalve 52:8ea76864368a 2876
Lightvalve 54:647072f5307a 2877 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2878 }
Lightvalve 54:647072f5307a 2879 TMR2_COUNT_CAN_TX++;
Lightvalve 237:aa3863117889 2880
Lightvalve 237:aa3863117889 2881 */
Lightvalve 237:aa3863117889 2882
Lightvalve 20:806196fda269 2883 }
Lightvalve 52:8ea76864368a 2884 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2885
Lightvalve 58:2eade98630e2 2886 }