Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@246:d483d039ca55, 2021-01-06 (annotated)

Committer:
Lightvalve
Date:
Wed Jan 06 04:31:20 2021 +0000
Revision:
246:d483d039ca55
Parent:
245:3592e0da43fb
Child:
247:87a44e8b3392
210106_4  500Hz   num_input 12    210105 data

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 246:d483d039ca55 1 //210106_4 500Hz num_input 12 210105 data
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 246:d483d039ca55 202 {0.17958179116249084f,-0.04240188002586365f,0.006034236866980791f,-0.221439927816391f,-0.1701967865228653f,-0.4843500852584839f,-0.327612966299057f,-0.38140514492988586f,-0.24118416011333466f,-2.0342297554016113f,-0.4474838972091675f,0.182233065366745f,-0.07394298911094666f,0.15372516214847565f,-0.5738809108734131f,0.41910025477409363f},
Lightvalve 246:d483d039ca55 203 {-0.13663026690483093f,-0.17034339904785156f,-0.505244255065918f,-0.18086491525173187f,0.27973324060440063f,0.08476945012807846f,-0.454378217458725f,-0.23875154554843903f,0.07920899987220764f,-1.0418452024459839f,-0.3546728193759918f,-0.33462417125701904f,-0.470501571893692f,-0.3497585654258728f,-0.4295664429664612f,0.38090988993644714f},
Lightvalve 246:d483d039ca55 204 {-0.2616637349128723f,0.2715362012386322f,0.11061228811740875f,-0.049712538719177246f,0.33446288108825684f,0.20204780995845795f,-0.36349689960479736f,0.3688911199569702f,-0.31277671456336975f,-0.8215123414993286f,-0.08787065744400024f,-0.3989328444004059f,0.3128615915775299f,-0.2449539303779602f,-0.3281116783618927f,0.3294149935245514f},
Lightvalve 246:d483d039ca55 205 {0.17975585162639618f,-0.06140896677970886f,0.3280285596847534f,-0.4180477559566498f,0.24598084390163422f,0.2129925787448883f,0.31618329882621765f,0.34586048126220703f,0.3941290080547333f,-0.9906793832778931f,-0.005607783794403076f,-0.46453559398651123f,0.35961928963661194f,-1.0205261707305908f,-0.12470138072967529f,-0.35264861583709717f},
Lightvalve 246:d483d039ca55 206 {-0.4245941638946533f,-0.25384438037872314f,0.49728941917419434f,-0.0833565890789032f,-0.10983119904994965f,-0.28237199783325195f,0.23235633969306946f,0.1686479151248932f,0.45442262291908264f,0.22290197014808655f,-0.4178416132926941f,0.17834660410881042f,-0.1668587028980255f,-1.1557658910751343f,0.4386714696884155f,0.36624616384506226f},
Lightvalve 246:d483d039ca55 207 {0.22955767810344696f,0.052053600549697876f,0.36206480860710144f,-0.2569443881511688f,0.40751034021377563f,-0.15801949799060822f,0.44667890667915344f,0.3191206455230713f,-0.20778316259384155f,2.245435953140259f,-0.2823447585105896f,-0.3264654278755188f,-0.20842257142066956f,-1.6384838819503784f,0.8415021300315857f,0.2748992145061493f},
Lightvalve 246:d483d039ca55 208 {0.311470091342926f,-0.1932627558708191f,-1.2633849382400513f,-0.30763253569602966f,-0.7120758295059204f,-0.08423300087451935f,0.349816232919693f,-0.6385902166366577f,0.4183693826198578f,-2.3064849376678467f,0.3213910758495331f,0.36403366923332214f,-0.3816591501235962f,1.8948888778686523f,-2.072500467300415f,-1.3153260946273804f},
Lightvalve 246:d483d039ca55 209 {-0.06539730727672577f,-0.12553253769874573f,-1.1188851594924927f,0.2474658042192459f,-0.3314621150493622f,-0.023833077400922775f,-0.12525120377540588f,-0.655504584312439f,-0.4302884340286255f,-1.4577856063842773f,-0.07813754677772522f,-0.45890241861343384f,-0.25786811113357544f,1.5043410062789917f,-1.388866901397705f,-0.4735736548900604f},
Lightvalve 246:d483d039ca55 210 {-0.2886306941509247f,-0.24350808560848236f,-0.9309620261192322f,-0.1380021870136261f,-0.5939037203788757f,0.09553308039903641f,0.36275312304496765f,-0.07287690043449402f,-0.24274887144565582f,0.04862043634057045f,0.11128035187721252f,0.16030797362327576f,-0.1772099733352661f,-0.3249896764755249f,0.15046773850917816f,-0.5630593299865723f},
Lightvalve 246:d483d039ca55 211 {-0.04409542679786682f,-0.0033446550369262695f,-0.5614001750946045f,0.3355940878391266f,-0.43958982825279236f,-0.14973217248916626f,-0.36208683252334595f,-0.22287395596504211f,0.3304477035999298f,0.5311539173126221f,-0.422980934381485f,-0.4016188979148865f,-0.09530887007713318f,-0.4136705994606018f,0.16326206922531128f,-0.6383588314056396f},
Lightvalve 246:d483d039ca55 212 {-0.06942542642354965f,-0.3122544288635254f,-0.2772074341773987f,0.3908238708972931f,-0.7278497815132141f,-0.8595213890075684f,0.28198525309562683f,-0.0052377209067344666f,-0.2356695532798767f,3.927525043487549f,0.3545668423175812f,-0.08922263979911804f,-0.10360953211784363f,-1.7213302850723267f,2.0913679599761963f,-0.520579993724823f},
Lightvalve 65:a2d7c63419c2 213 };
Lightvalve 65:a2d7c63419c2 214
Lightvalve 169:645207e160ca 215 const float h2[16][16] = {
Lightvalve 246:d483d039ca55 216 {-0.2620375156402588f,0.37042757868766785f,0.43509164452552795f,0.16807469725608826f,0.15916648507118225f,0.3894948661327362f,-0.32141682505607605f,0.13929973542690277f,-0.34060487151145935f,0.15095087885856628f,-0.344393789768219f,-0.058255635201931f,0.16450373828411102f,0.21836978197097778f,-0.20522934198379517f,-0.27261078357696533f},
Lightvalve 246:d483d039ca55 217 {-0.21259629726409912f,0.30915436148643494f,0.015076518058776855f,-0.39902231097221375f,-0.18323884904384613f,-0.25017163157463074f,0.22715261578559875f,0.12961390614509583f,0.062155842781066895f,-0.2879970073699951f,-0.4085868299007416f,-0.11838218569755554f,0.26664987206459045f,-0.39286932349205017f,0.10185262560844421f,0.179502934217453f},
Lightvalve 246:d483d039ca55 218 {-0.03793885186314583f,-0.3573683798313141f,0.06097343564033508f,-0.252775639295578f,-0.37151437997817993f,-0.013271182775497437f,-0.45967423915863037f,0.10316108167171478f,-0.11774859577417374f,0.5462096333503723f,-0.18710604310035706f,-0.029353726655244827f,-0.24944661557674408f,-0.2652386724948883f,0.3322176933288574f,-0.16139188408851624f},
Lightvalve 246:d483d039ca55 219 {0.22759874165058136f,0.22665467858314514f,-0.08438774198293686f,-0.09153807163238525f,-0.4037201702594757f,-0.13536912202835083f,0.1031552106142044f,0.17077112197875977f,-0.22907809913158417f,-0.08447431027889252f,-0.2665717601776123f,0.0590270459651947f,0.240172877907753f,-0.036954399198293686f,-0.2624008059501648f,0.34289684891700745f},
Lightvalve 246:d483d039ca55 220 {0.22408106923103333f,0.003781914710998535f,-0.003097875276580453f,0.012549430131912231f,0.05206727981567383f,0.1991729438304901f,-0.10661765933036804f,-0.1637379676103592f,0.4511772394180298f,0.32293254137039185f,-0.3264670968055725f,0.4172098636627197f,0.26955217123031616f,-0.3135477304458618f,-0.017087146639823914f,-0.13685491681098938f},
Lightvalve 246:d483d039ca55 221 {-0.10098368674516678f,-0.31099092960357666f,-0.35130780935287476f,-0.035713016986846924f,0.3840901553630829f,-0.07895198464393616f,-0.3359406888484955f,0.13158081471920013f,-0.264556884765625f,-0.20730061829090118f,-0.3289949893951416f,-0.37881767749786377f,0.22396403551101685f,0.324337363243103f,-0.07941572368144989f,0.3288460075855255f},
Lightvalve 246:d483d039ca55 222 {-0.08396893739700317f,-0.2486235648393631f,0.11694523692131042f,-0.3298819065093994f,0.2805224359035492f,-0.33067765831947327f,0.16457203030586243f,-0.24889105558395386f,-0.3972022235393524f,-0.4223710894584656f,-0.07348325848579407f,-0.14260199666023254f,-0.07233420014381409f,0.31599655747413635f,-0.2761499881744385f,-0.14283323287963867f},
Lightvalve 246:d483d039ca55 223 {0.10991116613149643f,0.03272828459739685f,0.3384140133857727f,0.24620458483695984f,-0.2754482626914978f,-0.20292288064956665f,-0.38267478346824646f,0.4620051681995392f,0.5180315375328064f,0.3701077997684479f,-0.07301062345504761f,0.24291732907295227f,0.1819831132888794f,-0.338138222694397f,0.32491427659988403f,-0.11201971769332886f},
Lightvalve 246:d483d039ca55 224 {-0.139004647731781f,0.0766352117061615f,0.15332308411598206f,0.09886243939399719f,0.415459007024765f,-0.2532200515270233f,-0.20159946382045746f,0.21463772654533386f,-0.3405895531177521f,-0.3144799768924713f,-0.26305460929870605f,-0.09823668003082275f,0.10379686951637268f,-0.3907162845134735f,0.06197598576545715f,-0.4297400414943695f},
Lightvalve 246:d483d039ca55 225 {-2.4657206535339355f,-0.5663966536521912f,0.39645668864250183f,-2.7376959323883057f,-0.3138399124145508f,-0.23994505405426025f,0.09061788022518158f,-0.018074365332722664f,-0.809702455997467f,-0.21874652802944183f,2.676147222518921f,-0.045667391270399094f,-0.245742067694664f,-1.3836430311203003f,0.07703496515750885f,0.013621658086776733f},
Lightvalve 246:d483d039ca55 226 {0.358629435300827f,0.2196318805217743f,-0.16727790236473083f,-0.213405579328537f,0.26773831248283386f,-0.001271277666091919f,0.067145437002182f,-0.3299995958805084f,-0.13708710670471191f,-0.19961315393447876f,-0.3892948031425476f,-0.20604045689105988f,0.2654934227466583f,-0.24381771683692932f,-0.05982998013496399f,-0.0015056133270263672f},
Lightvalve 246:d483d039ca55 227 {0.2640920579433441f,-0.22446219623088837f,-0.2886914610862732f,0.3683915436267853f,-0.36545583605766296f,0.30690982937812805f,0.026461631059646606f,0.20954808592796326f,-0.37727683782577515f,-0.017216116189956665f,0.33506569266319275f,-0.08547034859657288f,-0.3837997317314148f,0.3110499083995819f,0.023928165435791016f,0.11103644967079163f},
Lightvalve 246:d483d039ca55 228 {-0.05501928925514221f,-0.03194811940193176f,-0.3095245361328125f,-0.3765944242477417f,-0.08870676159858704f,-0.38370949029922485f,0.27549585700035095f,-0.1704704463481903f,-0.15534046292304993f,-0.029324114322662354f,0.30144771933555603f,0.1282394826412201f,-0.4146917164325714f,0.05758216977119446f,-0.12351158261299133f,0.33150044083595276f},
Lightvalve 246:d483d039ca55 229 {-6.269066333770752f,-0.4840625524520874f,-0.8029376268386841f,1.4539271593093872f,-0.2583809196949005f,0.06044796109199524f,5.5765461921691895f,-0.463117390871048f,-2.973649024963379f,-1.709280252456665f,1.1793328523635864f,-1.4464561939239502f,0.11601023375988007f,-1.2080674171447754f,-0.4982510507106781f,-0.018069803714752197f},
Lightvalve 246:d483d039ca55 230 {-0.5226690769195557f,0.024054784327745438f,0.3043413758277893f,-0.21406987309455872f,0.048102229833602905f,0.3183996379375458f,-2.242119550704956f,-2.4457921981811523f,1.1343311071395874f,0.8771806955337524f,-0.09124940633773804f,-0.01114705577492714f,-0.09407463669776917f,-0.6493850946426392f,0.6204522848129272f,0.40590086579322815f},
Lightvalve 246:d483d039ca55 231 {0.4078655242919922f,-0.021884441375732422f,0.7078089714050293f,-0.4147486984729767f,-0.22760425508022308f,-0.21837124228477478f,-0.6915476322174072f,0.400470107793808f,1.3295509815216064f,0.6675918102264404f,-0.22325173020362854f,0.31319117546081543f,0.19979795813560486f,0.09075940400362015f,-0.07419884204864502f,0.4099201261997223f},
Lightvalve 65:a2d7c63419c2 232 };
Lightvalve 65:a2d7c63419c2 233
Lightvalve 169:645207e160ca 234 const float h3[16][16] = {
Lightvalve 246:d483d039ca55 235 {0.5000174045562744f,-0.3934583067893982f,3.2444660663604736f,0.16543321311473846f,-0.2896377444267273f,0.4315599501132965f,-0.24898718297481537f,0.3502558171749115f,0.038538217544555664f,-1.1473206281661987f,0.13260938227176666f,-3.1099228858947754f,-2.579786539077759f,-1.8402668237686157f,-0.35141128301620483f,-1.9576377868652344f},
Lightvalve 246:d483d039ca55 236 {-0.19814090430736542f,0.1000506579875946f,0.24856364727020264f,0.16854533553123474f,-0.014051258563995361f,0.21776077151298523f,0.2533715069293976f,0.4361461102962494f,-0.050481975078582764f,-0.2774789035320282f,-0.39193934202194214f,-0.08128736913204193f,-0.36607205867767334f,0.2565839886665344f,-0.2752825617790222f,0.07434240728616714f},
Lightvalve 246:d483d039ca55 237 {-0.0989396795630455f,-0.15912768244743347f,0.19554810225963593f,-0.1543317437171936f,-0.010217905044555664f,0.10984447598457336f,-0.8712243437767029f,-0.5927308797836304f,-0.2467522770166397f,-0.5041314959526062f,0.1504158228635788f,-0.705197811126709f,-0.7629088759422302f,-0.7897229790687561f,-0.4989174008369446f,0.07327631115913391f},
Lightvalve 246:d483d039ca55 238 {0.756802499294281f,-0.05796456336975098f,-0.5923332571983337f,0.1967080682516098f,-0.28813666105270386f,-0.4127959609031677f,-0.7479408383369446f,0.2776479125022888f,0.2536095678806305f,-0.8013079762458801f,-0.32496610283851624f,0.46975526213645935f,-2.4841690063476562f,0.20107950270175934f,-0.42854803800582886f,2.1080806255340576f},
Lightvalve 246:d483d039ca55 239 {0.1314193308353424f,-0.38466498255729675f,-0.15953338146209717f,-0.26907312870025635f,0.042690664529800415f,0.019402503967285156f,0.3272710144519806f,0.2640456259250641f,-0.20614370703697205f,-0.09802588820457458f,0.13658878207206726f,-0.05913272500038147f,-0.10392564535140991f,0.09841910004615784f,0.34520223736763f,0.18591228127479553f},
Lightvalve 246:d483d039ca55 240 {0.11987492442131042f,0.3606952130794525f,0.40429654717445374f,-0.4004298746585846f,-0.26991036534309387f,-0.3640212416648865f,0.1257953941822052f,-0.08500143885612488f,-0.16398006677627563f,0.08932033181190491f,0.2442457377910614f,-0.20674392580986023f,0.35870078206062317f,0.11110439896583557f,-0.20613843202590942f,-0.39209720492362976f},
Lightvalve 246:d483d039ca55 241 {-2.6611971855163574f,-0.539090096950531f,-1.5071735382080078f,-0.12003330141305923f,-0.12599343061447144f,-0.3494933545589447f,-2.1951372623443604f,-1.278491497039795f,0.02455461025238037f,-2.221325159072876f,-0.3452872335910797f,-1.6981240510940552f,-2.151801824569702f,-3.2274301052093506f,-0.4008919596672058f,0.962826132774353f},
