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main.cpp@180:02be1711ee0b, 2020-12-15 (annotated)
- Committer:
- Lightvalve
- Date:
- Tue Dec 15 00:19:25 2020 +0000
- Revision:
- 180:02be1711ee0b
- Parent:
- 179:d5377766d7ea
- Child:
- 181:2a8b5f3274be
201215-1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 180:02be1711ee0b | 1 | //201215-1 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 11 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 12 | #include <string> |
Lightvalve | 170:42c938a40313 | 13 | #include <iostream> |
Lightvalve | 179:d5377766d7ea | 14 | #include <cmath> |
Lightvalve | 61:bc8c8270f0ab | 15 | |
Lightvalve | 61:bc8c8270f0ab | 16 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 17 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 18 | |
Lightvalve | 31:66738bfecec5 | 19 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 20 | |
jobuuu | 7:e9086c72bb22 | 21 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 22 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 23 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 24 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 25 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 26 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 27 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 28 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 29 | |
Lightvalve | 24:ef6e1092e9e6 | 30 | |
jobuuu | 7:e9086c72bb22 | 31 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 32 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 34 | |
jobuuu | 7:e9086c72bb22 | 35 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 36 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 37 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 38 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 39 | |
jobuuu | 7:e9086c72bb22 | 40 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 41 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 42 | DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 43 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 44 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 45 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 46 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 50 | |
jobuuu | 7:e9086c72bb22 | 51 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 52 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 53 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 54 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 55 | { |
Lightvalve | 11:82d8768d7351 | 56 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 57 | } |
jobuuu | 2:a1c0a37df760 | 58 | |
jobuuu | 7:e9086c72bb22 | 59 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 60 | State pos; |
jobuuu | 7:e9086c72bb22 | 61 | State vel; |
jobuuu | 7:e9086c72bb22 | 62 | State Vout; |
jobuuu | 7:e9086c72bb22 | 63 | State torq; |
jobuuu | 7:e9086c72bb22 | 64 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 65 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 66 | State cur; |
Lightvalve | 14:8e7590227d22 | 67 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 68 | |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 70 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 71 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 72 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 73 | |
Lightvalve | 19:23b7c1ad8683 | 74 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 75 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 76 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 77 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 78 | |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 82 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 84 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 85 | |
Lightvalve | 61:bc8c8270f0ab | 86 | |
Lightvalve | 61:bc8c8270f0ab | 87 | |
Lightvalve | 61:bc8c8270f0ab | 88 | |
jobuuu | 7:e9086c72bb22 | 89 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 90 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 91 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 92 | |
Lightvalve | 12:6f2531038ea4 | 93 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 94 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 95 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 96 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 97 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 100 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 101 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 102 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 103 | }; |
Lightvalve | 12:6f2531038ea4 | 104 | |
Lightvalve | 12:6f2531038ea4 | 105 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 106 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 107 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 108 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 109 | //control mode |
Lightvalve | 12:6f2531038ea4 | 110 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 112 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 113 | |
Lightvalve | 47:fdcb8bd86fd6 | 114 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 115 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 171:bfc1fd2629d8 | 116 | MODE_RL, //5 |
Lightvalve | 13:747daba9cf59 | 117 | |
Lightvalve | 12:6f2531038ea4 | 118 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 121 | |
Lightvalve | 12:6f2531038ea4 | 122 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 123 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 124 | |
Lightvalve | 14:8e7590227d22 | 125 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 126 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 127 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 171:bfc1fd2629d8 | 128 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 |
Lightvalve | 13:747daba9cf59 | 129 | |
Lightvalve | 12:6f2531038ea4 | 130 | //utility |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 134 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 138 | |
Lightvalve | 12:6f2531038ea4 | 139 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 140 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 141 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 142 | MODE_SYSTEM_ID, //33 |
Lightvalve | 169:645207e160ca | 143 | MODE_FREQ_TEST, //34 |
Lightvalve | 169:645207e160ca | 144 | MODE_SEND_BUFFER, //35 |
Lightvalve | 169:645207e160ca | 145 | MODE_SEND_OVER, //36 |
Lightvalve | 169:645207e160ca | 146 | MODE_STEP_TEST, //37 |
Lightvalve | 12:6f2531038ea4 | 147 | }; |
Lightvalve | 12:6f2531038ea4 | 148 | |
Lightvalve | 65:a2d7c63419c2 | 149 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 150 | { |
Lightvalve | 169:645207e160ca | 151 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 169:645207e160ca | 152 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 153 | |
Lightvalve | 169:645207e160ca | 154 | /** Configure the main internal regulator output voltage |
Lightvalve | 169:645207e160ca | 155 | */ |
Lightvalve | 169:645207e160ca | 156 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 169:645207e160ca | 157 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 169:645207e160ca | 158 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 159 | */ |
Lightvalve | 169:645207e160ca | 160 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 169:645207e160ca | 161 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 169:645207e160ca | 162 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 169:645207e160ca | 163 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 169:645207e160ca | 164 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 169:645207e160ca | 165 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 169:645207e160ca | 166 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 169:645207e160ca | 167 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 169:645207e160ca | 168 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 169:645207e160ca | 169 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 169:645207e160ca | 170 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 171 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 172 | } |
Lightvalve | 169:645207e160ca | 173 | /** Activate the Over-Drive mode |
Lightvalve | 169:645207e160ca | 174 | */ |
Lightvalve | 169:645207e160ca | 175 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 169:645207e160ca | 176 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 177 | } |
Lightvalve | 169:645207e160ca | 178 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 179 | */ |
Lightvalve | 169:645207e160ca | 180 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 169:645207e160ca | 181 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 169:645207e160ca | 182 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 169:645207e160ca | 183 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 169:645207e160ca | 184 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 169:645207e160ca | 185 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 169:645207e160ca | 187 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 188 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 189 | } |
Lightvalve | 65:a2d7c63419c2 | 190 | } |
Lightvalve | 65:a2d7c63419c2 | 191 | |
Lightvalve | 99:7bbcb3c0fb06 | 192 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 193 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 194 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 195 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 196 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 197 | |
Lightvalve | 73:f80dc3970c99 | 198 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 199 | |
Lightvalve | 169:645207e160ca | 200 | const float h1[num_input][16] = { |
Lightvalve | 180:02be1711ee0b | 201 | {-1.2747926712036133f,0.8866214156150818f,0.12903714179992676f,0.1954565942287445f,-1.0775936841964722f,1.0385150909423828f,-0.17472904920578003f,1.2043118476867676f,-1.0528837442398071f,0.16233131289482117f,-0.23384490609169006f,-0.9654906988143921f,-0.26406702399253845f,0.45232266187667847f,-0.2571594715118408f,-1.4159953594207764f}, |
Lightvalve | 180:02be1711ee0b | 202 | {-0.9898881912231445f,0.5978912115097046f,-0.3927857577800751f,-0.10504250973463058f,-0.7563983798027039f,0.5094512104988098f,-0.4054011106491089f,1.1116833686828613f,-0.4969346523284912f,0.41541942954063416f,-0.2706531882286072f,-0.5124550461769104f,0.23551900684833527f,-0.0996662825345993f,-0.20967772603034973f,-0.7428423166275024f}, |
Lightvalve | 180:02be1711ee0b | 203 | {-0.6586143970489502f,0.2526506185531616f,0.36391180753707886f,-0.44479653239250183f,-0.12272748351097107f,0.29624244570732117f,0.2872133255004883f,1.3258525133132935f,-0.23638273775577545f,0.4212562143802643f,-0.34454482793807983f,-0.2005833387374878f,-0.002771292580291629f,0.36579757928848267f,0.05590221285820007f,-0.5957719087600708f}, |
Lightvalve | 180:02be1711ee0b | 204 | {-0.17435620725154877f,-0.34709569811820984f,0.39742106199264526f,0.23025836050510406f,0.31759893894195557f,-0.48005908727645874f,-0.11584559082984924f,1.618665337562561f,0.2961588501930237f,0.5570516586303711f,0.09927701205015182f,0.5736197233200073f,-0.1649491935968399f,0.2608615458011627f,-0.2961459457874298f,0.12930260598659515f}, |
Lightvalve | 180:02be1711ee0b | 205 | {0.7618234157562256f,-0.5603615045547485f,-0.0051451027393341064f,0.19888998568058014f,0.7619378566741943f,-0.606192409992218f,0.1294034719467163f,1.2932729721069336f,0.6787902116775513f,0.37368881702423096f,0.3512172996997833f,0.7094911336898804f,-0.06857605278491974f,0.38823315501213074f,-0.3865056037902832f,0.2566696107387543f}, |
Lightvalve | 180:02be1711ee0b | 206 | {1.4753985404968262f,-1.5749534368515015f,0.21773302555084229f,0.24970105290412903f,1.438091516494751f,-1.3410722017288208f,0.16514194011688232f,1.0581666231155396f,1.1054584980010986f,0.38477128744125366f,-0.2443389892578125f,1.3622721433639526f,-0.26528480648994446f,0.5235674381256104f,-0.4132833778858185f,0.7429633736610413f}, |
Lightvalve | 180:02be1711ee0b | 207 | {-0.1381414830684662f,0.32296326756477356f,-0.2501986622810364f,-0.6822501420974731f,-0.6484224200248718f,0.3961770534515381f,0.06014183163642883f,-1.9562623500823975f,0.14606209099292755f,-0.30881643295288086f,0.15261518955230713f,-0.10579380393028259f,-0.17127792537212372f,-0.04263466224074364f,-0.15618428587913513f,-0.033108823001384735f}, |
Lightvalve | 180:02be1711ee0b | 208 | {0.10407276451587677f,-0.17438587546348572f,-0.26619744300842285f,-0.10469675064086914f,-0.40487462282180786f,-0.18597395718097687f,-0.17925891280174255f,-1.6444649696350098f,-0.010120101273059845f,-0.23186346888542175f,0.10695241391658783f,-0.2862721085548401f,0.37284889817237854f,-0.23048385977745056f,0.04303058981895447f,0.28026261925697327f}, |
Lightvalve | 180:02be1711ee0b | 209 | {0.30488404631614685f,0.349077045917511f,0.10248100757598877f,-0.5642396211624146f,-0.1891011893749237f,0.013860803097486496f,-0.07246989011764526f,-1.5340245962142944f,-0.27067628502845764f,0.018050722777843475f,-0.2956160306930542f,0.1977348029613495f,0.23040179908275604f,-0.1158660352230072f,-0.30555272102355957f,0.28618332743644714f}, |
Lightvalve | 180:02be1711ee0b | 210 | {0.10323967039585114f,-0.2507255971431732f,0.18462657928466797f,-0.2965702414512634f,0.1769070029258728f,0.11360282450914383f,-0.2990540862083435f,-1.0921586751937866f,0.046090397983789444f,-0.784417986869812f,-0.0066079325042665005f,-0.54339599609375f,0.3733484447002411f,-0.531656801700592f,0.3484981060028076f,0.09402719140052795f}, |
Lightvalve | 180:02be1711ee0b | 211 | {0.5437068939208984f,0.12157454341650009f,0.37182438373565674f,0.10810510069131851f,0.017796188592910767f,-0.06259164214134216f,-0.20339298248291016f,-0.9021218419075012f,-0.41913050413131714f,-0.2746804654598236f,0.35008612275123596f,-0.3781108260154724f,-0.06551998108625412f,-0.29703405499458313f,0.26688337326049805f,-0.31737634539604187f}, |
Lightvalve | 180:02be1711ee0b | 212 | {-0.24231690168380737f,-0.3807550072669983f,-0.40320003032684326f,-0.135234072804451f,0.13232052326202393f,-0.12746357917785645f,0.1533789038658142f,-0.46155455708503723f,-0.13511259853839874f,-0.08907300978899002f,-0.41252845525741577f,0.06504666805267334f,0.14570680260658264f,-0.2993526756763458f,0.10493969917297363f,-0.09489677101373672f}, |
Lightvalve | 180:02be1711ee0b | 213 | {0.0872870460152626f,-0.23291699588298798f,0.19847965240478516f,0.02823140099644661f,0.37074705958366394f,0.040752362459897995f,-0.2404318004846573f,-0.586179256439209f,-0.11466588079929352f,-0.4817463457584381f,-0.10735541582107544f,-0.3017888367176056f,0.09303940832614899f,-0.2488478273153305f,-0.22268100082874298f,-0.37364980578422546f}, |