Lightvalve 246:d483d039ca55 242 {-0.41465306282043457f,0.23161640763282776f,0.4639943540096283f,-0.4577018916606903f,-0.24190503358840942f,-0.1998729109764099f,0.09550302475690842f,-0.017417212948203087f,-0.06523853540420532f,0.27713626623153687f,-0.14726893603801727f,-0.18674850463867188f,-0.21913161873817444f,-0.24818894267082214f,0.3062843978404999f,-0.3072904646396637f},
Lightvalve 246:d483d039ca55 243 {-0.892498791217804f,0.0581616647541523f,0.15531174838542938f,-0.1323482245206833f,-0.3804210424423218f,-0.0036951005458831787f,-0.4520958960056305f,-0.9942843914031982f,0.3564160168170929f,0.2842966914176941f,-0.511879563331604f,-1.1283612251281738f,0.29649484157562256f,-0.7170117497444153f,-0.521460235118866f,-1.1580941677093506f},
Lightvalve 246:d483d039ca55 244 {-0.711818277835846f,-0.2637007236480713f,0.5674629211425781f,0.210587278008461f,0.26736071705818176f,-0.4109957814216614f,-0.916969358921051f,-0.076946921646595f,-0.05028003454208374f,-0.10429365932941437f,0.1912822425365448f,-0.8557406663894653f,0.834824800491333f,-0.8409402370452881f,0.236328586935997f,-0.47351527214050293f},
Lightvalve 246:d483d039ca55 245 {-3.8374710083007812f,-0.11407425999641418f,0.14006337523460388f,0.17107561230659485f,-0.33362388610839844f,0.30166277289390564f,-0.25330066680908203f,-0.1871817260980606f,-0.24762524664402008f,-0.3609272837638855f,-0.07041087746620178f,-0.8773161768913269f,-0.24865493178367615f,-0.06128392368555069f,-0.13219350576400757f,-1.9361486434936523f},
Lightvalve 246:d483d039ca55 246 {-0.05882857367396355f,-0.2733021080493927f,0.21617934107780457f,-0.30629611015319824f,0.07898566126823425f,0.2287261188030243f,0.02701757103204727f,0.3264598846435547f,-0.2693949043750763f,-0.2334243357181549f,0.1090087965130806f,-0.638395369052887f,-0.4086129665374756f,-0.46797919273376465f,0.22190247476100922f,0.20755542814731598f},
Lightvalve 246:d483d039ca55 247 {-0.2160346508026123f,-0.25015729665756226f,0.3509782552719116f,0.27520814538002014f,0.06877782940864563f,-0.16420304775238037f,-0.13360756635665894f,0.17819254100322723f,0.3542599380016327f,-0.39976000785827637f,0.15226706862449646f,0.03759896010160446f,-0.192609965801239f,0.3178251385688782f,0.376699298620224f,-0.03706258907914162f},
Lightvalve 246:d483d039ca55 248 {-0.4376278817653656f,-0.39521247148513794f,-0.052698906511068344f,0.045695118606090546f,0.18373921513557434f,-0.07091012597084045f,0.48824018239974976f,-0.09644247591495514f,-0.26085102558135986f,-0.4012276828289032f,-0.3096748888492584f,-0.9042310118675232f,-0.12502725422382355f,-0.5655964612960815f,0.08477383852005005f,-0.6312101483345032f},
Lightvalve 246:d483d039ca55 249 {-0.2165888547897339f,-0.2858605980873108f,-0.10608450323343277f,-0.11974962055683136f,0.4085064232349396f,-0.023935168981552124f,-0.49706608057022095f,-0.40255412459373474f,0.2847798764705658f,0.11177223175764084f,-0.08394107967615128f,-0.637089192867279f,-0.3223956525325775f,-0.12196404486894608f,-0.4778788089752197f,-0.2488020360469818f},
Lightvalve 246:d483d039ca55 250 {-0.3151550590991974f,0.3430427014827728f,0.10783877968788147f,0.23641803860664368f,-0.20377427339553833f,0.3869435489177704f,0.2664237320423126f,-0.3614561855792999f,-0.41822370886802673f,-0.1094929575920105f,0.36601582169532776f,-0.22730733454227448f,-0.3357813358306885f,0.02511197328567505f,-0.22192305326461792f,-0.03697633743286133f},
Lightvalve 66:a8e6799dbce3 251 };
Lightvalve 65:a2d7c63419c2 252
Lightvalve 246:d483d039ca55 253 const float hout[16] = { 0.9916985034942627f,0.0779474526643753f,-0.059218667447566986f,0.28552961349487305f,0.4177809953689575f,0.10823440551757812f,1.7049182653427124f,1.4367884397506714f,0.26246923208236694f,1.1129926443099976f,0.021266205236315727f,1.8224459886550903f,1.6953108310699463f,0.9579318165779114f,0.08610948920249939f,-0.20108376443386078f };
Lightvalve 246:d483d039ca55 254
Lightvalve 246:d483d039ca55 255 const float b1[16] = { 0.0904887393116951f,-0.09911143034696579f,0.9018362760543823f,-0.16343198716640472f,0.03011699579656124f,0.4689757823944092f,-0.5947720408439636f,-0.3204752504825592f,-1.0864993333816528f,2.02054500579834f,-0.3855648636817932f,-0.42363351583480835f,0.3849257826805115f,3.7228715419769287f,0.24543751776218414f,-0.07794411480426788f };
Lightvalve 246:d483d039ca55 256
Lightvalve 246:d483d039ca55 257 const float b2[16] = { -0.01568278670310974f,-0.19216857850551605f,-0.6542280316352844f,0.5167033672332764f,-0.6799002289772034f,-1.1810632944107056f,0.30047011375427246f,-0.20442862808704376f,-0.739217221736908f,-0.6231285929679871f,-0.5815446972846985f,-0.2541882395744324f,-0.23933610320091248f,-0.07090947777032852f,-0.7687814831733704f,-0.5511945486068726f };
Lightvalve 246:d483d039ca55 258
Lightvalve 246:d483d039ca55 259 const float b3[16] = { 1.0354466438293457f,-0.3245743215084076f,-0.8153882622718811f,-0.8336290717124939f,-0.7861266732215881f,-1.8031482696533203f,0.24558615684509277f,0.9596911668777466f,-1.0300992727279663f,-0.0033117507118731737f,-0.05127987638115883f,-0.024405304342508316f,0.40189796686172485f,0.4642368257045746f,-0.03082113526761532f,0.7068071365356445f };
Lightvalve 246:d483d039ca55 260
Lightvalve 246:d483d039ca55 261 const float bout[1] = { 0.6253164410591125f };
Lightvalve 225:278b48b86f27 262
Lightvalve 225:278b48b86f27 263 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 264
Lightvalve 170:42c938a40313 265 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 266 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 267
Lightvalve 170:42c938a40313 268 //Critic Networks
Lightvalve 173:68c7914679ec 269 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 270 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 271 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 272 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 273 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 274 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 275
Lightvalve 170:42c938a40313 276 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 277 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 278 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 279 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 280 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 281 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 282 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 283
Lightvalve 170:42c938a40313 284 //Actor Networks
Lightvalve 173:68c7914679ec 285 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 286 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 287 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 288 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 289 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 290 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 291
Lightvalve 170:42c938a40313 292 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 293 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 294 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 295 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 296 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 297 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 298 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 299
Lightvalve 87:471334725012 300 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 301 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 302
Lightvalve 179:d5377766d7ea 303 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 304 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 305 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 306 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 307 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 308
Lightvalve 170:42c938a40313 309 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 310 {
Lightvalve 173:68c7914679ec 311 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 312 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 313 float output = 0.0f;
Lightvalve 173:68c7914679ec 314 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 315 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 316 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 317 }
Lightvalve 173:68c7914679ec 318 //ReLU
Lightvalve 173:68c7914679ec 319 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 320 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 321 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 322 output1[index2] = 0;
Lightvalve 173:68c7914679ec 323 }
Lightvalve 173:68c7914679ec 324 //tanh
Lightvalve 173:68c7914679ec 325 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 326 }
Lightvalve 173:68c7914679ec 327 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 328 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 329 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 330 }
Lightvalve 173:68c7914679ec 331 //ReLU
Lightvalve 173:68c7914679ec 332 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 333 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 334 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 335 output2[index2] = 0;
Lightvalve 173:68c7914679ec 336 }
Lightvalve 173:68c7914679ec 337 //tanh
Lightvalve 173:68c7914679ec 338 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 339 }
Lightvalve 170:42c938a40313 340 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 341 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 342 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 343 }
Lightvalve 173:68c7914679ec 344 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 345 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 346 }
Lightvalve 170:42c938a40313 347 return output;
Lightvalve 170:42c938a40313 348 }
Lightvalve 170:42c938a40313 349
Lightvalve 170:42c938a40313 350
Lightvalve 170:42c938a40313 351 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 352 {
Lightvalve 173:68c7914679ec 353 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 354 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 355 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 356
Lightvalve 173:68c7914679ec 357 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 358 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 359 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 360 }
Lightvalve 178:1074553d2f6f 361 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 362 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 363 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 364 output1[index2] = 0;
Lightvalve 173:68c7914679ec 365 }
Lightvalve 173:68c7914679ec 366 }
Lightvalve 173:68c7914679ec 367 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 368 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 369 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 370 }
Lightvalve 178:1074553d2f6f 371 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 372 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 373 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 374 output2[index2] = 0;
Lightvalve 173:68c7914679ec 375 }
Lightvalve 173:68c7914679ec 376 }
Lightvalve 173:68c7914679ec 377 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 378 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 379 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 380 }
Lightvalve 178:1074553d2f6f 381 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 382 }
Lightvalve 178:1074553d2f6f 383
Lightvalve 178:1074553d2f6f 384 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 385 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 386 //Softplus
Lightvalve 173:68c7914679ec 387 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 388 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 389 logging2 = mean;
Lightvalve 179:d5377766d7ea 390 logging4 = deviation;
Lightvalve 173:68c7914679ec 391 }
Lightvalve 173:68c7914679ec 392
Lightvalve 173:68c7914679ec 393
Lightvalve 173:68c7914679ec 394 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 395 {
Lightvalve 173:68c7914679ec 396 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 397 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 398 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 399
Lightvalve 173:68c7914679ec 400 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 401 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 402 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 403 }
Lightvalve 170:42c938a40313 404 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 405 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 406 output1[index2] = 0;
Lightvalve 170:42c938a40313 407 }
Lightvalve 170:42c938a40313 408 }
Lightvalve 173:68c7914679ec 409 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 410 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 411 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 412 }
Lightvalve 173:68c7914679ec 413 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 414 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 415 output2[index2] = 0;
Lightvalve 170:42c938a40313 416 }
Lightvalve 170:42c938a40313 417 }
Lightvalve 170:42c938a40313 418 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 419 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 420 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 421 }
Lightvalve 170:42c938a40313 422 }
Lightvalve 173:68c7914679ec 423 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 424 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 425 //Softplus
Lightvalve 173:68c7914679ec 426 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 427 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 428 }
Lightvalve 170:42c938a40313 429
Lightvalve 170:42c938a40313 430 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 431 {
Lightvalve 170:42c938a40313 432 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 433 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 434 return grad_mean;
Lightvalve 170:42c938a40313 435 }
Lightvalve 170:42c938a40313 436
Lightvalve 170:42c938a40313 437 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 438 {
Lightvalve 170:42c938a40313 439 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 440 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 441 return grad_dev;
Lightvalve 170:42c938a40313 442 }
Lightvalve 170:42c938a40313 443
Lightvalve 173:68c7914679ec 444 float ReLU(float x)
Lightvalve 173:68c7914679ec 445 {
Lightvalve 173:68c7914679ec 446 if (x >= 0) {
Lightvalve 173:68c7914679ec 447 return x;
Lightvalve 173:68c7914679ec 448 } else {
Lightvalve 173:68c7914679ec 449 return 0.0f;
Lightvalve 173:68c7914679ec 450 }
Lightvalve 173:68c7914679ec 451 }
Lightvalve 173:68c7914679ec 452
Lightvalve 170:42c938a40313 453 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 454 {
Lightvalve 173:68c7914679ec 455 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 456 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 457 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 458 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 459 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 460 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 461 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 462 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 463 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 464 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 465 }
Lightvalve 173:68c7914679ec 466 }
Lightvalve 170:42c938a40313 467 }
Lightvalve 177:8e9cf31d63f4 468 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 469 }
Lightvalve 170:42c938a40313 470 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 471 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 472 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 473 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 474 }
Lightvalve 173:68c7914679ec 475 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 476 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 477 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 478 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 479 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 480 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 481 }
Lightvalve 173:68c7914679ec 482 }
Lightvalve 173:68c7914679ec 483 }
Lightvalve 177:8e9cf31d63f4 484 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 485 }
Lightvalve 173:68c7914679ec 486 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 487 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 488 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 489 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 490 }
Lightvalve 173:68c7914679ec 491
Lightvalve 175:2f7289dbd488 492
Lightvalve 173:68c7914679ec 493 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 494 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 495 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 496 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 497 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 498 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 499 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 500 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 501 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 502 }
Lightvalve 173:68c7914679ec 503 }
Lightvalve 177:8e9cf31d63f4 504 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 505 }
Lightvalve 173:68c7914679ec 506 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 507 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 508 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 509 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 510 }
Lightvalve 173:68c7914679ec 511 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 512 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 513 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 514 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 515 }
Lightvalve 177:8e9cf31d63f4 516 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 517 }
Lightvalve 173:68c7914679ec 518 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 519 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 520 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 521 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 522 }
Lightvalve 173:68c7914679ec 523
Lightvalve 173:68c7914679ec 524 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 525 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 526 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 527 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 528 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 529 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 530 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 531 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 532 }
Lightvalve 177:8e9cf31d63f4 533 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 534 }
Lightvalve 173:68c7914679ec 535 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 536 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 537 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 538 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 539 }
Lightvalve 173:68c7914679ec 540 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 541 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 542 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 543 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 544 }
Lightvalve 173:68c7914679ec 545 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 546 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 547 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 548 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 549 }
Lightvalve 173:68c7914679ec 550
Lightvalve 173:68c7914679ec 551 // Simultaneous Update
Lightvalve 173:68c7914679ec 552 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 553 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 554 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 555 }
Lightvalve 179:d5377766d7ea 556 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 557 }
Lightvalve 173:68c7914679ec 558 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 559 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 560 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 561 }
Lightvalve 179:d5377766d7ea 562 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 563 }
Lightvalve 170:42c938a40313 564 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 565 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 566 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 567 }
Lightvalve 179:d5377766d7ea 568 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 569 }
Lightvalve 170:42c938a40313 570 }
Lightvalve 170:42c938a40313 571
Lightvalve 173:68c7914679ec 572 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 573 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 574 {
Lightvalve 218:066030f7951f 575
Lightvalve 173:68c7914679ec 576
Lightvalve 173:68c7914679ec 577 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 578 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 579
Lightvalve 173:68c7914679ec 580 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 581 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 582 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 583 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 584 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 585 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 586 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 587 } else {
Lightvalve 173:68c7914679ec 588 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 589 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 590 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 591 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 592 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 593 }
Lightvalve 171:bfc1fd2629d8 594 }
Lightvalve 170:42c938a40313 595 }
Lightvalve 170:42c938a40313 596 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 597 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 598 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 599 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 600
Lightvalve 173:68c7914679ec 601 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 602 }
Lightvalve 170:42c938a40313 603 }
Lightvalve 176:589ea3edcf3c 604 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 605 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 606 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 607 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 608 }
Lightvalve 173:68c7914679ec 609
Lightvalve 173:68c7914679ec 610 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 611 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 612 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 613 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 614 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 615 } else {
Lightvalve 173:68c7914679ec 616 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 617 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 618 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 619 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 620 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 621 }
Lightvalve 171:bfc1fd2629d8 622 }
Lightvalve 170:42c938a40313 623 }
Lightvalve 170:42c938a40313 624 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 625 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 626 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 627 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 628
Lightvalve 173:68c7914679ec 629 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 630 }
Lightvalve 170:42c938a40313 631 }
Lightvalve 176:589ea3edcf3c 632 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 633 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 634 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 635 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 636 }
Lightvalve 170:42c938a40313 637
Lightvalve 173:68c7914679ec 638 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 639 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 640
Lightvalve 173:68c7914679ec 641 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 642 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 643 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 644 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 645 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 646 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 647 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 648 } else {
Lightvalve 173:68c7914679ec 649 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 650 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 651 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 652 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 653 }
Lightvalve 170:42c938a40313 654 }
Lightvalve 173:68c7914679ec 655
Lightvalve 170:42c938a40313 656 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 657 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 658 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 659 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 660
Lightvalve 173:68c7914679ec 661 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 662 }
Lightvalve 170:42c938a40313 663 }
Lightvalve 176:589ea3edcf3c 664 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 665 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 666 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 667 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 668 }
Lightvalve 173:68c7914679ec 669
Lightvalve 173:68c7914679ec 670 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 671 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 672 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 673 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 674 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 675 } else {
Lightvalve 170:42c938a40313 676
Lightvalve 173:68c7914679ec 677 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 678 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 679 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 680 }
Lightvalve 173:68c7914679ec 681 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 682 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 683 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 684 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 685
Lightvalve 173:68c7914679ec 686 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 687 }
Lightvalve 170:42c938a40313 688 }
Lightvalve 176:589ea3edcf3c 689 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 690 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 691 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 692 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 693 }
Lightvalve 173:68c7914679ec 694
Lightvalve 173:68c7914679ec 695 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 696 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 697