Lightvalve | 180:02be1711ee0b | 214 | {-0.051991432905197144f,-0.12674333155155182f,0.4127817749977112f,-0.19834384322166443f,-0.20412969589233398f,-0.3441471755504608f,-0.32001304626464844f,-0.9517143368721008f,-0.07627648115158081f,-0.5058509111404419f,-0.1932433545589447f,-0.2879234254360199f,-0.31180211901664734f,-0.30530187487602234f,0.0479682981967926f,0.06262191385030746f}, |
Lightvalve | 180:02be1711ee0b | 215 | {0.10936000198125839f,0.09897122532129288f,0.20282304286956787f,-0.03914237394928932f,0.2795373797416687f,-0.11763463914394379f,0.04202890396118164f,-0.4100075960159302f,0.23455728590488434f,-0.19801537692546844f,-0.27762651443481445f,-0.6615355014801025f,0.10450632870197296f,-0.29707828164100647f,0.0668090283870697f,-0.0025110316928476095f}, |
Lightvalve | 180:02be1711ee0b | 216 | {-0.07633624225854874f,-0.29659169912338257f,-0.40439701080322266f,-0.18466457724571228f,-0.17516319453716278f,-0.013456307351589203f,-0.15568238496780396f,-0.6675025224685669f,0.1871490478515625f,-0.28267568349838257f,-0.4720761179924011f,-0.25658828020095825f,-0.2701036036014557f,-0.2391444593667984f,-0.08245879411697388f,0.0812353640794754f}, |
Lightvalve | 180:02be1711ee0b | 217 | {-0.1064588725566864f,-0.12016399204730988f,0.16706281900405884f,0.007519781589508057f,-0.017588406801223755f,-0.26146987080574036f,-0.041414469480514526f,-0.6730034947395325f,-0.06899238377809525f,-0.18613839149475098f,-0.3516925573348999f,0.1851750761270523f,0.11302956193685532f,0.11544660478830338f,0.29427415132522583f,-0.08377157896757126f}, |
Lightvalve | 65:a2d7c63419c2 | 218 | }; |
Lightvalve | 65:a2d7c63419c2 | 219 | |
Lightvalve | 169:645207e160ca | 220 | const float h2[16][16] = { |
Lightvalve | 180:02be1711ee0b | 221 | {-0.48791801929473877f,0.6882094144821167f,-0.06966331601142883f,0.004637989681214094f,-0.21907491981983185f,0.06930378824472427f,0.07693875581026077f,0.036887940019369125f,-0.43008196353912354f,-0.1415480375289917f,-0.5828585028648376f,-0.32945704460144043f,-0.008075037971138954f,-1.5241717100143433f,-0.2089289128780365f,-0.7718607783317566f}, |
Lightvalve | 180:02be1711ee0b | 222 | {0.04395662993192673f,-1.437508463859558f,0.057057321071624756f,-0.12063508480787277f,-0.35503754019737244f,-0.8848034143447876f,-0.41094034910202026f,-0.34160447120666504f,-0.33757925033569336f,0.2895788848400116f,-1.4832773208618164f,-0.636014461517334f,0.19798265397548676f,0.9338656067848206f,-0.30581197142601013f,-0.20769454538822174f}, |
Lightvalve | 179:d5377766d7ea | 223 | {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f}, |
Lightvalve | 180:02be1711ee0b | 224 | {0.07395064830780029f,-0.270321786403656f,-0.2894435524940491f,0.4473000168800354f,0.08946844935417175f,0.2554236948490143f,-0.23805393278598785f,0.35016298294067383f,0.26211628317832947f,0.2953031361103058f,0.2565111219882965f,0.38108423352241516f,-0.404754102230072f,-0.24778899550437927f,0.17891016602516174f,0.042497243732213974f}, |
Lightvalve | 180:02be1711ee0b | 225 | {-0.5532359480857849f,0.39376264810562134f,-0.25313520431518555f,0.1859339028596878f,0.036378175020217896f,0.017076050862669945f,-0.39785856008529663f,-0.1502944529056549f,-0.024399548768997192f,-0.39465832710266113f,-0.5060166716575623f,-0.6321212649345398f,-0.03745249658823013f,-0.5525979995727539f,-0.34934699535369873f,-0.5389713644981384f}, |
Lightvalve | 180:02be1711ee0b | 226 | {0.10334087163209915f,-0.846465528011322f,-0.3519742488861084f,0.1501602679491043f,-0.3015052080154419f,-0.7330282330513f,-0.4977985620498657f,-0.08387657254934311f,-0.23047015070915222f,0.3579089343547821f,-1.1615582704544067f,-0.32632172107696533f,-0.348274827003479f,0.9656168818473816f,0.16907939314842224f,-0.29072293639183044f}, |
Lightvalve | 179:d5377766d7ea | 227 | {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f}, |
Lightvalve | 180:02be1711ee0b | 228 | {0.1127469465136528f,0.23652486503124237f,0.33083590865135193f,-0.08112672716379166f,-0.14358049631118774f,-0.01184199471026659f,-0.24124479293823242f,-0.33522558212280273f,0.2600560486316681f,-0.37898191809654236f,0.9399498701095581f,-0.3190816640853882f,-0.31673234701156616f,-0.6848183870315552f,-0.09104667603969574f,-1.2106350660324097f}, |
Lightvalve | 180:02be1711ee0b | 229 | {-0.5105041861534119f,0.2105989009141922f,-0.11379697918891907f,-0.07779005914926529f,0.041274964809417725f,-0.7625871300697327f,-0.26743561029434204f,-0.05350113660097122f,0.06103590130805969f,-0.38046833872795105f,-0.3830336034297943f,-0.5462559461593628f,-0.5090579390525818f,-0.52454674243927f,-0.3531858026981354f,-0.3511944115161896f}, |
Lightvalve | 180:02be1711ee0b | 230 | {0.6011585593223572f,1.278187870979309f,-0.13502129912376404f,1.4583508968353271f,0.12987366318702698f,0.8150514364242554f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,1.0110341310501099f,0.3686404824256897f,0.3811538517475128f,-1.2410987615585327f,-0.6160189509391785f,-0.767787754535675f}, |
Lightvalve | 180:02be1711ee0b | 231 | {-0.28924494981765747f,0.015288889408111572f,0.0457797646522522f,-0.35267168283462524f,-0.03321319818496704f,-0.40105175971984863f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.1917455494403839f,0.3545852601528168f,-0.3647043704986572f,0.39774590730667114f,-0.41770800948143005f,-0.26388612389564514f}, |
Lightvalve | 180:02be1711ee0b | 232 | {0.10732869058847427f,0.20420478284358978f,0.3954955041408539f,0.14591671526432037f,0.0033026933670043945f,-0.09065821766853333f,-0.3228403925895691f,-0.1903812736272812f,0.3487861454486847f,-0.32520344853401184f,-0.0845566838979721f,-0.4106420576572418f,-0.05643285810947418f,-0.5659568309783936f,0.2659776210784912f,0.07771870493888855f}, |
Lightvalve | 180:02be1711ee0b | 233 | {-0.268172949552536f,-0.20979687571525574f,-0.15798500180244446f,0.3764939606189728f,-0.37393757700920105f,0.36793282628059387f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.10847131162881851f,-0.2837170362472534f,0.41839322447776794f,-0.01855253241956234f,-0.12935252487659454f,0.11022517085075378f}, |
Lightvalve | 180:02be1711ee0b | 234 | {0.1594800055027008f,1.2708461284637451f,-0.2018718123435974f,1.449450135231018f,0.07545611262321472f,0.7168979048728943f,-0.11297860741615295f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.9486110210418701f,-0.28593289852142334f,-0.16718891263008118f,-0.6753664016723633f,-0.7633404731750488f,-0.614047646522522f}, |
Lightvalve | 179:d5377766d7ea | 235 | {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, |
Lightvalve | 180:02be1711ee0b | 236 | {-0.7413668632507324f,0.1026708334684372f,0.12081471085548401f,-0.3019435703754425f,0.29976895451545715f,-0.2089935541152954f,-0.19728951156139374f,0.24360427260398865f,-0.3893685042858124f,-0.02222958207130432f,-0.4988212287425995f,-0.3810131847858429f,-0.34082454442977905f,-0.5941631197929382f,0.2266225963830948f,0.0005180099396966398f}, |
Lightvalve | 65:a2d7c63419c2 | 237 | }; |
Lightvalve | 65:a2d7c63419c2 | 238 | |
Lightvalve | 169:645207e160ca | 239 | const float h3[16][16] = { |
Lightvalve | 180:02be1711ee0b | 240 | {-0.36079341173171997f,0.1464584767818451f,-0.317361980676651f,-0.3760572671890259f,-0.34049099683761597f,0.17843884229660034f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,0.6647762060165405f,0.4001283347606659f,-0.22401779890060425f,0.4277285635471344f,-0.05822409689426422f,0.14648514986038208f}, |
Lightvalve | 180:02be1711ee0b | 241 | {0.047732532024383545f,0.14185985922813416f,-0.2746029794216156f,-0.4051361083984375f,-0.6855432391166687f,0.8004894852638245f,-0.3198729455471039f,0.06247803568840027f,2.051791191101074f,-0.6851478815078735f,1.94772207736969f,-0.3805152475833893f,-0.071693055331707f,1.0943926572799683f,-0.2973291873931885f,-0.2905019223690033f}, |
Lightvalve | 179:d5377766d7ea | 242 | {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f}, |
Lightvalve | 180:02be1711ee0b | 243 | {-0.30922991037368774f,-0.027659641578793526f,0.1773041933774948f,-0.3788892924785614f,-0.39630311727523804f,0.24171951413154602f,0.20021501183509827f,0.07002416253089905f,-0.2705947756767273f,-0.4869213402271271f,0.55600905418396f,0.41021624207496643f,-0.18743380904197693f,0.22692470252513885f,0.18151329457759857f,-0.02565847523510456f}, |
Lightvalve | 179:d5377766d7ea | 244 | {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f}, |
Lightvalve | 180:02be1711ee0b | 245 | {-0.37449589371681213f,0.040260959416627884f,0.06951090693473816f,0.17877109348773956f,0.4688447415828705f,-0.0568152479827404f,-0.18732719123363495f,0.22384825348854065f,-0.42837828397750854f,-0.16185910999774933f,0.15216808021068573f,0.19005391001701355f,0.07660079002380371f,0.06416161358356476f,0.40849316120147705f,-0.3371749818325043f}, |
Lightvalve | 180:02be1711ee0b | 246 | {0.4110594093799591f,0.2715781033039093f,-0.3257431089878082f,0.2142973244190216f,0.11818503588438034f,-0.05779394507408142f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21155259013175964f,0.12332143634557724f,0.3126353323459625f,-0.3391006588935852f}, |
Lightvalve | 180:02be1711ee0b | 247 | {-0.40892091393470764f,0.0616367906332016f,-0.4007679224014282f,0.25968697667121887f,0.328382283449173f,-0.03144282102584839f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.1259572058916092f,-0.0003446042537689209f,-0.287761926651001f,-0.3555845618247986f,0.09450873732566833f,0.005298197269439697f}, |
Lightvalve | 179:d5377766d7ea | 248 | {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f}, |
Lightvalve | 179:d5377766d7ea | 249 | {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, |
Lightvalve | 180:02be1711ee0b | 250 | {0.15459725260734558f,0.28715085983276367f,-0.1975911408662796f,-0.10847480595111847f,-0.338723361492157f,0.37625446915626526f,-0.08742031455039978f,0.05785742402076721f,0.5200075507164001f,-0.4833226799964905f,0.5273776054382324f,-0.30447322130203247f,-0.10086123645305634f,0.042644109576940536f,0.4391385018825531f,0.3226448595523834f}, |
Lightvalve | 180:02be1711ee0b | 251 | {-0.408692330121994f,-0.15486499667167664f,0.3066166341304779f,0.0922636091709137f,0.1873702108860016f,-0.4056578278541565f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4213770925998688f,-0.472481369972229f,-0.3355949819087982f,0.31626954674720764f}, |
Lightvalve | 180:02be1711ee0b | 252 | {-0.2991822361946106f,0.3794580399990082f,0.06649655848741531f,-0.11694668978452682f,0.2296813577413559f,0.09872535616159439f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.1595783829689026f,-0.28000524640083313f,0.36124154925346375f,-0.16869547963142395f}, |
Lightvalve | 180:02be1711ee0b | 253 | {-0.2675279378890991f,-0.1804099678993225f,0.5291721224784851f,-0.09164145588874817f,0.8961657881736755f,-0.9392423629760742f,-0.32875844836235046f,-0.31893211603164673f,-2.9557993412017822f,-0.6771930456161499f,-0.8014379739761353f,-0.6284971237182617f,0.332326203584671f,-1.0134690999984741f,0.3772561252117157f,0.20396418869495392f}, |
Lightvalve | 180:02be1711ee0b | 254 | {-0.015470266342163086f,-0.4175601005554199f,0.4652104079723358f,0.344943642616272f,0.1992327719926834f,-0.4663916528224945f,0.05196094512939453f,-0.008358269929885864f,-0.4575410783290863f,-0.5083949565887451f,-0.2538931965827942f,-0.11511552333831787f,0.3527691960334778f,-0.12093909084796906f,0.01653306372463703f,-0.45850178599357605f}, |
Lightvalve | 180:02be1711ee0b | 255 | {0.1863725483417511f,0.08846206963062286f,-0.050088606774806976f,-0.46936851739883423f,0.5272957682609558f,0.07133814692497253f,0.04860696196556091f,0.17769548296928406f,-1.3204635381698608f,0.06790181249380112f,-0.14967891573905945f,0.19592127203941345f,0.4656137526035309f,0.1081087589263916f,-0.06106513738632202f,-0.11734148859977722f}, |
Lightvalve | 66:a8e6799dbce3 | 256 | }; |
Lightvalve | 65:a2d7c63419c2 | 257 | |
Lightvalve | 180:02be1711ee0b | 258 | const float hout[16] = { 0.45773375034332275f,0.3859798014163971f,-0.29981717467308044f,-0.03291182219982147f,-0.8433356881141663f,1.002862572669983f,0.0030125975608825684f,0.15066689252853394f,-2.8478612899780273f,-0.10332534462213516f,1.0703125f,-0.1749168038368225f,-0.3780519664287567f,1.3915053606033325f,0.34188297390937805f,-0.17065440118312836f }; |
Lightvalve | 180:02be1711ee0b | 259 | |
Lightvalve | 180:02be1711ee0b | 260 | const float b1[16] = { 1.1156562566757202f,1.2580926418304443f,-1.7145336866378784f,0.18262852728366852f,0.7823516130447388f,0.998382568359375f,-0.058932315558195114f,-1.9845973253250122f,0.21749649941921234f,-1.0451427698135376f,0.5739218592643738f,1.1615904569625854f,-0.3700066804885864f,-1.0825129747390747f,-1.087764859199524f,1.4952983856201172f }; |
Lightvalve | 180:02be1711ee0b | 261 | |
Lightvalve | 180:02be1711ee0b | 262 | const float b2[16] = { -0.3779629170894623f,-1.1113404035568237f,-1.4564176797866821f,-0.6393038630485535f,-0.6939148902893066f,-0.06903098523616791f,0.2865044176578522f,-0.3734967112541199f,-1.20063054561615f,-1.912178635597229f,-0.13764147460460663f,0.5186623334884644f,-0.21744106709957123f,2.212801933288574f,0.06957299262285233f,0.9868263602256775f }; |
Lightvalve | 180:02be1711ee0b | 263 | |
Lightvalve | 180:02be1711ee0b | 264 | const float b3[16] = { -1.963319182395935f,-0.5935878157615662f,-0.005241615232080221f,-0.24495701491832733f,0.04313206300139427f,0.9367193579673767f,-0.45353031158447266f,-0.6562485098838806f,-0.07319840788841248f,-0.035821571946144104f,-0.0942746177315712f,-0.0137743866071105f,-0.5863775610923767f,0.59046870470047f,-1.1678985357284546f,-0.3959362506866455f }; |
Lightvalve | 180:02be1711ee0b | 265 | |
Lightvalve | 180:02be1711ee0b | 266 | const float bout[1] = { -0.09139688313007355f }; |
Lightvalve | 65:a2d7c63419c2 | 267 | |
Lightvalve | 170:42c938a40313 | 268 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 269 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 270 | |
Lightvalve | 170:42c938a40313 | 271 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 272 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 273 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 274 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 275 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 276 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 277 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 278 | |
Lightvalve | 170:42c938a40313 | 279 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 280 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 281 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 282 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 283 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 284 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 285 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 286 | |