Lightvalve 173:68c7914679ec 698 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 699 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 700 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 701 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 702 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 703 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 704 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 705 } else {
Lightvalve 173:68c7914679ec 706 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 707 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 708 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 709 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 710 }
Lightvalve 173:68c7914679ec 711 }
Lightvalve 173:68c7914679ec 712 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 713 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 714 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 715 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 716
Lightvalve 173:68c7914679ec 717 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 718 }
Lightvalve 173:68c7914679ec 719 }
Lightvalve 176:589ea3edcf3c 720 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 721 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 722 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 723 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 724 }
Lightvalve 173:68c7914679ec 725
Lightvalve 173:68c7914679ec 726 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 727 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 728 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 729 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 730 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 731 } else {
Lightvalve 173:68c7914679ec 732
Lightvalve 177:8e9cf31d63f4 733 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 734 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 735
Lightvalve 173:68c7914679ec 736 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 737 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 738 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 739 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 740
Lightvalve 173:68c7914679ec 741 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 742 }
Lightvalve 173:68c7914679ec 743 }
Lightvalve 176:589ea3edcf3c 744 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 745 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 746 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 747 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 748 }
Lightvalve 177:8e9cf31d63f4 749
Lightvalve 175:2f7289dbd488 750 // Simultaneous Update
Lightvalve 175:2f7289dbd488 751 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 752 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 753 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 754 }
Lightvalve 179:d5377766d7ea 755 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 756 }
Lightvalve 175:2f7289dbd488 757 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 758 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 759 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 760 }
Lightvalve 179:d5377766d7ea 761 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 762 }
Lightvalve 175:2f7289dbd488 763 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 764 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 765 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 766 }
Lightvalve 179:d5377766d7ea 767 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 768 }
Lightvalve 170:42c938a40313 769 }
Lightvalve 170:42c938a40313 770
Lightvalve 170:42c938a40313 771 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 772 {
Lightvalve 170:42c938a40313 773 //Box muller method
Lightvalve 170:42c938a40313 774 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 775 static int n2_cached = 0;
Lightvalve 170:42c938a40313 776 if (!n2_cached) {
Lightvalve 170:42c938a40313 777 double x, y, r;
Lightvalve 170:42c938a40313 778 do {
Lightvalve 170:42c938a40313 779 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 780 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 781
Lightvalve 170:42c938a40313 782 r = x*x + y*y;
Lightvalve 170:42c938a40313 783 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 784 {
Lightvalve 170:42c938a40313 785 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 786 double n1 = x*d;
Lightvalve 170:42c938a40313 787 n2 = y*d;
Lightvalve 170:42c938a40313 788 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 789 n2_cached = 1;
Lightvalve 170:42c938a40313 790 return result;
Lightvalve 170:42c938a40313 791 }
Lightvalve 170:42c938a40313 792 } else {
Lightvalve 170:42c938a40313 793 n2_cached = 0;
Lightvalve 170:42c938a40313 794 return n2*stddev + mean;
Lightvalve 170:42c938a40313 795 }
Lightvalve 170:42c938a40313 796 }
Lightvalve 170:42c938a40313 797
Lightvalve 179:d5377766d7ea 798 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 799 {
Lightvalve 179:d5377766d7ea 800 float add = 0.0f;
Lightvalve 179:d5377766d7ea 801 float result;
Lightvalve 218:066030f7951f 802
Lightvalve 218:066030f7951f 803 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 804 add += x[i];
Lightvalve 179:d5377766d7ea 805 }
Lightvalve 179:d5377766d7ea 806 result = (float) add/size;
Lightvalve 179:d5377766d7ea 807 return result;
Lightvalve 179:d5377766d7ea 808 }
Lightvalve 179:d5377766d7ea 809 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 810 {
Lightvalve 179:d5377766d7ea 811 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 812 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 813
Lightvalve 218:066030f7951f 814 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 815 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 816 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 817 }
Lightvalve 179:d5377766d7ea 818 return resultDeb;
Lightvalve 218:066030f7951f 819 }
Lightvalve 218:066030f7951f 820
Lightvalve 173:68c7914679ec 821
Lightvalve 170:42c938a40313 822 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 823 {
Lightvalve 173:68c7914679ec 824 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 825 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 826 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 827 }
Lightvalve 170:42c938a40313 828 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 829 }
Lightvalve 173:68c7914679ec 830 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 831 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 832 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 833 }
Lightvalve 173:68c7914679ec 834 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 835 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 836 }
Lightvalve 173:68c7914679ec 837 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 838 }
Lightvalve 170:42c938a40313 839 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 840 {
Lightvalve 173:68c7914679ec 841 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 842 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 843 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 844 }
Lightvalve 170:42c938a40313 845 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 846 }
Lightvalve 173:68c7914679ec 847 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 848 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 849 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 850 }
Lightvalve 170:42c938a40313 851 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 852 }
Lightvalve 173:68c7914679ec 853 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 854 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 855 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 856 }
Lightvalve 173:68c7914679ec 857 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 858 }
Lightvalve 170:42c938a40313 859 }
Lightvalve 170:42c938a40313 860
Lightvalve 170:42c938a40313 861
GiJeongKim 0:51c43836c1d7 862 int main()
GiJeongKim 0:51c43836c1d7 863 {
Lightvalve 66:a8e6799dbce3 864
Lightvalve 65:a2d7c63419c2 865 HAL_Init();
Lightvalve 65:a2d7c63419c2 866 SystemClock_Config();
Lightvalve 169:645207e160ca 867
jobuuu 6:df07d3491e3a 868 /*********************************
jobuuu 1:e04e563be5ce 869 *** Initialization
jobuuu 6:df07d3491e3a 870 *********************************/
Lightvalve 69:3995ffeaa786 871 LED = 0;
Lightvalve 61:bc8c8270f0ab 872 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 873
GiJeongKim 0:51c43836c1d7 874 // i2c init
Lightvalve 8:5d2eebdad025 875 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 876 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 877 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 878 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 879 make_delay();
jobuuu 2:a1c0a37df760 880
GiJeongKim 0:51c43836c1d7 881 // // spi init
Lightvalve 170:42c938a40313 882 eeprom.format(8,3);
Lightvalve 170:42c938a40313 883 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 884 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 885 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 886 make_delay();
Lightvalve 21:e5f1a43ea6f9 887
Lightvalve 16:903b5a4433b4 888 //rom
Lightvalve 19:23b7c1ad8683 889 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 890 make_delay();
Lightvalve 13:747daba9cf59 891
GiJeongKim 0:51c43836c1d7 892 // ADC init
jobuuu 5:a4319f79457b 893 Init_ADC();
Lightvalve 11:82d8768d7351 894 make_delay();
jobuuu 2:a1c0a37df760 895
GiJeongKim 0:51c43836c1d7 896 // Pwm init
GiJeongKim 0:51c43836c1d7 897 Init_PWM();
GiJeongKim 0:51c43836c1d7 898 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 899 make_delay();
Lightvalve 13:747daba9cf59 900
Lightvalve 11:82d8768d7351 901 // TMR3 init
Lightvalve 11:82d8768d7351 902 Init_TMR3();
Lightvalve 11:82d8768d7351 903 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 904 make_delay();
Lightvalve 21:e5f1a43ea6f9 905
Lightvalve 50:3c630b5eba9f 906 // TMR2 init
Lightvalve 56:6f50d9d3bfee 907 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 908 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 909 // make_delay();
Lightvalve 21:e5f1a43ea6f9 910
GiJeongKim 0:51c43836c1d7 911 // CAN
jobuuu 2:a1c0a37df760 912 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 913 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 914 make_delay();
Lightvalve 34:bb2ca2fc2a8e 915
Lightvalve 23:59218d4a256d 916 //Timer priority
Lightvalve 23:59218d4a256d 917 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 918 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 919 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 920
Lightvalve 23:59218d4a256d 921 //can.reset();
Lightvalve 19:23b7c1ad8683 922 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 923
GiJeongKim 0:51c43836c1d7 924 // spi _ enc
GiJeongKim 0:51c43836c1d7 925 spi_enc_set_init();
Lightvalve 11:82d8768d7351 926 make_delay();
Lightvalve 13:747daba9cf59 927
Lightvalve 11:82d8768d7351 928 //DAC init
Lightvalve 58:2eade98630e2 929 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 930 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 931 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 932 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 933 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 934 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 935 }
Lightvalve 11:82d8768d7351 936 make_delay();
Lightvalve 13:747daba9cf59 937
Lightvalve 19:23b7c1ad8683 938 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 939 if(i%2==0)
Lightvalve 38:118df027d851 940 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 941 else
Lightvalve 38:118df027d851 942 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 943 }
Lightvalve 169:645207e160ca 944
Lightvalve 173:68c7914679ec 945 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 946 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 947 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 948 }
Lightvalve 179:d5377766d7ea 949 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 950 }
Lightvalve 173:68c7914679ec 951 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 952 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 953 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 954 }
Lightvalve 179:d5377766d7ea 955 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 956 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 957 }
Lightvalve 179:d5377766d7ea 958 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 959
Lightvalve 173:68c7914679ec 960 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 961 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 962 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 963 }
Lightvalve 179:d5377766d7ea 964 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 965 }
Lightvalve 173:68c7914679ec 966 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 967 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 968 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 969 }
Lightvalve 179:d5377766d7ea 970 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 971 }
Lightvalve 170:42c938a40313 972 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 973 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 974 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 975 }
Lightvalve 179:d5377766d7ea 976 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 977 }
Lightvalve 171:bfc1fd2629d8 978
Lightvalve 170:42c938a40313 979 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 980 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 981
jobuuu 6:df07d3491e3a 982 /************************************
jobuuu 1:e04e563be5ce 983 *** Program is operating!