Lightvalve | 170:42c938a40313 | 287 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 288 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 289 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 290 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 291 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 292 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 293 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 294 | |
Lightvalve | 170:42c938a40313 | 295 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 296 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 297 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 298 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 299 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 300 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 301 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 302 | |
Lightvalve | 87:471334725012 | 303 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 304 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 305 | |
Lightvalve | 179:d5377766d7ea | 306 | /////////////////////////////////////////////RL tuning |
Lightvalve | 179:d5377766d7ea | 307 | float Gradient_Limit = 0.5f; |
Lightvalve | 179:d5377766d7ea | 308 | float gradient_rate_actor = 0.001f; |
Lightvalve | 179:d5377766d7ea | 309 | float gradient_rate_critic = 0.001f; |
Lightvalve | 179:d5377766d7ea | 310 | ////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 311 | |
Lightvalve | 170:42c938a40313 | 312 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 313 | { |
Lightvalve | 173:68c7914679ec | 314 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 315 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 316 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 317 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 318 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 319 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 320 | } |
Lightvalve | 173:68c7914679ec | 321 | //ReLU |
Lightvalve | 173:68c7914679ec | 322 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 323 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 324 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 325 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 326 | } |
Lightvalve | 173:68c7914679ec | 327 | //tanh |
Lightvalve | 173:68c7914679ec | 328 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 329 | } |
Lightvalve | 173:68c7914679ec | 330 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 331 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 332 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 333 | } |
Lightvalve | 173:68c7914679ec | 334 | //ReLU |
Lightvalve | 173:68c7914679ec | 335 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 336 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 337 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 338 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 339 | } |
Lightvalve | 173:68c7914679ec | 340 | //tanh |
Lightvalve | 173:68c7914679ec | 341 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 342 | } |
Lightvalve | 170:42c938a40313 | 343 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 344 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 345 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 346 | } |
Lightvalve | 173:68c7914679ec | 347 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 348 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 349 | } |
Lightvalve | 170:42c938a40313 | 350 | return output; |
Lightvalve | 170:42c938a40313 | 351 | } |
Lightvalve | 170:42c938a40313 | 352 | |
Lightvalve | 170:42c938a40313 | 353 | |
Lightvalve | 170:42c938a40313 | 354 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 355 | { |
Lightvalve | 173:68c7914679ec | 356 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 357 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 358 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 359 | |
Lightvalve | 173:68c7914679ec | 360 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 361 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 178:1074553d2f6f | 362 | output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 363 | } |
Lightvalve | 178:1074553d2f6f | 364 | output1[index2] = output1[index2] + ba1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 365 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 366 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 367 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 368 | } |
Lightvalve | 173:68c7914679ec | 369 | } |
Lightvalve | 173:68c7914679ec | 370 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 371 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 178:1074553d2f6f | 372 | output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 373 | } |
Lightvalve | 178:1074553d2f6f | 374 | output2[index2] = output2[index2] + ba2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 375 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 376 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 377 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 378 | } |
Lightvalve | 173:68c7914679ec | 379 | } |
Lightvalve | 173:68c7914679ec | 380 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 381 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 178:1074553d2f6f | 382 | output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 383 | } |
Lightvalve | 178:1074553d2f6f | 384 | hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 385 | } |
Lightvalve | 178:1074553d2f6f | 386 | |
Lightvalve | 178:1074553d2f6f | 387 | mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus |
Lightvalve | 178:1074553d2f6f | 388 | deviation_before_SP = output[1] + ba3_temp[1]; |
Lightvalve | 173:68c7914679ec | 389 | //Softplus |
Lightvalve | 173:68c7914679ec | 390 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 391 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 179:d5377766d7ea | 392 | logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 393 | logging4 = deviation; |
Lightvalve | 173:68c7914679ec | 394 | } |
Lightvalve | 173:68c7914679ec | 395 | |
Lightvalve | 173:68c7914679ec | 396 | |
Lightvalve | 173:68c7914679ec | 397 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 398 | { |
Lightvalve | 173:68c7914679ec | 399 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 400 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 401 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 402 | |
Lightvalve | 173:68c7914679ec | 403 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 404 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 405 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 406 | } |
Lightvalve | 170:42c938a40313 | 407 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 408 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 409 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 410 | } |
Lightvalve | 170:42c938a40313 | 411 | } |
Lightvalve | 173:68c7914679ec | 412 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 413 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 414 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 415 | } |
Lightvalve | 173:68c7914679ec | 416 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 417 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 418 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 419 | } |
Lightvalve | 170:42c938a40313 | 420 | } |
Lightvalve | 170:42c938a40313 | 421 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 422 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 423 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 424 | } |
Lightvalve | 170:42c938a40313 | 425 | } |
Lightvalve | 173:68c7914679ec | 426 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 427 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 428 | //Softplus |
Lightvalve | 173:68c7914679ec | 429 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 430 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 431 | } |
Lightvalve | 170:42c938a40313 | 432 | |
Lightvalve | 170:42c938a40313 | 433 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 434 | { |
Lightvalve | 170:42c938a40313 | 435 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 436 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 437 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 438 | } |
Lightvalve | 170:42c938a40313 | 439 | |
Lightvalve | 170:42c938a40313 | 440 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 441 | { |
Lightvalve | 170:42c938a40313 | 442 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 443 | 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 | 444 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 445 | } |
Lightvalve | 170:42c938a40313 | 446 | |
Lightvalve | 173:68c7914679ec | 447 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 448 | { |
Lightvalve | 173:68c7914679ec | 449 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 450 | return x; |
Lightvalve | 173:68c7914679ec | 451 | } else { |
Lightvalve | 173:68c7914679ec | 452 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 453 | } |
Lightvalve | 173:68c7914679ec | 454 | } |
Lightvalve | 173:68c7914679ec | 455 | |
Lightvalve | 170:42c938a40313 | 456 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 457 | { |
Lightvalve | 173:68c7914679ec | 458 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 177:8e9cf31d63f4 | 459 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 460 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 461 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 462 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 463 | float d_V_d_hc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 464 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 465 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 466 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 467 | d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 468 | } |
Lightvalve | 173:68c7914679ec | 469 | } |
Lightvalve | 170:42c938a40313 | 470 | } |
Lightvalve | 177:8e9cf31d63f4 | 471 | G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); |
Lightvalve | 170:42c938a40313 | 472 | } |
Lightvalve | 170:42c938a40313 | 473 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 474 | if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 475 | else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 476 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 477 | } |
Lightvalve | 173:68c7914679ec | 478 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 479 | float d_V_d_bc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 480 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 481 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 482 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 483 | d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 484 | } |
Lightvalve | 173:68c7914679ec | 485 | } |
Lightvalve | 173:68c7914679ec | 486 | } |
Lightvalve | 177:8e9cf31d63f4 | 487 | G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); |
Lightvalve | 173:68c7914679ec | 488 | } |
Lightvalve | 173:68c7914679ec | 489 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 490 | if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 491 | else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 492 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 493 | } |
Lightvalve | 173:68c7914679ec | 494 | |
Lightvalve | 175:2f7289dbd488 | 495 | |
Lightvalve | 173:68c7914679ec | 496 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 497 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 498 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 499 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 500 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 501 | float d_V_d_hc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 502 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 503 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 504 | d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 505 | } |
Lightvalve | 173:68c7914679ec | 506 | } |
Lightvalve | 177:8e9cf31d63f4 | 507 | G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); |
Lightvalve | 173:68c7914679ec | 508 | } |
Lightvalve | 173:68c7914679ec | 509 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 510 | if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 511 | else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 512 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 513 | } |
Lightvalve | 173:68c7914679ec | 514 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 515 | float d_V_d_bc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 516 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 517 | d_V_d_bc2 = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 518 | } |
Lightvalve | 177:8e9cf31d63f4 | 519 | G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); |
Lightvalve | 173:68c7914679ec | 520 | } |
Lightvalve | 173:68c7914679ec | 521 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 522 | if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 523 | else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 524 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 525 | } |
Lightvalve | 173:68c7914679ec | 526 | |
Lightvalve | 173:68c7914679ec | 527 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 528 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 529 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 530 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 531 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 532 | float d_V_d_hc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 533 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 534 | d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 535 | } |
Lightvalve | 177:8e9cf31d63f4 | 536 | G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); |
Lightvalve | 173:68c7914679ec | 537 | } |
Lightvalve | 173:68c7914679ec | 538 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 179:d5377766d7ea | 539 | if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 540 | else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 541 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 542 | } |
Lightvalve | 173:68c7914679ec | 543 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 544 | float d_V_d_bc3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 545 | d_V_d_bc3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 546 | G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); |
Lightvalve | 173:68c7914679ec | 547 | } |
Lightvalve | 173:68c7914679ec | 548 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 179:d5377766d7ea | 549 | if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 550 | else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 551 | //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 173:68c7914679ec | 552 | } |
Lightvalve | 173:68c7914679ec | 553 | |
Lightvalve | 173:68c7914679ec | 554 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 555 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 556 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 557 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 558 | } |
Lightvalve | 179:d5377766d7ea | 559 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 560 | } |
Lightvalve | 173:68c7914679ec | 561 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 562 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 563 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 564 | } |
Lightvalve | 179:d5377766d7ea | 565 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 566 | } |
Lightvalve | 170:42c938a40313 | 567 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 568 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 569 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 570 | } |
Lightvalve | 179:d5377766d7ea | 571 | bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 170:42c938a40313 | 572 | } |
Lightvalve | 170:42c938a40313 | 573 | } |
Lightvalve | 170:42c938a40313 | 574 | |
Lightvalve | 173:68c7914679ec | 575 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 576 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 577 | { |
Lightvalve | 179:d5377766d7ea | 578 | |
Lightvalve | 173:68c7914679ec | 579 | |
Lightvalve | 173:68c7914679ec | 580 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 581 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 582 | |
Lightvalve | 173:68c7914679ec | 583 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 584 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 585 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 586 | float d_x_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 587 | float d_y_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 588 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 589 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 590 | } else { |
Lightvalve | 173:68c7914679ec | 591 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 592 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 593 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 594 | d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 595 | d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 596 | } |
Lightvalve | 171:bfc1fd2629d8 | 597 | } |
Lightvalve | 170:42c938a40313 | 598 | } |
Lightvalve | 170:42c938a40313 | 599 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 600 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 601 | 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 | 602 | 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 | 603 | |
Lightvalve | 173:68c7914679ec | 604 | 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 | 605 | } |
Lightvalve | 170:42c938a40313 | 606 | } |
Lightvalve | 176:589ea3edcf3c | 607 | G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 608 | if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 609 | else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 610 | //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 611 | } |
Lightvalve | 173:68c7914679ec | 612 | |
Lightvalve | 173:68c7914679ec | 613 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 614 | float d_x_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 615 | float d_y_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 616 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 617 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 618 | } else { |
Lightvalve | 173:68c7914679ec | 619 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 620 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 621 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 622 | d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 623 | d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 624 | } |
Lightvalve | 171:bfc1fd2629d8 | 625 | } |
Lightvalve | 170:42c938a40313 | 626 | } |
Lightvalve | 170:42c938a40313 | 627 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 628 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 629 | 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 | 630 | 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 | 631 | |
Lightvalve | 173:68c7914679ec | 632 | 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 | 633 | } |
Lightvalve | 170:42c938a40313 | 634 | } |
Lightvalve | 176:589ea3edcf3c | 635 | G_ba1[index2] = -G_ba1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 636 | if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 637 | else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 638 | //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 639 | } |
Lightvalve | 170:42c938a40313 | 640 | |
Lightvalve | 173:68c7914679ec | 641 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 642 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 643 | |
Lightvalve | 173:68c7914679ec | 644 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 645 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 646 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 647 | float d_x_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 648 | float d_y_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 649 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 650 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 651 | } else { |
Lightvalve | 173:68c7914679ec | 652 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 653 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 654 | d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 655 | d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 656 | } |
Lightvalve | 170:42c938a40313 | 657 | } |
Lightvalve | 173:68c7914679ec | 658 | |
Lightvalve | 170:42c938a40313 | 659 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 660 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 661 | 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 | 662 | 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 | 663 | |
Lightvalve | 173:68c7914679ec | 664 | 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 | 665 | } |
Lightvalve | 170:42c938a40313 | 666 | } |
Lightvalve | 176:589ea3edcf3c | 667 | G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 668 | if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 669 | else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 670 | //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 671 | } |
Lightvalve | 173:68c7914679ec | 672 | |
Lightvalve | 173:68c7914679ec | 673 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 674 | float d_x_d_ba2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 675 | float d_y_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 676 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 677 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 678 | } else { |
Lightvalve | 170:42c938a40313 | 679 | |
Lightvalve | 173:68c7914679ec | 680 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 681 | d_x_d_ba2 = ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 682 | d_y_d_ba2 = ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 683 | } |
Lightvalve | 173:68c7914679ec | 684 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 685 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 686 | 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 | 687 | 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 | 688 | |
Lightvalve | 173:68c7914679ec | 689 | 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 | 690 | } |
Lightvalve | 170:42c938a40313 | 691 | } |
Lightvalve | 176:589ea3edcf3c | 692 | G_ba2[index2] = -G_ba2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 693 | if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 694 | else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 695 | //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 696 | } |
Lightvalve | 173:68c7914679ec | 697 | |
Lightvalve | 173:68c7914679ec | 698 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 699 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 700 | |
Lightvalve | 173:68c7914679ec | 701 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 702 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 703 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 704 | float d_x_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 705 | float d_y_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 706 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 707 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 708 | } else { |
Lightvalve | 173:68c7914679ec | 709 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 710 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 711 | d_x_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 177:8e9cf31d63f4 | 712 | d_y_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 713 | } |
Lightvalve | 173:68c7914679ec | 714 | } |
Lightvalve | 173:68c7914679ec | 715 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 716 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 717 | 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 | 718 | 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 | 719 | |
Lightvalve | 173:68c7914679ec | 720 | 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 | 721 | } |
Lightvalve | 173:68c7914679ec | 722 | } |
Lightvalve | 176:589ea3edcf3c | 723 | G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 724 | if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 725 | else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 726 | //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 727 | } |
Lightvalve | 173:68c7914679ec | 728 | |
Lightvalve | 173:68c7914679ec | 729 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 730 | float d_x_d_ba3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 731 | float d_y_d_ba3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 732 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 733 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 734 | } else { |
Lightvalve | 173:68c7914679ec | 735 | |
Lightvalve | 177:8e9cf31d63f4 | 736 | d_x_d_ba3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 737 | d_y_d_ba3 = 1.0f; |
Lightvalve | 173:68c7914679ec | 738 | |
Lightvalve | 173:68c7914679ec | 739 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 740 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 741 | 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 | 742 | 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 | 743 | |
Lightvalve | 173:68c7914679ec | 744 | 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 | 745 | } |
Lightvalve | 173:68c7914679ec | 746 | } |
Lightvalve | 176:589ea3edcf3c | 747 | G_ba3[index2] = -G_ba3[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 748 | if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 749 | else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 750 | //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 175:2f7289dbd488 | 751 | } |
Lightvalve | 177:8e9cf31d63f4 | 752 | |
Lightvalve | 175:2f7289dbd488 | 753 | // Simultaneous Update |
Lightvalve | 175:2f7289dbd488 | 754 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 175:2f7289dbd488 | 755 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 756 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 757 | } |
Lightvalve | 179:d5377766d7ea | 758 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 175:2f7289dbd488 | 759 | } |
Lightvalve | 175:2f7289dbd488 | 760 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 761 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 762 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 763 | } |
Lightvalve | 179:d5377766d7ea | 764 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 175:2f7289dbd488 | 765 | } |
Lightvalve | 175:2f7289dbd488 | 766 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 767 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 768 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 769 | } |
Lightvalve | 179:d5377766d7ea | 770 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 771 | } |
Lightvalve | 170:42c938a40313 | 772 | } |
Lightvalve | 170:42c938a40313 | 773 | |
Lightvalve | 170:42c938a40313 | 774 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 775 | { |
Lightvalve | 170:42c938a40313 | 776 | //Box muller method |
Lightvalve | 170:42c938a40313 | 777 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 778 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 779 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 780 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 781 | do { |
Lightvalve | 170:42c938a40313 | 782 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 783 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 784 | |
Lightvalve | 170:42c938a40313 | 785 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 786 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 787 | { |
Lightvalve | 170:42c938a40313 | 788 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 789 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 790 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 791 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 792 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 793 | return result; |
Lightvalve | 170:42c938a40313 | 794 | } |
Lightvalve | 170:42c938a40313 | 795 | } else { |
Lightvalve | 170:42c938a40313 | 796 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 797 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 798 | } |
Lightvalve | 170:42c938a40313 | 799 | } |
Lightvalve | 170:42c938a40313 | 800 | |
Lightvalve | 179:d5377766d7ea | 801 | float mean_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 802 | { |
Lightvalve | 179:d5377766d7ea | 803 | float add = 0.0f; |
Lightvalve | 179:d5377766d7ea | 804 | float result; |
Lightvalve | 179:d5377766d7ea | 805 | |
Lightvalve | 179:d5377766d7ea | 806 | for (int i=0; i<size; i++) |
Lightvalve | 179:d5377766d7ea | 807 | { |
Lightvalve | 179:d5377766d7ea | 808 | add += x[i]; |
Lightvalve | 179:d5377766d7ea | 809 | } |
Lightvalve | 179:d5377766d7ea | 810 | result = (float) add/size; |
Lightvalve | 179:d5377766d7ea | 811 | return result; |
Lightvalve | 179:d5377766d7ea | 812 | } |
Lightvalve | 179:d5377766d7ea | 813 | float deviation_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 814 | { |
Lightvalve | 179:d5377766d7ea | 815 | float sigma = 0.0f; |
Lightvalve | 179:d5377766d7ea | 816 | float resultDeb = 0.0f; |
Lightvalve | 179:d5377766d7ea | 817 | |
Lightvalve | 179:d5377766d7ea | 818 | for (int k=0; k<size; k++) |