jobuuu 6:df07d3491e3a 984 *************************************/
GiJeongKim 0:51c43836c1d7 985 while(1) {
Lightvalve 169:645207e160ca 986
Lightvalve 171:bfc1fd2629d8 987 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 988 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 989 // 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 990 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 991 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 992 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 993 // }
Lightvalve 169:645207e160ca 994
Lightvalve 171:bfc1fd2629d8 995
Lightvalve 171:bfc1fd2629d8 996 //i2c
Lightvalve 180:02be1711ee0b 997 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 998 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 999
Lightvalve 177:8e9cf31d63f4 1000 //timer_while ++;
Lightvalve 169:645207e160ca 1001
Lightvalve 170:42c938a40313 1002 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1003
Lightvalve 73:f80dc3970c99 1004 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1005 LED = 0;
Lightvalve 73:f80dc3970c99 1006 }
Lightvalve 169:645207e160ca 1007
Lightvalve 73:f80dc3970c99 1008 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1009
Lightvalve 162:9dd4f35e9de8 1010 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1011 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1012 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1013 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1014 }
Lightvalve 162:9dd4f35e9de8 1015
Lightvalve 162:9dd4f35e9de8 1016 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1017 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1018 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1019 }
Lightvalve 162:9dd4f35e9de8 1020 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1021 ind = ind + 1;
Lightvalve 169:645207e160ca 1022
Lightvalve 162:9dd4f35e9de8 1023 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1024 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1025 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1026 // }
Lightvalve 162:9dd4f35e9de8 1027
Lightvalve 162:9dd4f35e9de8 1028 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1029 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1030 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1031 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1032 }
Lightvalve 208:408f9f15c486 1033 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1034 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1035 ind = ind + 1;
Lightvalve 238:e4bda4d06a7d 1036 for(int i=0; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1037 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1038 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1039 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1040 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1041 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1042 }
Lightvalve 169:645207e160ca 1043
Lightvalve 112:8dcb1600cb90 1044 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1045 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1046 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1047 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1048
Lightvalve 112:8dcb1600cb90 1049 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1050 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1051 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1052 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1053 }
Lightvalve 66:a8e6799dbce3 1054 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1055 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1056 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1057 }
Lightvalve 66:a8e6799dbce3 1058 }
Lightvalve 65:a2d7c63419c2 1059
Lightvalve 112:8dcb1600cb90 1060 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1061 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1062 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1063 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1064 }
Lightvalve 66:a8e6799dbce3 1065 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1066 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1067 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1068 }
Lightvalve 66:a8e6799dbce3 1069 }
Lightvalve 65:a2d7c63419c2 1070
Lightvalve 112:8dcb1600cb90 1071 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1072 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1073 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1074 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1075 }
Lightvalve 66:a8e6799dbce3 1076 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1077 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1078 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1079 }
Lightvalve 65:a2d7c63419c2 1080 }
Lightvalve 66:a8e6799dbce3 1081
Lightvalve 66:a8e6799dbce3 1082 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1083 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1084 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1085 }
Lightvalve 66:a8e6799dbce3 1086 output = output + bout[index2];
Lightvalve 169:645207e160ca 1087
Lightvalve 66:a8e6799dbce3 1088 }
Lightvalve 73:f80dc3970c99 1089 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1090 output_normalized = output;
Lightvalve 68:328e1be06f5d 1091 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1092
Lightvalve 66:a8e6799dbce3 1093 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1094 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1095 } else {
Lightvalve 66:a8e6799dbce3 1096 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1097 }
Lightvalve 87:471334725012 1098
Lightvalve 169:645207e160ca 1099
Lightvalve 69:3995ffeaa786 1100 if(LED==1) {
Lightvalve 69:3995ffeaa786 1101 LED=0;
Lightvalve 69:3995ffeaa786 1102 } else
Lightvalve 69:3995ffeaa786 1103 LED = 1;
Lightvalve 169:645207e160ca 1104
Lightvalve 65:a2d7c63419c2 1105 }
Lightvalve 171:bfc1fd2629d8 1106
Lightvalve 171:bfc1fd2629d8 1107
Lightvalve 170:42c938a40313 1108 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1109 switch (Update_Case) {
Lightvalve 170:42c938a40313 1110 case 0: {
Lightvalve 170:42c938a40313 1111 break;
Lightvalve 170:42c938a40313 1112 }
Lightvalve 170:42c938a40313 1113 case 1: {
Lightvalve 170:42c938a40313 1114 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1115 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1116 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1117 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1118 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1119 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1120 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1121 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1122 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1123 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1124 }
Lightvalve 173:68c7914679ec 1125 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1126 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1127 }
Lightvalve 175:2f7289dbd488 1128 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1129
Lightvalve 175:2f7289dbd488 1130 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 1131 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1132 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 1133 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1134 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1135 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1136 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1137 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1138 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1139 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1140 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1141 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1142 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1143 }
Lightvalve 179:d5377766d7ea 1144 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1145 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1146 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1147 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1148 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1149 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1150 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1151 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1152 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1153 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1154 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1155 } else {
Lightvalve 175:2f7289dbd488 1156 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1157 }
Lightvalve 175:2f7289dbd488 1158 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1159 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1160 }
Lightvalve 170:42c938a40313 1161 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1162 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1163 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1164 }
Lightvalve 170:42c938a40313 1165 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1166
Lightvalve 171:bfc1fd2629d8 1167
Lightvalve 170:42c938a40313 1168 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1169 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1170 //Update Networks
Lightvalve 170:42c938a40313 1171 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1172 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1173 }
Lightvalve 170:42c938a40313 1174 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1175 Update_Case = 0;
Lightvalve 170:42c938a40313 1176 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1177
Lightvalve 170:42c938a40313 1178 break;
Lightvalve 170:42c938a40313 1179 }
Lightvalve 170:42c938a40313 1180 case 2: {
Lightvalve 170:42c938a40313 1181 //Network apply to next Network
Lightvalve 170:42c938a40313 1182 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1183 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1184 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1185 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1186 Update_Case = 0;
Lightvalve 170:42c938a40313 1187 break;
Lightvalve 170:42c938a40313 1188 }
Lightvalve 169:645207e160ca 1189
Lightvalve 170:42c938a40313 1190 }
GiJeongKim 0:51c43836c1d7 1191 }
jobuuu 1:e04e563be5ce 1192 }
jobuuu 1:e04e563be5ce 1193
Lightvalve 33:91b17819ec30 1194 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1195 {
Lightvalve 14:8e7590227d22 1196
Lightvalve 13:747daba9cf59 1197 int i = 0;
Lightvalve 48:889798ff9329 1198 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1199 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1200 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 1201 if(i==0) {
Lightvalve 50:3c630b5eba9f 1202 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1203 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1204 } else {
Lightvalve 57:f4819de54e7a 1205 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 1206 }
Lightvalve 14:8e7590227d22 1207 } else {
Lightvalve 50:3c630b5eba9f 1208 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1209 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1210 } else {
Lightvalve 57:f4819de54e7a 1211 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 1212 }
Lightvalve 13:747daba9cf59 1213 }
Lightvalve 13:747daba9cf59 1214 break;
Lightvalve 13:747daba9cf59 1215 }
Lightvalve 13:747daba9cf59 1216 }
Lightvalve 14:8e7590227d22 1217 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1218 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1219 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1220 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1221 }
Lightvalve 36:a46e63505ed8 1222
Lightvalve 57:f4819de54e7a 1223 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1224 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1225
Lightvalve 13:747daba9cf59 1226 }
jobuuu 6:df07d3491e3a 1227
jobuuu 6:df07d3491e3a 1228
Lightvalve 30:8d561f16383b 1229 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1230 {
Lightvalve 13:747daba9cf59 1231 int i = 0;
Lightvalve 13:747daba9cf59 1232
Lightvalve 38:118df027d851 1233 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1234 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1235 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1236 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1237 }
Lightvalve 38:118df027d851 1238
Lightvalve 89:a7b45368ea0f 1239 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1240 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1241 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1242 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1243 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1244 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1245
Lightvalve 13:747daba9cf59 1246 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 1247
Lightvalve 18:b8adf1582ea3 1248 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1249 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 1250 if(i==0) {
Lightvalve 48:889798ff9329 1251 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 1252 } else {
Lightvalve 48:889798ff9329 1253 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 1254 }
Lightvalve 13:747daba9cf59 1255 break;
Lightvalve 13:747daba9cf59 1256 }
Lightvalve 13:747daba9cf59 1257 }
Lightvalve 59:f308b1656d9c 1258 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1259 }
Lightvalve 13:747daba9cf59 1260
Lightvalve 14:8e7590227d22 1261 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1262 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 1263 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1264 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1265 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1266 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1267 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1268 }; // duty
Lightvalve 67:c2812cf26c38 1269 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 1270 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1271 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1272 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1273 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1274 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1275 }; // mV
Lightvalve 13:747daba9cf59 1276
Lightvalve 30:8d561f16383b 1277 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1278 {
Lightvalve 30:8d561f16383b 1279 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1280 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1281 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1282 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1283 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1284 } else {
Lightvalve 13:747daba9cf59 1285 int idx = 0;
Lightvalve 13:747daba9cf59 1286 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1287 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1288 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1289 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1290 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1291 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1292 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1293 break;
Lightvalve 13:747daba9cf59 1294 }
Lightvalve 13:747daba9cf59 1295 }
Lightvalve 13:747daba9cf59 1296 }
Lightvalve 14:8e7590227d22 1297
Lightvalve 13:747daba9cf59 1298 return PWM_duty;
Lightvalve 13:747daba9cf59 1299 }
jobuuu 6:df07d3491e3a 1300
Lightvalve 57:f4819de54e7a 1301
Lightvalve 57:f4819de54e7a 1302
Lightvalve 57:f4819de54e7a 1303
Lightvalve 57:f4819de54e7a 1304
jobuuu 2:a1c0a37df760 1305 /*******************************************************************************
jobuuu 2:a1c0a37df760 1306 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1307 *******************************************************************************/
jobuuu 2:a1c0a37df760 1308
Lightvalve 51:b46bed7fec80 1309 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1310 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1311 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1312 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1313 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1314 {
Lightvalve 19:23b7c1ad8683 1315 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1316
Lightvalve 21:e5f1a43ea6f9 1317 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1318 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1319 ********************************************************/
Lightvalve 13:747daba9cf59 1320
Lightvalve 57:f4819de54e7a 1321 //Encoder
Lightvalve 57:f4819de54e7a 1322 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1323 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1324 }
Lightvalve 61:bc8c8270f0ab 1325
Lightvalve 61:bc8c8270f0ab 1326 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1327 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1328 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1329 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1330 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1331 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1332 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1333
Lightvalve 67:c2812cf26c38 1334
Lightvalve 67:c2812cf26c38 1335 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1336 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1337 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1338 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1339 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1340
Lightvalve 17:1865016ca2e7 1341
Lightvalve 58:2eade98630e2 1342 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1343 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1344 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1345 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1346 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1347 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1348 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1349 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1350 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1351
Lightvalve 58:2eade98630e2 1352 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1353 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 1354 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1355 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 1356 }
Lightvalve 58:2eade98630e2 1357 }
Lightvalve 61:bc8c8270f0ab 1358
Lightvalve 58:2eade98630e2 1359 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1360 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1361 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1362 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1363 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1364 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1365 // 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 1366 //
Lightvalve 58:2eade98630e2 1367 //
Lightvalve 58:2eade98630e2 1368 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1369 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1370 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1371 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1372 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1373
Lightvalve 17:1865016ca2e7 1374
Lightvalve 21:e5f1a43ea6f9 1375 //Current
Lightvalve 21:e5f1a43ea6f9 1376 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1377 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1378 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1379 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1380 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1381 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1382 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1383
Lightvalve 57:f4819de54e7a 1384 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1385 }
Lightvalve 11:82d8768d7351 1386 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1387 }
Lightvalve 19:23b7c1ad8683 1388
Lightvalve 19:23b7c1ad8683 1389
Lightvalve 18:b8adf1582ea3 1390 int j =0;
Lightvalve 54:647072f5307a 1391 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1392 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1393 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1394 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 1395
Lightvalve 11:82d8768d7351 1396 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1397 {
Lightvalve 19:23b7c1ad8683 1398 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1399
Lightvalve 57:f4819de54e7a 1400 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1401 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1402 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1403 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1404 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1405 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1406 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1407 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1408 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1409 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1410 }
Lightvalve 50:3c630b5eba9f 1411
Lightvalve 50:3c630b5eba9f 1412 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1413 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1414 cnt_trans++;
Lightvalve 46:2694daea349b 1415 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1416 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1417 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1418 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1419 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1420 cnt_trans++;
Lightvalve 46:2694daea349b 1421 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1422 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1423 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1424 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1425 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1426 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1427 } else {
Lightvalve 58:2eade98630e2 1428 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1429 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1430 }
Lightvalve 45:35fa6884d0c6 1431
Lightvalve 50:3c630b5eba9f 1432
Lightvalve 57:f4819de54e7a 1433 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1434 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1435
Lightvalve 57:f4819de54e7a 1436 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1437 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1438 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1439 } else {
Lightvalve 57:f4819de54e7a 1440 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1441 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1442 }
Lightvalve 56:6f50d9d3bfee 1443
Lightvalve 56:6f50d9d3bfee 1444
Lightvalve 56:6f50d9d3bfee 1445
Lightvalve 57:f4819de54e7a 1446 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1447
Lightvalve 57:f4819de54e7a 1448 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1449 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1450 break;
Lightvalve 13:747daba9cf59 1451 }
Lightvalve 14:8e7590227d22 1452
Lightvalve 14:8e7590227d22 1453 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1454 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1455 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1456 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1457
Lightvalve 14:8e7590227d22 1458 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1459 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1460 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1461
Lightvalve 84:c355d3e52bf1 1462 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1463