Lightvalve | 179:d5377766d7ea | 819 | { |
Lightvalve | 179:d5377766d7ea | 820 | sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1); |
Lightvalve | 179:d5377766d7ea | 821 | resultDeb += sqrt(sigma); |
Lightvalve | 179:d5377766d7ea | 822 | } |
Lightvalve | 179:d5377766d7ea | 823 | return resultDeb; |
Lightvalve | 179:d5377766d7ea | 824 | } |
Lightvalve | 179:d5377766d7ea | 825 | |
Lightvalve | 173:68c7914679ec | 826 | |
Lightvalve | 170:42c938a40313 | 827 | void Overwirte_Critic_Networks() |
Lightvalve | 170:42c938a40313 | 828 | { |
Lightvalve | 173:68c7914679ec | 829 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 830 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 831 | hc1[index1][index2] = hc1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 832 | } |
Lightvalve | 170:42c938a40313 | 833 | bc1[index2] = bc1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 834 | } |
Lightvalve | 173:68c7914679ec | 835 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 836 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 837 | hc2[index1][index2] = hc2_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 838 | } |
Lightvalve | 173:68c7914679ec | 839 | bc2[index2] = bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 840 | hc3[index2] = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 841 | } |
Lightvalve | 173:68c7914679ec | 842 | bc3 = bc3_temp; |
Lightvalve | 170:42c938a40313 | 843 | } |
Lightvalve | 170:42c938a40313 | 844 | void Overwirte_Actor_Networks() |
Lightvalve | 170:42c938a40313 | 845 | { |
Lightvalve | 173:68c7914679ec | 846 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 847 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 848 | ha1[index1][index2] = ha1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 849 | } |
Lightvalve | 170:42c938a40313 | 850 | ba1[index2] = ba1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 851 | } |
Lightvalve | 173:68c7914679ec | 852 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 853 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 170:42c938a40313 | 854 | ha2[index1][index2] = ha2_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 855 | } |
Lightvalve | 170:42c938a40313 | 856 | ba2[index2] = ba2_temp[index2]; |
Lightvalve | 170:42c938a40313 | 857 | } |
Lightvalve | 173:68c7914679ec | 858 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 859 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 860 | ha3[index1][index2] = ha3_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 861 | } |
Lightvalve | 173:68c7914679ec | 862 | ba3[index2] = ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 863 | } |
Lightvalve | 170:42c938a40313 | 864 | } |
Lightvalve | 170:42c938a40313 | 865 | |
Lightvalve | 170:42c938a40313 | 866 | |
GiJeongKim | 0:51c43836c1d7 | 867 | int main() |
GiJeongKim | 0:51c43836c1d7 | 868 | { |
Lightvalve | 66:a8e6799dbce3 | 869 | |
Lightvalve | 65:a2d7c63419c2 | 870 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 871 | SystemClock_Config(); |
Lightvalve | 169:645207e160ca | 872 | |
jobuuu | 6:df07d3491e3a | 873 | /********************************* |
jobuuu | 1:e04e563be5ce | 874 | *** Initialization |
jobuuu | 6:df07d3491e3a | 875 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 876 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 877 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 878 | |
GiJeongKim | 0:51c43836c1d7 | 879 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 880 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 881 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 882 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 883 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 884 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 885 | |
GiJeongKim | 0:51c43836c1d7 | 886 | // // spi init |
Lightvalve | 170:42c938a40313 | 887 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 888 | eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 889 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 890 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 891 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 892 | |
Lightvalve | 16:903b5a4433b4 | 893 | //rom |
Lightvalve | 19:23b7c1ad8683 | 894 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 895 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 896 | |
GiJeongKim | 0:51c43836c1d7 | 897 | // ADC init |
jobuuu | 5:a4319f79457b | 898 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 899 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 900 | |
GiJeongKim | 0:51c43836c1d7 | 901 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 902 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 903 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 904 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 905 | |
Lightvalve | 11:82d8768d7351 | 906 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 907 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 908 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 909 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 910 | |
Lightvalve | 50:3c630b5eba9f | 911 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 912 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 913 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 914 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 915 | |
GiJeongKim | 0:51c43836c1d7 | 916 | // CAN |
jobuuu | 2:a1c0a37df760 | 917 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 918 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 919 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 920 | |
Lightvalve | 23:59218d4a256d | 921 | //Timer priority |
Lightvalve | 23:59218d4a256d | 922 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 923 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 924 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 925 | |
Lightvalve | 23:59218d4a256d | 926 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 927 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 928 | |
GiJeongKim | 0:51c43836c1d7 | 929 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 930 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 931 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 932 | |
Lightvalve | 11:82d8768d7351 | 933 | //DAC init |
Lightvalve | 58:2eade98630e2 | 934 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 935 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 936 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 937 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 938 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 939 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 940 | } |
Lightvalve | 11:82d8768d7351 | 941 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 942 | |
Lightvalve | 19:23b7c1ad8683 | 943 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 944 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 945 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 946 | else |
Lightvalve | 38:118df027d851 | 947 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 948 | } |
Lightvalve | 169:645207e160ca | 949 | |
Lightvalve | 173:68c7914679ec | 950 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 951 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 952 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; |
Lightvalve | 170:42c938a40313 | 953 | } |
Lightvalve | 179:d5377766d7ea | 954 | bc1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 955 | } |
Lightvalve | 173:68c7914679ec | 956 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 957 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 958 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 959 | } |
Lightvalve | 179:d5377766d7ea | 960 | bc2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 179:d5377766d7ea | 961 | hc3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 962 | } |
Lightvalve | 179:d5377766d7ea | 963 | bc3_temp = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 964 | |
Lightvalve | 173:68c7914679ec | 965 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 966 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 967 | ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 968 | } |
Lightvalve | 179:d5377766d7ea | 969 | ba1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 970 | } |
Lightvalve | 173:68c7914679ec | 971 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 972 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 973 | ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 974 | } |
Lightvalve | 179:d5377766d7ea | 975 | ba2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 976 | } |
Lightvalve | 170:42c938a40313 | 977 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 978 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 979 | ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 980 | } |
Lightvalve | 179:d5377766d7ea | 981 | ba3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 982 | } |
Lightvalve | 171:bfc1fd2629d8 | 983 | |
Lightvalve | 170:42c938a40313 | 984 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 985 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 986 | |
jobuuu | 6:df07d3491e3a | 987 | /************************************ |
jobuuu | 1:e04e563be5ce | 988 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 989 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 990 | while(1) { |
Lightvalve | 169:645207e160ca | 991 | |
Lightvalve | 171:bfc1fd2629d8 | 992 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 993 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 994 | // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5); |
Lightvalve | 171:bfc1fd2629d8 | 995 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 996 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 997 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 998 | // } |
Lightvalve | 169:645207e160ca | 999 | |
Lightvalve | 171:bfc1fd2629d8 | 1000 | |
Lightvalve | 171:bfc1fd2629d8 | 1001 | //i2c |
Lightvalve | 180:02be1711ee0b | 1002 | read_field(i2c_slave_addr1); |
Lightvalve | 180:02be1711ee0b | 1003 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 1004 | |
Lightvalve | 177:8e9cf31d63f4 | 1005 | //timer_while ++; |
Lightvalve | 169:645207e160ca | 1006 | |
Lightvalve | 170:42c938a40313 | 1007 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1008 | |
Lightvalve | 73:f80dc3970c99 | 1009 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1010 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1011 | } |
Lightvalve | 169:645207e160ca | 1012 | |
Lightvalve | 73:f80dc3970c99 | 1013 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1014 | |
Lightvalve | 162:9dd4f35e9de8 | 1015 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1016 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1017 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1018 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1019 | } |
Lightvalve | 162:9dd4f35e9de8 | 1020 | |
Lightvalve | 162:9dd4f35e9de8 | 1021 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1022 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1023 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1024 | } |
Lightvalve | 162:9dd4f35e9de8 | 1025 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1026 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1027 | |
Lightvalve | 162:9dd4f35e9de8 | 1028 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1029 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1030 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1031 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1032 | |
Lightvalve | 162:9dd4f35e9de8 | 1033 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1034 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1035 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1036 | } |
Lightvalve | 162:9dd4f35e9de8 | 1037 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1038 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1039 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 180:02be1711ee0b | 1040 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f; |
Lightvalve | 180:02be1711ee0b | 1041 | input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1042 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1043 | } |
Lightvalve | 169:645207e160ca | 1044 | |
Lightvalve | 112:8dcb1600cb90 | 1045 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1046 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1047 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1048 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1049 | |
Lightvalve | 112:8dcb1600cb90 | 1050 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1051 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1052 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1053 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1054 | } |
Lightvalve | 66:a8e6799dbce3 | 1055 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1056 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1057 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1058 | } |
Lightvalve | 66:a8e6799dbce3 | 1059 | } |
Lightvalve | 65:a2d7c63419c2 | 1060 | |
Lightvalve | 112:8dcb1600cb90 | 1061 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1062 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1063 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1064 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1065 | } |
Lightvalve | 66:a8e6799dbce3 | 1066 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1067 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1068 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1069 | } |
Lightvalve | 66:a8e6799dbce3 | 1070 | } |
Lightvalve | 65:a2d7c63419c2 | 1071 | |
Lightvalve | 112:8dcb1600cb90 | 1072 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1073 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1074 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1075 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1076 | } |
Lightvalve | 66:a8e6799dbce3 | 1077 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1078 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1079 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1080 | } |
Lightvalve | 65:a2d7c63419c2 | 1081 | } |
Lightvalve | 66:a8e6799dbce3 | 1082 | |
Lightvalve | 66:a8e6799dbce3 | 1083 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1084 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1085 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1086 | } |
Lightvalve | 66:a8e6799dbce3 | 1087 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1088 | |
Lightvalve | 66:a8e6799dbce3 | 1089 | } |
Lightvalve | 73:f80dc3970c99 | 1090 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1091 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1092 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1093 | |
Lightvalve | 66:a8e6799dbce3 | 1094 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1095 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1096 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1097 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1098 | } |
Lightvalve | 87:471334725012 | 1099 | |
Lightvalve | 169:645207e160ca | 1100 | |
Lightvalve | 69:3995ffeaa786 | 1101 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1102 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1103 | } else |
Lightvalve | 69:3995ffeaa786 | 1104 | LED = 1; |
Lightvalve | 169:645207e160ca | 1105 | |
Lightvalve | 65:a2d7c63419c2 | 1106 | } |
Lightvalve | 171:bfc1fd2629d8 | 1107 | |
Lightvalve | 171:bfc1fd2629d8 | 1108 | |
Lightvalve | 170:42c938a40313 | 1109 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1110 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1111 | case 0: { |
Lightvalve | 170:42c938a40313 | 1112 | break; |
Lightvalve | 170:42c938a40313 | 1113 | } |
Lightvalve | 170:42c938a40313 | 1114 | case 1: { |
Lightvalve | 170:42c938a40313 | 1115 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1116 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1117 | float loss_sum = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1118 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 170:42c938a40313 | 1119 | //Calculate Estimated V |
Lightvalve | 175:2f7289dbd488 | 1120 | //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; |
Lightvalve | 175:2f7289dbd488 | 1121 | float temp_array[2] = {state_array[n][0], state_array[n][1]}; |
Lightvalve | 175:2f7289dbd488 | 1122 | V[n] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1123 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 175:2f7289dbd488 | 1124 | hx_c_sum_array[n][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1125 | } |
Lightvalve | 173:68c7914679ec | 1126 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 175:2f7289dbd488 | 1127 | hxh_c_sum_array[n][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1128 | } |
Lightvalve | 175:2f7289dbd488 | 1129 | hxhh_c_sum_array[n] = hxhh_c_sum; |
Lightvalve | 177:8e9cf31d63f4 | 1130 | |
Lightvalve | 175:2f7289dbd488 | 1131 | 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 | 1132 | Actor_Network_Old(temp_array); |
Lightvalve | 175:2f7289dbd488 | 1133 | 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 | 1134 | r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); |
Lightvalve | 175:2f7289dbd488 | 1135 | if(n == batch_size-1) return_G[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1136 | else return_G[n] = gamma * return_G[n+1] + r[n]; |
Lightvalve | 175:2f7289dbd488 | 1137 | if(n == batch_size-1) td_target[n] = r[n]; |
Lightvalve | 175:2f7289dbd488 | 1138 | else td_target[n] = r[n] + gamma * V[n+1]; |
Lightvalve | 175:2f7289dbd488 | 1139 | delta[n] = td_target[n] - V[n]; |
Lightvalve | 175:2f7289dbd488 | 1140 | if(n == batch_size-1) advantage[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1141 | else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; |
Lightvalve | 179:d5377766d7ea | 1142 | // return_G[n] = advantage[n] + V[n]; |
Lightvalve | 175:2f7289dbd488 | 1143 | ratio[n] = pi[n]/pi_old[n]; |
Lightvalve | 179:d5377766d7ea | 1144 | } |
Lightvalve | 179:d5377766d7ea | 1145 | float mean_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1146 | float dev_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1147 | mean_advantage = mean_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1148 | dev_advantage = deviation_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1149 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 179:d5377766d7ea | 1150 | //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; |
Lightvalve | 175:2f7289dbd488 | 1151 | surr1[n] = ratio[n] * advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1152 | if (ratio[n] > 1.0f + epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1153 | surr2[n] = (1.0f + epsilon)*advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1154 | } else if( ratio[n] < 1.0f - epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1155 | surr2[n] = (1.0f - epsilon)*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1156 | } else { |
Lightvalve | 175:2f7289dbd488 | 1157 | surr2[n] = ratio[n]*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1158 | } |
Lightvalve | 175:2f7289dbd488 | 1159 | loss[n] = -min(surr1[n], surr2[n]); |
Lightvalve | 175:2f7289dbd488 | 1160 | loss_sum = loss_sum + loss[n]; |
Lightvalve | 170:42c938a40313 | 1161 | } |
Lightvalve | 170:42c938a40313 | 1162 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1163 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1164 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1165 | } |
Lightvalve | 170:42c938a40313 | 1166 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1167 | |
Lightvalve | 171:bfc1fd2629d8 | 1168 | |
Lightvalve | 170:42c938a40313 | 1169 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1170 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1171 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1172 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1173 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1174 | } |
Lightvalve | 170:42c938a40313 | 1175 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1176 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1177 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1178 | |
Lightvalve | 170:42c938a40313 | 1179 | break; |
Lightvalve | 170:42c938a40313 | 1180 | } |
Lightvalve | 170:42c938a40313 | 1181 | case 2: { |
Lightvalve | 170:42c938a40313 | 1182 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1183 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1184 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1185 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1186 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1187 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1188 | break; |
Lightvalve | 170:42c938a40313 | 1189 | } |
Lightvalve | 169:645207e160ca | 1190 | |
Lightvalve | 170:42c938a40313 | 1191 | } |
GiJeongKim | 0:51c43836c1d7 | 1192 | } |
jobuuu | 1:e04e563be5ce | 1193 | } |
jobuuu | 1:e04e563be5ce | 1194 | |
Lightvalve | 33:91b17819ec30 | 1195 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1196 | { |
Lightvalve | 14:8e7590227d22 | 1197 | |
Lightvalve | 13:747daba9cf59 | 1198 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1199 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1200 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1201 | 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 | 1202 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1203 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1204 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1205 | } else { |
Lightvalve | 57:f4819de54e7a | 1206 | 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 | 1207 | } |
Lightvalve | 14:8e7590227d22 | 1208 | } else { |
Lightvalve | 50:3c630b5eba9f | 1209 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1210 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1211 | } else { |
Lightvalve | 57:f4819de54e7a | 1212 | 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 | 1213 | } |
Lightvalve | 13:747daba9cf59 | 1214 | } |
Lightvalve | 13:747daba9cf59 | 1215 | break; |
Lightvalve | 13:747daba9cf59 | 1216 | } |
Lightvalve | 13:747daba9cf59 | 1217 | } |
Lightvalve | 14:8e7590227d22 | 1218 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1219 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1220 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1221 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1222 | } |
Lightvalve | 36:a46e63505ed8 | 1223 | |
Lightvalve | 57:f4819de54e7a | 1224 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1225 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1226 | |
Lightvalve | 13:747daba9cf59 | 1227 | } |
jobuuu | 6:df07d3491e3a | 1228 | |
jobuuu | 6:df07d3491e3a | 1229 | |
Lightvalve | 30:8d561f16383b | 1230 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1231 | { |
Lightvalve | 13:747daba9cf59 | 1232 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1233 | |
Lightvalve | 38:118df027d851 | 1234 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1235 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1236 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1237 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1238 | } |
Lightvalve | 38:118df027d851 | 1239 | |
Lightvalve | 89:a7b45368ea0f | 1240 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1241 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1242 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1243 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1244 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1245 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1246 | |
Lightvalve | 13:747daba9cf59 | 1247 | 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 | 1248 | |
Lightvalve | 18:b8adf1582ea3 | 1249 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1250 | 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 | 1251 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1252 | 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 | 1253 | } else { |
Lightvalve | 48:889798ff9329 | 1254 | 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 | 1255 | } |
Lightvalve | 13:747daba9cf59 | 1256 | break; |
Lightvalve | 13:747daba9cf59 | 1257 | } |
Lightvalve | 13:747daba9cf59 | 1258 | } |
Lightvalve | 59:f308b1656d9c | 1259 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1260 | } |
Lightvalve | 13:747daba9cf59 | 1261 | |
Lightvalve | 14:8e7590227d22 | 1262 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1263 | 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 | 1264 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1265 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1266 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1267 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1268 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1269 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1270 | 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 | 1271 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1272 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1273 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1274 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1275 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1276 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1277 | |
Lightvalve | 30:8d561f16383b | 1278 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1279 | { |
Lightvalve | 30:8d561f16383b | 1280 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1281 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1282 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1283 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1284 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1285 | } else { |
Lightvalve | 13:747daba9cf59 | 1286 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1287 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1288 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1289 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1290 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1291 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1292 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1293 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1294 | break; |
Lightvalve | 13:747daba9cf59 | 1295 | } |
Lightvalve | 13:747daba9cf59 | 1296 | } |
Lightvalve | 13:747daba9cf59 | 1297 | } |
Lightvalve | 14:8e7590227d22 | 1298 | |
Lightvalve | 13:747daba9cf59 | 1299 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1300 | } |
jobuuu | 6:df07d3491e3a | 1301 | |
Lightvalve | 57:f4819de54e7a | 1302 | |
Lightvalve | 57:f4819de54e7a | 1303 | |
Lightvalve | 57:f4819de54e7a | 1304 | |
Lightvalve | 57:f4819de54e7a | 1305 | |
jobuuu | 2:a1c0a37df760 | 1306 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1307 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1308 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1309 | |
Lightvalve | 51:b46bed7fec80 | 1310 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1311 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1312 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1313 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1314 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1315 | { |
Lightvalve | 19:23b7c1ad8683 | 1316 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1317 | |
Lightvalve | 21:e5f1a43ea6f9 | 1318 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1319 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1320 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1321 | |
Lightvalve | 57:f4819de54e7a | 1322 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1323 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1324 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1325 | } |
Lightvalve | 61:bc8c8270f0ab | 1326 | |
Lightvalve | 61:bc8c8270f0ab | 1327 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1328 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1329 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1330 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1331 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1332 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 1333 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1334 | |
Lightvalve | 67:c2812cf26c38 | 1335 | |
Lightvalve | 67:c2812cf26c38 | 1336 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1337 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1338 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1339 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1340 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1341 | |
Lightvalve | 17:1865016ca2e7 | 1342 | |
Lightvalve | 58:2eade98630e2 | 1343 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1344 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1345 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1346 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1347 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1348 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1349 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1350 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1351 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1352 | |