Lightvalve 30:8d561f16383b 1464 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1465 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1466
Lightvalve 16:903b5a4433b4 1467 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1468 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1469 }
Lightvalve 13:747daba9cf59 1470 } else {
Lightvalve 58:2eade98630e2 1471 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1472 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1473 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1474 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1475
Lightvalve 170:42c938a40313 1476 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1477 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1478
Lightvalve 30:8d561f16383b 1479 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1480
Lightvalve 13:747daba9cf59 1481 }
Lightvalve 14:8e7590227d22 1482 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1483 break;
Lightvalve 19:23b7c1ad8683 1484 }
Lightvalve 14:8e7590227d22 1485
Lightvalve 50:3c630b5eba9f 1486 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1487 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1488 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1489 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1490 // }
Lightvalve 50:3c630b5eba9f 1491 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1492 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1493 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1494 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1495 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1496 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1497 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1498 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1499 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1500 // }
Lightvalve 50:3c630b5eba9f 1501 //
Lightvalve 50:3c630b5eba9f 1502 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1503 // 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 1504 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1505 //
Lightvalve 50:3c630b5eba9f 1506 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1507 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1508 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1509 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1510 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1511 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1512 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1513 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1514 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1515 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1516 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1517 //
Lightvalve 50:3c630b5eba9f 1518 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1519 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1520 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1521 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1522 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1523 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1524 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1525 //
Lightvalve 50:3c630b5eba9f 1526 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1527 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1528 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1529 // } else {
Lightvalve 50:3c630b5eba9f 1530 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1531 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1532 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1533 // }
Lightvalve 50:3c630b5eba9f 1534 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1535 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1536 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1537 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1538 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1539 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1540 // }
Lightvalve 50:3c630b5eba9f 1541 // } else {
Lightvalve 50:3c630b5eba9f 1542 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1543 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1544 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1545 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1546 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1547 // }
Lightvalve 50:3c630b5eba9f 1548 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1549 //
Lightvalve 50:3c630b5eba9f 1550 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1551 //
Lightvalve 50:3c630b5eba9f 1552 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1553 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1554 //
Lightvalve 50:3c630b5eba9f 1555 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1556 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1557 // }
Lightvalve 50:3c630b5eba9f 1558 // }
Lightvalve 50:3c630b5eba9f 1559 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1560 // break;
Lightvalve 50:3c630b5eba9f 1561 // }
Lightvalve 14:8e7590227d22 1562
Lightvalve 14:8e7590227d22 1563 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1564 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1565 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1566 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1567 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1568 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1569 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1570 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1571 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1572 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1573 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1574 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1575 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1576 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1577 }
Lightvalve 29:69f3f5445d6d 1578 cnt_findhome++;
Lightvalve 14:8e7590227d22 1579
Lightvalve 29:69f3f5445d6d 1580 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1581 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1582 } else {
Lightvalve 29:69f3f5445d6d 1583 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1584 }
Lightvalve 19:23b7c1ad8683 1585
Lightvalve 57:f4819de54e7a 1586 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1587 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1588 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1589 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1590
Lightvalve 59:f308b1656d9c 1591 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1592 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1593 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1594 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1595 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1596
Lightvalve 59:f308b1656d9c 1597 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1598 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1599
Lightvalve 34:bb2ca2fc2a8e 1600
Lightvalve 29:69f3f5445d6d 1601 } else {
Lightvalve 29:69f3f5445d6d 1602 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1603 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1604 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1605 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1606 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1607 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1608 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1609 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1610 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1611 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1612 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1613
Lightvalve 67:c2812cf26c38 1614
Lightvalve 67:c2812cf26c38 1615 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1616 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1617 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1618 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1619 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1620 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1621 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1622
Lightvalve 169:645207e160ca 1623
Lightvalve 29:69f3f5445d6d 1624 }
Lightvalve 29:69f3f5445d6d 1625 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1626 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1627 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 1628 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1629 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1630
Lightvalve 29:69f3f5445d6d 1631 // input for position control
Lightvalve 169:645207e160ca 1632
Lightvalve 67:c2812cf26c38 1633 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1634 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1635
Lightvalve 67:c2812cf26c38 1636 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1637 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1638 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1639 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1640
Lightvalve 67:c2812cf26c38 1641 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1642
Lightvalve 67:c2812cf26c38 1643 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1644 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1645 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1646
Lightvalve 67:c2812cf26c38 1647 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1648 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1649 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1650
Lightvalve 69:3995ffeaa786 1651 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1652 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 1653 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1654 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1655 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 1656 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1657 }
Lightvalve 67:c2812cf26c38 1658 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 1659 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1660
Lightvalve 67:c2812cf26c38 1661 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1662
Lightvalve 67:c2812cf26c38 1663
Lightvalve 67:c2812cf26c38 1664
Lightvalve 67:c2812cf26c38 1665 } else {
Lightvalve 67:c2812cf26c38 1666 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1667 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 1668
Lightvalve 67:c2812cf26c38 1669 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1670 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1671 } else {
Lightvalve 67:c2812cf26c38 1672 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1673 }
Lightvalve 67:c2812cf26c38 1674
Lightvalve 67:c2812cf26c38 1675 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1676
Lightvalve 67:c2812cf26c38 1677 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1678
Lightvalve 67:c2812cf26c38 1679 }
Lightvalve 67:c2812cf26c38 1680
Lightvalve 67:c2812cf26c38 1681
Lightvalve 169:645207e160ca 1682
Lightvalve 169:645207e160ca 1683
Lightvalve 59:f308b1656d9c 1684 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1685 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1686 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1687 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1688 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1689
Lightvalve 29:69f3f5445d6d 1690 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1691 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1692 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1693 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1694 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1695 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1696 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1697 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1698 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1699 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1700 }
Lightvalve 13:747daba9cf59 1701 }
Lightvalve 19:23b7c1ad8683 1702
Lightvalve 13:747daba9cf59 1703 break;
Lightvalve 13:747daba9cf59 1704 }
Lightvalve 14:8e7590227d22 1705
Lightvalve 50:3c630b5eba9f 1706 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1707 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1708 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1709 // else {
Lightvalve 50:3c630b5eba9f 1710 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1711 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1712 // }
Lightvalve 50:3c630b5eba9f 1713 // }
Lightvalve 50:3c630b5eba9f 1714 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1715 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1716 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1717 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1718 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1719 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1720 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1721 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1722 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1723 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1724 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1725 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1726 // }
Lightvalve 50:3c630b5eba9f 1727 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1728 // }
Lightvalve 50:3c630b5eba9f 1729 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1730 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1731 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1732 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1733 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1734 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1735 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1736 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1737 // 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 1738 // // 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 1739 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1740 // }
Lightvalve 50:3c630b5eba9f 1741 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1742 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1743 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1744 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1745 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1746 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1747 // 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 1748 // // 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 1749 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1750 // }
Lightvalve 50:3c630b5eba9f 1751 // }
Lightvalve 50:3c630b5eba9f 1752 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1753 //
Lightvalve 50:3c630b5eba9f 1754 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1755 //
Lightvalve 50:3c630b5eba9f 1756 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1757 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1758 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1759 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1760 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1761 // }
Lightvalve 50:3c630b5eba9f 1762 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1763 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1764 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1765 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1766 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1767 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1768 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1769 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1770 // }
Lightvalve 50:3c630b5eba9f 1771 //
Lightvalve 50:3c630b5eba9f 1772 // }
Lightvalve 50:3c630b5eba9f 1773 // break;
Lightvalve 50:3c630b5eba9f 1774 // }
Lightvalve 50:3c630b5eba9f 1775 //
Lightvalve 50:3c630b5eba9f 1776 // }
Lightvalve 14:8e7590227d22 1777 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1778 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1779 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1780 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1781 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1782
Lightvalve 14:8e7590227d22 1783 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1784 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1785 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1786 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1787 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1788
Lightvalve 38:118df027d851 1789 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1790 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1791 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1792
Lightvalve 30:8d561f16383b 1793 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1794 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1795 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1796 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1797
Lightvalve 30:8d561f16383b 1798 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1799 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1800 }
Lightvalve 13:747daba9cf59 1801 } else {
Lightvalve 57:f4819de54e7a 1802 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1803 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1804 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1805 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1806 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1807 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1808
Lightvalve 170:42c938a40313 1809 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1810 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1811 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1812
Lightvalve 30:8d561f16383b 1813 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1814 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1815 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1816 }
Lightvalve 14:8e7590227d22 1817 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1818 break;
Lightvalve 13:747daba9cf59 1819 }
Lightvalve 14:8e7590227d22 1820
Lightvalve 50:3c630b5eba9f 1821 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1822 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1823 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1824 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1825 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1826 // }
Lightvalve 50:3c630b5eba9f 1827 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1828 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1829 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1830 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1831 // }
Lightvalve 50:3c630b5eba9f 1832 // } else {
Lightvalve 50:3c630b5eba9f 1833 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1834 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1835 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1836 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1837 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1838 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1839 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1840 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1841 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1842 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1843 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1844 //
Lightvalve 50:3c630b5eba9f 1845 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1846 //
Lightvalve 50:3c630b5eba9f 1847 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1848 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1849 // }
Lightvalve 50:3c630b5eba9f 1850 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1851 // break;
Lightvalve 50:3c630b5eba9f 1852 // }
Lightvalve 19:23b7c1ad8683 1853
Lightvalve 50:3c630b5eba9f 1854 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1855 // 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 1856 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1857 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1858 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1859 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1860 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1861 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1862 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1863 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1864 // }
Lightvalve 50:3c630b5eba9f 1865 // break;
Lightvalve 50:3c630b5eba9f 1866 // }
Lightvalve 14:8e7590227d22 1867
Lightvalve 14:8e7590227d22 1868 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1869 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1870 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1871
Lightvalve 14:8e7590227d22 1872 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1873 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1874 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1875 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1876 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1877 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1878 data_num = 0;
Lightvalve 14:8e7590227d22 1879 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1880 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1881 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1882 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1883 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1884 } else {
Lightvalve 13:747daba9cf59 1885 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1886 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1887 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1888 }
Lightvalve 14:8e7590227d22 1889
Lightvalve 17:1865016ca2e7 1890 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1891 int i;
Lightvalve 13:747daba9cf59 1892 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1893 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1894 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1895 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1896 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1897 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1898 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1899 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1900 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1901 }
Lightvalve 13:747daba9cf59 1902 }
Lightvalve 170:42c938a40313 1903 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1904 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1905 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1906 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1907 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1908 }
Lightvalve 13:747daba9cf59 1909 ID_index = 0;
Lightvalve 57:f4819de54e7a 1910 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1911 }
Lightvalve 14:8e7590227d22 1912
Lightvalve 14:8e7590227d22 1913
Lightvalve 13:747daba9cf59 1914 break;
Lightvalve 13:747daba9cf59 1915 }
Lightvalve 14:8e7590227d22 1916