Lightvalve | 58:2eade98630e2 | 1353 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1354 | 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 | 1355 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1356 | 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 | 1357 | } |
Lightvalve | 58:2eade98630e2 | 1358 | } |
Lightvalve | 61:bc8c8270f0ab | 1359 | |
Lightvalve | 58:2eade98630e2 | 1360 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1361 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1362 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1363 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1364 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1365 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1366 | // 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 | 1367 | // |
Lightvalve | 58:2eade98630e2 | 1368 | // |
Lightvalve | 58:2eade98630e2 | 1369 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1370 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1371 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1372 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1373 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1374 | |
Lightvalve | 17:1865016ca2e7 | 1375 | |
Lightvalve | 21:e5f1a43ea6f9 | 1376 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1377 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1378 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1379 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1380 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1381 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1382 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1383 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1384 | |
Lightvalve | 57:f4819de54e7a | 1385 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1386 | } |
Lightvalve | 11:82d8768d7351 | 1387 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1388 | } |
Lightvalve | 19:23b7c1ad8683 | 1389 | |
Lightvalve | 19:23b7c1ad8683 | 1390 | |
Lightvalve | 18:b8adf1582ea3 | 1391 | int j =0; |
Lightvalve | 54:647072f5307a | 1392 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1393 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1394 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1395 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1396 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 1397 | |
Lightvalve | 11:82d8768d7351 | 1398 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1399 | { |
Lightvalve | 19:23b7c1ad8683 | 1400 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1401 | |
Lightvalve | 57:f4819de54e7a | 1402 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1403 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1404 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1405 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1406 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1407 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1408 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1409 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1410 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1411 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1412 | } |
Lightvalve | 50:3c630b5eba9f | 1413 | |
Lightvalve | 50:3c630b5eba9f | 1414 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1415 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1416 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1417 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1418 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1419 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1420 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1421 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1422 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1423 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1424 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1425 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1426 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1427 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1428 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1429 | } else { |
Lightvalve | 58:2eade98630e2 | 1430 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1431 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1432 | } |
Lightvalve | 45:35fa6884d0c6 | 1433 | |
Lightvalve | 50:3c630b5eba9f | 1434 | |
Lightvalve | 57:f4819de54e7a | 1435 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1436 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1437 | |
Lightvalve | 57:f4819de54e7a | 1438 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1439 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1440 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1441 | } else { |
Lightvalve | 57:f4819de54e7a | 1442 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1443 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1444 | } |
Lightvalve | 56:6f50d9d3bfee | 1445 | |
Lightvalve | 56:6f50d9d3bfee | 1446 | |
Lightvalve | 56:6f50d9d3bfee | 1447 | |
Lightvalve | 57:f4819de54e7a | 1448 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1449 | |
Lightvalve | 57:f4819de54e7a | 1450 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1451 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1452 | break; |
Lightvalve | 13:747daba9cf59 | 1453 | } |
Lightvalve | 14:8e7590227d22 | 1454 | |
Lightvalve | 14:8e7590227d22 | 1455 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1456 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1457 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1458 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1459 | |
Lightvalve | 14:8e7590227d22 | 1460 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1461 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1462 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1463 | |
Lightvalve | 84:c355d3e52bf1 | 1464 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1465 | |
Lightvalve | 30:8d561f16383b | 1466 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1467 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1468 | |
Lightvalve | 16:903b5a4433b4 | 1469 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1470 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1471 | } |
Lightvalve | 13:747daba9cf59 | 1472 | } else { |
Lightvalve | 58:2eade98630e2 | 1473 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1474 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1475 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1476 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1477 | |
Lightvalve | 170:42c938a40313 | 1478 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1479 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1480 | |
Lightvalve | 30:8d561f16383b | 1481 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1482 | |
Lightvalve | 13:747daba9cf59 | 1483 | } |
Lightvalve | 14:8e7590227d22 | 1484 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1485 | break; |
Lightvalve | 19:23b7c1ad8683 | 1486 | } |
Lightvalve | 14:8e7590227d22 | 1487 | |
Lightvalve | 50:3c630b5eba9f | 1488 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1489 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1490 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1491 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1492 | // } |
Lightvalve | 50:3c630b5eba9f | 1493 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1494 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1495 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1496 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1497 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1498 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1499 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1500 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1501 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1502 | // } |
Lightvalve | 50:3c630b5eba9f | 1503 | // |
Lightvalve | 50:3c630b5eba9f | 1504 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1505 | // 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 | 1506 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1507 | // |
Lightvalve | 50:3c630b5eba9f | 1508 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1509 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1510 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1511 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1512 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1513 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1514 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1515 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1516 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1517 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1518 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1519 | // |
Lightvalve | 50:3c630b5eba9f | 1520 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1521 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1522 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1523 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1524 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1525 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1526 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1527 | // |
Lightvalve | 50:3c630b5eba9f | 1528 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1529 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1530 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1531 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1532 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1533 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1534 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1535 | // } |
Lightvalve | 50:3c630b5eba9f | 1536 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1537 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1538 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1539 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1540 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1541 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1542 | // } |
Lightvalve | 50:3c630b5eba9f | 1543 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1544 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1545 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1546 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1547 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1548 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1549 | // } |
Lightvalve | 50:3c630b5eba9f | 1550 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1551 | // |
Lightvalve | 50:3c630b5eba9f | 1552 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1553 | // |
Lightvalve | 50:3c630b5eba9f | 1554 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1555 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1556 | // |
Lightvalve | 50:3c630b5eba9f | 1557 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1558 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1559 | // } |
Lightvalve | 50:3c630b5eba9f | 1560 | // } |
Lightvalve | 50:3c630b5eba9f | 1561 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1562 | // break; |
Lightvalve | 50:3c630b5eba9f | 1563 | // } |
Lightvalve | 14:8e7590227d22 | 1564 | |
Lightvalve | 14:8e7590227d22 | 1565 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1566 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1567 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1568 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1569 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1570 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1571 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1572 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1573 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1574 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1575 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1576 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1577 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1578 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1579 | } |
Lightvalve | 29:69f3f5445d6d | 1580 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1581 | |
Lightvalve | 29:69f3f5445d6d | 1582 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1583 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1584 | } else { |
Lightvalve | 29:69f3f5445d6d | 1585 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1586 | } |
Lightvalve | 19:23b7c1ad8683 | 1587 | |
Lightvalve | 57:f4819de54e7a | 1588 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1589 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1590 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1591 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1592 | |
Lightvalve | 59:f308b1656d9c | 1593 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1594 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1595 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1596 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1597 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1598 | |
Lightvalve | 59:f308b1656d9c | 1599 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1600 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1601 | |
Lightvalve | 34:bb2ca2fc2a8e | 1602 | |
Lightvalve | 29:69f3f5445d6d | 1603 | } else { |
Lightvalve | 29:69f3f5445d6d | 1604 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1605 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1606 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1607 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1608 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1609 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1610 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1611 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1612 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1613 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1614 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1615 | |
Lightvalve | 67:c2812cf26c38 | 1616 | |
Lightvalve | 67:c2812cf26c38 | 1617 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1618 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1619 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1620 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1621 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1622 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1623 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1624 | |
Lightvalve | 169:645207e160ca | 1625 | |
Lightvalve | 29:69f3f5445d6d | 1626 | } |