Lightvalve 14:8e7590227d22 1917 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1918 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1919 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1920 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1921 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1922 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1923 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1924 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1925 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1926 } else if(VALVE_DZ_timer < (int) (2.0f * (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) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1929 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1930 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1931 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1932 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 1933 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1934 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 1935 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1936 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1937 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1938 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 1939 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1940 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1941 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1942 data_num = 0;
Lightvalve 14:8e7590227d22 1943
Lightvalve 30:8d561f16383b 1944 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1945 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1946 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1947
Lightvalve 30:8d561f16383b 1948 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1949 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1950 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1951
Lightvalve 30:8d561f16383b 1952 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1953 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1954 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1955 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1956
Lightvalve 60:64181f1d3e60 1957 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1958 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1959 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1960 DZ_case = -1;
Lightvalve 14:8e7590227d22 1961 } else {
Lightvalve 13:747daba9cf59 1962 DZ_case = 0;
Lightvalve 13:747daba9cf59 1963 }
Lightvalve 61:bc8c8270f0ab 1964
Lightvalve 60:64181f1d3e60 1965 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1966
Lightvalve 13:747daba9cf59 1967 first_check = 1;
Lightvalve 13:747daba9cf59 1968 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1969 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1970 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1971 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1972 DZ_index = 1;
Lightvalve 14:8e7590227d22 1973
Lightvalve 13:747daba9cf59 1974 }
Lightvalve 19:23b7c1ad8683 1975 } else {
Lightvalve 14:8e7590227d22 1976 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1977 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1978 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 1979 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1980 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1981 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1982 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1983 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1984 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1985 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1986 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1987 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1988 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1989 }
Lightvalve 14:8e7590227d22 1990 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1991
Lightvalve 30:8d561f16383b 1992 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1993 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1994 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1995
Lightvalve 14:8e7590227d22 1996 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1997 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1998 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1999 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2000 } else {
Lightvalve 13:747daba9cf59 2001 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2002 }
Lightvalve 14:8e7590227d22 2003
Lightvalve 13:747daba9cf59 2004 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2005 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2006 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2007 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2008 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2009 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2010 DZ_index = 1;
Lightvalve 13:747daba9cf59 2011 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2012 }
Lightvalve 13:747daba9cf59 2013 }
Lightvalve 14:8e7590227d22 2014 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2015 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2016 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 2017 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2018 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2019 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2020 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2021 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2022 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2023 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2024 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2025 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2026 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2027 }
Lightvalve 14:8e7590227d22 2028 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2029
Lightvalve 30:8d561f16383b 2030 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2031 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2032 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2033 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2034 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2035
Lightvalve 14:8e7590227d22 2036 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2037 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2038 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2039 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2040 } else {
Lightvalve 60:64181f1d3e60 2041 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2042 }
Lightvalve 14:8e7590227d22 2043
Lightvalve 13:747daba9cf59 2044 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2045 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2046 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2047 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2048 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2049 first_check = 0;
Lightvalve 33:91b17819ec30 2050 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2051 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2052
Lightvalve 170:42c938a40313 2053 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2054 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2055 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2056 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2057
Lightvalve 60:64181f1d3e60 2058 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2059 DZ_index = 1;
Lightvalve 13:747daba9cf59 2060 }
Lightvalve 13:747daba9cf59 2061 }
Lightvalve 14:8e7590227d22 2062 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2063 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2064 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 2065 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2066 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2067 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2068 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2069 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2070 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2071 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2072 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2073 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2074 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2075 }
Lightvalve 14:8e7590227d22 2076 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2077
Lightvalve 30:8d561f16383b 2078 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2079 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2080 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2081
Lightvalve 14:8e7590227d22 2082 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2083 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2084 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2085 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2086 } else {
Lightvalve 13:747daba9cf59 2087 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2088 }
Lightvalve 13:747daba9cf59 2089 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2090 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2091 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2092 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2093 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2094 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2095 DZ_index = 1;
Lightvalve 13:747daba9cf59 2096 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2097 }
Lightvalve 13:747daba9cf59 2098 }
Lightvalve 14:8e7590227d22 2099 } else {
Lightvalve 30:8d561f16383b 2100 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2101 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 2102 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2103 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2104 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2105 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2106 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2107 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2108 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2109 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2110 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2111 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2112 }
Lightvalve 14:8e7590227d22 2113 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2114
Lightvalve 30:8d561f16383b 2115 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2116 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2117 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2118 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2119 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2120
Lightvalve 60:64181f1d3e60 2121 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2122 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2123 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2124 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2125 } else {
Lightvalve 13:747daba9cf59 2126 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2127 }
Lightvalve 14:8e7590227d22 2128
Lightvalve 13:747daba9cf59 2129 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2130 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2131 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2132 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2133 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2134 first_check = 0;
Lightvalve 33:91b17819ec30 2135 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2136 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2137
Lightvalve 170:42c938a40313 2138 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2139 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2140 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2141 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2142
Lightvalve 57:f4819de54e7a 2143 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2144 DZ_index = 1;
Lightvalve 13:747daba9cf59 2145 }
Lightvalve 13:747daba9cf59 2146 }
Lightvalve 13:747daba9cf59 2147 }
Lightvalve 14:8e7590227d22 2148 }
Lightvalve 13:747daba9cf59 2149 break;
Lightvalve 13:747daba9cf59 2150 }
Lightvalve 14:8e7590227d22 2151
Lightvalve 14:8e7590227d22 2152 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2153 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2154 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2155 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2156 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2157 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2158 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2159 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2160 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2161 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2162 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2163 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2164 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2165 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2166 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2167 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2168 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2169 first_check = 1;
Lightvalve 13:747daba9cf59 2170 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2171 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2172 ID_index = 0;
Lightvalve 13:747daba9cf59 2173 max_check = 0;
Lightvalve 13:747daba9cf59 2174 min_check = 0;
Lightvalve 13:747daba9cf59 2175 }
Lightvalve 14:8e7590227d22 2176 } else {
Lightvalve 30:8d561f16383b 2177 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2178 //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 2179 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2180 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2181 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2182 data_num = 0;
Lightvalve 57:f4819de54e7a 2183 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2184
Lightvalve 14:8e7590227d22 2185 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2186 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2187 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2188 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2189 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2190 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2191 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2192 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2193 one_period_end = 1;
Lightvalve 13:747daba9cf59 2194 }
Lightvalve 30:8d561f16383b 2195 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2196 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2197 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2198 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2199 }
Lightvalve 14:8e7590227d22 2200
Lightvalve 14:8e7590227d22 2201 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2202 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2203 max_check = 1;
Lightvalve 14:8e7590227d22 2204 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2205 min_check = 1;
Lightvalve 13:747daba9cf59 2206 }
Lightvalve 13:747daba9cf59 2207 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2208
Lightvalve 13:747daba9cf59 2209 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2210 one_period_end = 0;
Lightvalve 13:747daba9cf59 2211 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2212 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2213 }
Lightvalve 14:8e7590227d22 2214
Lightvalve 14:8e7590227d22 2215 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2216
Lightvalve 13:747daba9cf59 2217 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2218 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2219 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2220 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2221 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2222 }
Lightvalve 13:747daba9cf59 2223 ID_index = 0;
Lightvalve 13:747daba9cf59 2224 first_check = 0;
Lightvalve 13:747daba9cf59 2225 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2226 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2227 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2228 }
Lightvalve 13:747daba9cf59 2229 }
Lightvalve 13:747daba9cf59 2230 break;
Lightvalve 13:747daba9cf59 2231 }
Lightvalve 58:2eade98630e2 2232
Lightvalve 57:f4819de54e7a 2233 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2234 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2235 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2236 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2237 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2238 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2239 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2240 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2241 }
Lightvalve 57:f4819de54e7a 2242 break;
Lightvalve 57:f4819de54e7a 2243 }
Lightvalve 58:2eade98630e2 2244
Lightvalve 169:645207e160ca 2245 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2246 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2247 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2248 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2249 } else {
Lightvalve 169:645207e160ca 2250 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2251 }
Lightvalve 169:645207e160ca 2252 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2253 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2254 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2255 } else {
Lightvalve 169:645207e160ca 2256 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2257 }
Lightvalve 58:2eade98630e2 2258
Lightvalve 169:645207e160ca 2259 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2260 cnt_freq_test++;
Lightvalve 169:645207e160ca 2261 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2262 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2263 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2264 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2265 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2266 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2267 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2268 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2269 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2270 }
Lightvalve 169:645207e160ca 2271 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2272 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2273
Lightvalve 169:645207e160ca 2274 }
Lightvalve 169:645207e160ca 2275 break;
Lightvalve 169:645207e160ca 2276 }
Lightvalve 169:645207e160ca 2277 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2278 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2279 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2280 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2281 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2282 // }
Lightvalve 169:645207e160ca 2283 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2284 // }
Lightvalve 169:645207e160ca 2285
Lightvalve 169:645207e160ca 2286 break;
Lightvalve 169:645207e160ca 2287 }
Lightvalve 169:645207e160ca 2288 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2289 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2290 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2291 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2292 break;
Lightvalve 169:645207e160ca 2293 }
Lightvalve 170:42c938a40313 2294
Lightvalve 169:645207e160ca 2295 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2296 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2297 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2298 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2299 } else {
Lightvalve 169:645207e160ca 2300 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2301 }
Lightvalve 169:645207e160ca 2302 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2303 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2304 } else {
Lightvalve 169:645207e160ca 2305 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2306 }
Lightvalve 169:645207e160ca 2307 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2308 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2309 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2310 } else {
Lightvalve 169:645207e160ca 2311 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2312 }
Lightvalve 169:645207e160ca 2313
Lightvalve 169:645207e160ca 2314 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2315 cnt_step_test++;
Lightvalve 170:42c938a40313 2316 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2317 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2318 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2319 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2320 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2321 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2322 }
Lightvalve 169:645207e160ca 2323 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2324 // {
Lightvalve 169:645207e160ca 2325 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2326 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2327 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2328 // }
Lightvalve 170:42c938a40313 2329
Lightvalve 169:645207e160ca 2330 break;
Lightvalve 169:645207e160ca 2331 }
Lightvalve 57:f4819de54e7a 2332
Lightvalve 57:f4819de54e7a 2333 default:
Lightvalve 57:f4819de54e7a 2334 break;
Lightvalve 57:f4819de54e7a 2335 }
Lightvalve 57:f4819de54e7a 2336
Lightvalve 57:f4819de54e7a 2337 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2338
Lightvalve 57:f4819de54e7a 2339 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2340 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2341 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2342 break;
Lightvalve 57:f4819de54e7a 2343 }
Lightvalve 57:f4819de54e7a 2344
Lightvalve 57:f4819de54e7a 2345 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2346 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2347 ////For Test LIMC//////////////////////////////////////////
Lightvalve 233:0a37cdd59651 2348 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 233:0a37cdd59651 2349 // for(int i=0; i<9; i++){
Lightvalve 233:0a37cdd59651 2350 // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 233:0a37cdd59651 2351 // }
Lightvalve 233:0a37cdd59651 2352 // valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 233:0a37cdd59651 2353 // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2354 ////////////////////////////////////////////////////////////
Lightvalve 225:278b48b86f27 2355
Lightvalve 59:f308b1656d9c 2356 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2357 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2358 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2359 } else {
Lightvalve 67:c2812cf26c38 2360 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2361 }
Lightvalve 57:f4819de54e7a 2362 break;
Lightvalve 57:f4819de54e7a 2363 }
Lightvalve 57:f4819de54e7a 2364
Lightvalve 57:f4819de54e7a 2365 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2366
Lightvalve 57:f4819de54e7a 2367 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2368 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2369 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2370 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2371
Lightvalve 67:c2812cf26c38 2372 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2373 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2374 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2375 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2376
Lightvalve 139:15621998925b 2377 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2378 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2379
Lightvalve 57:f4819de54e7a 2380 // torque feedback
Lightvalve 67:c2812cf26c38 2381 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2382 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2383
Lightvalve 57:f4819de54e7a 2384 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2385
Lightvalve 57:f4819de54e7a 2386 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2387 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2388 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2389
Lightvalve 57:f4819de54e7a 2390 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2391 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2392 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2393
Lightvalve 69:3995ffeaa786 2394 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2395 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 2396 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2397 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2398 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 2399 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2400 }
Lightvalve 57:f4819de54e7a 2401 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 2402 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2403
Lightvalve 57:f4819de54e7a 2404 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2405 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2406 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2407 // 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 2408 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2409 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2410 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2411 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 2412 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2413 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2414 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2415 }
Lightvalve 57:f4819de54e7a 2416 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 2417 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2418 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2419 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2420 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2421
Lightvalve 57:f4819de54e7a 2422 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2423
Lightvalve 67:c2812cf26c38 2424 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2425 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2426 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2427 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2428 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2429 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2430 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2431 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2432 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2433 } else 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 }
Lightvalve 67:c2812cf26c38 2439 }
Lightvalve 57:f4819de54e7a 2440
Lightvalve 57:f4819de54e7a 2441 } else {
Lightvalve 57:f4819de54e7a 2442 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2443 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2444 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2445
Lightvalve 209:ebc69d6ee6f1 2446 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 2447
Lightvalve 72:3436ce769b1e 2448 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 2449
Lightvalve 72:3436ce769b1e 2450 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2451
Lightvalve 169:645207e160ca 2452
Lightvalve 72:3436ce769b1e 2453 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2454 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2455 } else {
Lightvalve 72:3436ce769b1e 2456 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2457 }
Lightvalve 57:f4819de54e7a 2458
Lightvalve 57:f4819de54e7a 2459 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2460 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2461 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2462 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2463 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2464 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2465 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2466 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2467 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2468 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2469 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2470 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2471 }
Lightvalve 57:f4819de54e7a 2472 }
Lightvalve 61:bc8c8270f0ab 2473
Lightvalve 57:f4819de54e7a 2474 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2475
Lightvalve 67:c2812cf26c38 2476 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2477 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2478
Lightvalve 57:f4819de54e7a 2479 }
Lightvalve 169:645207e160ca 2480
Lightvalve 72:3436ce769b1e 2481 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2482
Lightvalve 133:22ab22818e01 2483
Lightvalve 57:f4819de54e7a 2484 break;
Lightvalve 57:f4819de54e7a 2485 }
Lightvalve 58:2eade98630e2 2486
Lightvalve 57:f4819de54e7a 2487 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2488 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2489 break;
Lightvalve 57:f4819de54e7a 2490 }
Lightvalve 169:645207e160ca 2491
Lightvalve 138:a843f32ced33 2492 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2493
Lightvalve 169:645207e160ca 2494
Lightvalve 139:15621998925b 2495 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 2496 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 2497
Lightvalve 170:42c938a40313 2498 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2499
Lightvalve 218:066030f7951f 2500 //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 2501 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2502
Lightvalve 138:a843f32ced33 2503 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2504 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2505 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2506 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2507 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2508 } else {
Lightvalve 138:a843f32ced33 2509 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2510 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2511 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2512 } else {
Lightvalve 138:a843f32ced33 2513 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2514 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2515 }
Lightvalve 138:a843f32ced33 2516 }
Lightvalve 138:a843f32ced33 2517 float tau = 0.01f;
Lightvalve 142:43026242815a 2518 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 2519
Lightvalve 138:a843f32ced33 2520 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2521 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2522 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2523 } else {
Lightvalve 138:a843f32ced33 2524 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2525 }
Lightvalve 138:a843f32ced33 2526 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2527 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2528
Lightvalve 139:15621998925b 2529 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2530
Lightvalve 138:a843f32ced33 2531 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2532 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2533 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2534
Lightvalve 138:a843f32ced33 2535 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2536 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2537
Lightvalve 212:ec41f1449ef9 2538 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2539 float k4 = 10.0f;
Lightvalve 142:43026242815a 2540 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2541 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2542 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2543 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2544 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2545
Lightvalve 139:15621998925b 2546 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2547 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2548 } else {
Lightvalve 139:15621998925b 2549 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2550 }
Lightvalve 169:645207e160ca 2551
Lightvalve 138:a843f32ced33 2552 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2553 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2554 float V_input = 0.0f;
Lightvalve 139:15621998925b 2555 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 2556 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2557 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2558 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2559
Lightvalve 218:066030f7951f 2560 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2561 // 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 2562 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2563 //
Lightvalve 218:066030f7951f 2564 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2565 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2566
Lightvalve 218:066030f7951f 2567 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2568 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2569 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2570
Lightvalve 218:066030f7951f 2571 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2572 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2573
Lightvalve 169:645207e160ca 2574 break;
Lightvalve 138:a843f32ced33 2575 }
Lightvalve 171:bfc1fd2629d8 2576
Lightvalve 170:42c938a40313 2577 case MODE_RL: {
Lightvalve 170:42c938a40313 2578 //t.reset();
Lightvalve 170:42c938a40313 2579 //t.start();
Lightvalve 170:42c938a40313 2580
Lightvalve 170:42c938a40313 2581 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2582 // else LED = 0;
Lightvalve 170:42c938a40313 2583
Lightvalve 170:42c938a40313 2584 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2585 //Gather Data on each loop
Lightvalve 170:42c938a40313 2586 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2587 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2588 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2589 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2590 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2591 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2592 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2593 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2594 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2595 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2596 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2597 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2598 }
Lightvalve 173:68c7914679ec 2599 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2600 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2601 }
Lightvalve 173:68c7914679ec 2602 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2603 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2604 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2605 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2606 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2607
Lightvalve 179:d5377766d7ea 2608 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2609 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2610 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2611 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2612 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2613 }
Lightvalve 171:bfc1fd2629d8 2614
Lightvalve 170:42c938a40313 2615 RL_timer++;
Lightvalve 170:42c938a40313 2616
Lightvalve 170:42c938a40313 2617
Lightvalve 170:42c938a40313 2618 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2619 RL_timer = 0;
Lightvalve 170:42c938a40313 2620 batch++;
Lightvalve 170:42c938a40313 2621 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2622 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2623 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2624 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2625 }
Lightvalve 170:42c938a40313 2626 Update_Case = 1;
Lightvalve 170:42c938a40313 2627 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2628 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2629
Lightvalve 170:42c938a40313 2630 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2631 batch = 0;
Lightvalve 170:42c938a40313 2632 RL_timer = 0;
Lightvalve 170:42c938a40313 2633 Update_Case = 2;
Lightvalve 170:42c938a40313 2634 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2635 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2636 }
Lightvalve 170:42c938a40313 2637 }
Lightvalve 170:42c938a40313 2638 }
Lightvalve 170:42c938a40313 2639
Lightvalve 170:42c938a40313 2640 else {
Lightvalve 170:42c938a40313 2641 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2642 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2643 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2644 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2645 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2646 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2647 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2648 //logging1 = action;
Lightvalve 179:d5377766d7ea 2649 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2650 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2651 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2652 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2653 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2654 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2655 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2656 }
Lightvalve 170:42c938a40313 2657
Lightvalve 170:42c938a40313 2658 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2659 }
Lightvalve 170:42c938a40313 2660
Lightvalve 170:42c938a40313 2661 //t.stop();
Lightvalve 170:42c938a40313 2662 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2663
Lightvalve 170:42c938a40313 2664 break;
Lightvalve 170:42c938a40313 2665 }
Lightvalve 14:8e7590227d22 2666
Lightvalve 12:6f2531038ea4 2667 default:
Lightvalve 12:6f2531038ea4 2668 break;
Lightvalve 12:6f2531038ea4 2669 }
Lightvalve 14:8e7590227d22 2670
Lightvalve 57:f4819de54e7a 2671
Lightvalve 57:f4819de54e7a 2672 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2673
Lightvalve 57:f4819de54e7a 2674 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2675 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2676 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2677 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2678 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2679 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2680
Lightvalve 57:f4819de54e7a 2681 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2682 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2683
Lightvalve 57:f4819de54e7a 2684
Lightvalve 57:f4819de54e7a 2685 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2686 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2687 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2688 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2689 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2690 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2691
Lightvalve 57:f4819de54e7a 2692 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2693 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2694 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2695 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2696 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2697 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2698 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2699 }
Lightvalve 57:f4819de54e7a 2700
Lightvalve 57:f4819de54e7a 2701 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2702
Lightvalve 67:c2812cf26c38 2703 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2704 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2705 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2706 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2707 // 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 2708 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2709 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2710
Lightvalve 57:f4819de54e7a 2711 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2712 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2713 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2714 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2715 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2716 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2717 } else 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 }
Lightvalve 57:f4819de54e7a 2723 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2724 } else {
Lightvalve 57:f4819de54e7a 2725 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2726 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2727 }
Lightvalve 57:f4819de54e7a 2728
Lightvalve 57:f4819de54e7a 2729 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2730 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2731 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2732 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2733 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2734 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2735 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2736
Lightvalve 57:f4819de54e7a 2737 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2738
Lightvalve 57:f4819de54e7a 2739 } else {
Lightvalve 57:f4819de54e7a 2740 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2741 }
Lightvalve 57:f4819de54e7a 2742
Lightvalve 57:f4819de54e7a 2743 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2744 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2745 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2746
Lightvalve 57:f4819de54e7a 2747 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2748 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2749 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2750 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2751 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2752 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2753 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2754 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2755
Lightvalve 89:a7b45368ea0f 2756 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2757 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2758 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2759 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2760
Lightvalve 135:79885a39c161 2761 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2762 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2763 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2764 }
Lightvalve 169:645207e160ca 2765
Lightvalve 67:c2812cf26c38 2766 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2767 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2768 // else V_out = V_out;
Lightvalve 169:645207e160ca 2769
jobuuu 7:e9086c72bb22 2770 /*******************************************************
jobuuu 7:e9086c72bb22 2771 *** PWM
jobuuu 7:e9086c72bb22 2772 ********************************************************/
Lightvalve 169:645207e160ca 2773 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2774 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2775 }
Lightvalve 169:645207e160ca 2776
Lightvalve 49:e7bcfc244d40 2777 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2778 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2779 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2780 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2781 }
Lightvalve 49:e7bcfc244d40 2782 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2783
Lightvalve 19:23b7c1ad8683 2784 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2785 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2786 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2787
Lightvalve 30:8d561f16383b 2788 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2789 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2790 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2791 } else {
jobuuu 2:a1c0a37df760 2792 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2793 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2794 }
Lightvalve 13:747daba9cf59 2795
jobuuu 1:e04e563be5ce 2796 //pwm
Lightvalve 30:8d561f16383b 2797 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2798 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2799
Lightvalve 61:bc8c8270f0ab 2800
Lightvalve 233:0a37cdd59651 2801
Lightvalve 233:0a37cdd59651 2802 /*
Lightvalve 237:aa3863117889 2803 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 233:0a37cdd59651 2804
Lightvalve 54:647072f5307a 2805 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2806 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2807 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2808 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2809 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2810 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2811 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 2812 }
Lightvalve 57:f4819de54e7a 2813 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2814 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2815 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 2816 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2817 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 2818 }
Lightvalve 52:8ea76864368a 2819 }
Lightvalve 52:8ea76864368a 2820 }
Lightvalve 233:0a37cdd59651 2821
Lightvalve 56:6f50d9d3bfee 2822 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2823 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2824 }
Lightvalve 58:2eade98630e2 2825
Lightvalve 58:2eade98630e2 2826
Lightvalve 171:bfc1fd2629d8 2827 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2828 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2829 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2830 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2831 } else {
Lightvalve 131:d08121ac87ba 2832 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2833 }
Lightvalve 169:645207e160ca 2834 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2835 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2836 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2837 } else {
Lightvalve 169:645207e160ca 2838 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2839 }
Lightvalve 169:645207e160ca 2840
Lightvalve 169:645207e160ca 2841
Lightvalve 169:645207e160ca 2842 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2843 }
Lightvalve 58:2eade98630e2 2844
Lightvalve 57:f4819de54e7a 2845 //If it doesn't rest, below can can not work.
Lightvalve 233:0a37cdd59651 2846 for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2847 ;
Lightvalve 57:f4819de54e7a 2848 }
Lightvalve 58:2eade98630e2 2849
Lightvalve 169:645207e160ca 2850 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2851 //PWM
Lightvalve 209:ebc69d6ee6f1 2852 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 209:ebc69d6ee6f1 2853 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2854 }
Lightvalve 179:d5377766d7ea 2855
Lightvalve 56:6f50d9d3bfee 2856 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2857 //valve position
Lightvalve 212:ec41f1449ef9 2858 //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 2859 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 54:647072f5307a 2860 }
Lightvalve 237:aa3863117889 2861
Lightvalve 233:0a37cdd59651 2862
Lightvalve 20:806196fda269 2863
Lightvalve 54:647072f5307a 2864 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 237:aa3863117889 2865 if (flag_data_request[1] == HIGH) {
Lightvalve 237:aa3863117889 2866 CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 237:aa3863117889 2867 }
Lightvalve 237:aa3863117889 2868 if (flag_delay_test == 1){
Lightvalve 237:aa3863117889 2869 CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 237:aa3863117889 2870 }
Lightvalve 52:8ea76864368a 2871
Lightvalve 54:647072f5307a 2872 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2873 }
Lightvalve 54:647072f5307a 2874 TMR2_COUNT_CAN_TX++;
Lightvalve 237:aa3863117889 2875
Lightvalve 237:aa3863117889 2876 */
Lightvalve 237:aa3863117889 2877
Lightvalve 20:806196fda269 2878 }
Lightvalve 52:8ea76864368a 2879 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2880
Lightvalve 58:2eade98630e2 2881 }