Lightvalve | 29:69f3f5445d6d | 1627 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1628 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1629 | 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 | 1630 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1631 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1632 | |
Lightvalve | 29:69f3f5445d6d | 1633 | // input for position control |
Lightvalve | 169:645207e160ca | 1634 | |
Lightvalve | 67:c2812cf26c38 | 1635 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1636 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1637 | |
Lightvalve | 67:c2812cf26c38 | 1638 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1639 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1640 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1641 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1642 | |
Lightvalve | 67:c2812cf26c38 | 1643 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1644 | |
Lightvalve | 67:c2812cf26c38 | 1645 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1646 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1647 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1648 | |
Lightvalve | 67:c2812cf26c38 | 1649 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1650 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1651 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1652 | |
Lightvalve | 69:3995ffeaa786 | 1653 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1654 | 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 | 1655 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1656 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1657 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 67:c2812cf26c38 | 1658 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1659 | } |
Lightvalve | 67:c2812cf26c38 | 1660 | 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 | 1661 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1662 | |
Lightvalve | 67:c2812cf26c38 | 1663 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1664 | |
Lightvalve | 67:c2812cf26c38 | 1665 | |
Lightvalve | 67:c2812cf26c38 | 1666 | |
Lightvalve | 67:c2812cf26c38 | 1667 | } else { |
Lightvalve | 67:c2812cf26c38 | 1668 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1669 | 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 | 1670 | |
Lightvalve | 67:c2812cf26c38 | 1671 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1672 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1673 | } else { |
Lightvalve | 67:c2812cf26c38 | 1674 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1675 | } |
Lightvalve | 67:c2812cf26c38 | 1676 | |
Lightvalve | 67:c2812cf26c38 | 1677 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1678 | |
Lightvalve | 67:c2812cf26c38 | 1679 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1680 | |
Lightvalve | 67:c2812cf26c38 | 1681 | } |
Lightvalve | 67:c2812cf26c38 | 1682 | |
Lightvalve | 67:c2812cf26c38 | 1683 | |
Lightvalve | 169:645207e160ca | 1684 | |
Lightvalve | 169:645207e160ca | 1685 | |
Lightvalve | 59:f308b1656d9c | 1686 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1687 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1688 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1689 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1690 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1691 | |
Lightvalve | 29:69f3f5445d6d | 1692 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1693 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1694 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1695 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1696 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1697 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1698 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1699 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1700 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1701 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1702 | } |
Lightvalve | 13:747daba9cf59 | 1703 | } |
Lightvalve | 19:23b7c1ad8683 | 1704 | |
Lightvalve | 13:747daba9cf59 | 1705 | break; |
Lightvalve | 13:747daba9cf59 | 1706 | } |
Lightvalve | 14:8e7590227d22 | 1707 | |
Lightvalve | 50:3c630b5eba9f | 1708 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1709 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1710 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1711 | // else { |
Lightvalve | 50:3c630b5eba9f | 1712 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1713 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1714 | // } |
Lightvalve | 50:3c630b5eba9f | 1715 | // } |
Lightvalve | 50:3c630b5eba9f | 1716 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1717 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1718 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1719 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1720 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1721 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1722 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1723 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1724 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1725 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1726 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1727 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1728 | // } |
Lightvalve | 50:3c630b5eba9f | 1729 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1730 | // } |
Lightvalve | 50:3c630b5eba9f | 1731 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1732 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1733 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1734 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1735 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1736 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1737 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1738 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1739 | // 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 | 1740 | // // 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 | 1741 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1742 | // } |
Lightvalve | 50:3c630b5eba9f | 1743 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1744 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1745 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1746 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1747 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1748 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1749 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); |
Lightvalve | 50:3c630b5eba9f | 1750 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1751 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1752 | // } |
Lightvalve | 50:3c630b5eba9f | 1753 | // } |
Lightvalve | 50:3c630b5eba9f | 1754 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1755 | // |
Lightvalve | 50:3c630b5eba9f | 1756 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1757 | // |
Lightvalve | 50:3c630b5eba9f | 1758 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1759 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1760 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1761 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1762 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1763 | // } |
Lightvalve | 50:3c630b5eba9f | 1764 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1765 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1766 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1767 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1768 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1769 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1770 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1771 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1772 | // } |
Lightvalve | 50:3c630b5eba9f | 1773 | // |
Lightvalve | 50:3c630b5eba9f | 1774 | // } |
Lightvalve | 50:3c630b5eba9f | 1775 | // break; |
Lightvalve | 50:3c630b5eba9f | 1776 | // } |
Lightvalve | 50:3c630b5eba9f | 1777 | // |
Lightvalve | 50:3c630b5eba9f | 1778 | // } |
Lightvalve | 14:8e7590227d22 | 1779 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1780 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1781 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1782 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1783 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1784 | |
Lightvalve | 14:8e7590227d22 | 1785 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1786 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1787 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1788 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1789 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1790 | |
Lightvalve | 38:118df027d851 | 1791 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1792 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1793 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1794 | |
Lightvalve | 30:8d561f16383b | 1795 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1796 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1797 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1798 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1799 | |
Lightvalve | 30:8d561f16383b | 1800 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1801 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1802 | } |
Lightvalve | 13:747daba9cf59 | 1803 | } else { |
Lightvalve | 57:f4819de54e7a | 1804 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1805 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1806 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1807 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1808 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1809 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1810 | |
Lightvalve | 170:42c938a40313 | 1811 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1812 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1813 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1814 | |
Lightvalve | 30:8d561f16383b | 1815 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1816 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1817 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1818 | } |
Lightvalve | 14:8e7590227d22 | 1819 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1820 | break; |
Lightvalve | 13:747daba9cf59 | 1821 | } |
Lightvalve | 14:8e7590227d22 | 1822 | |
Lightvalve | 50:3c630b5eba9f | 1823 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1824 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1825 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1826 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1827 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1828 | // } |
Lightvalve | 50:3c630b5eba9f | 1829 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1830 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1831 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1832 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1833 | // } |
Lightvalve | 50:3c630b5eba9f | 1834 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1835 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1836 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1837 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1838 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1839 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1840 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1841 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1842 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1843 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1844 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1845 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1846 | // |
Lightvalve | 50:3c630b5eba9f | 1847 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1848 | // |
Lightvalve | 50:3c630b5eba9f | 1849 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1850 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1851 | // } |
Lightvalve | 50:3c630b5eba9f | 1852 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1853 | // break; |
Lightvalve | 50:3c630b5eba9f | 1854 | // } |
Lightvalve | 19:23b7c1ad8683 | 1855 | |
Lightvalve | 50:3c630b5eba9f | 1856 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1857 | // 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 | 1858 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1859 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1860 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1861 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1862 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1863 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1864 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1865 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1866 | // } |
Lightvalve | 50:3c630b5eba9f | 1867 | // break; |
Lightvalve | 50:3c630b5eba9f | 1868 | // } |
Lightvalve | 14:8e7590227d22 | 1869 | |
Lightvalve | 14:8e7590227d22 | 1870 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1871 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1872 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1873 | |
Lightvalve | 14:8e7590227d22 | 1874 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1875 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1876 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1877 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1878 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1879 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1880 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1881 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1882 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1883 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1884 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1885 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1886 | } else { |
Lightvalve | 13:747daba9cf59 | 1887 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1888 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1889 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1890 | } |
Lightvalve | 14:8e7590227d22 | 1891 | |
Lightvalve | 17:1865016ca2e7 | 1892 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1893 | int i; |
Lightvalve | 13:747daba9cf59 | 1894 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1895 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1896 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1897 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1898 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1899 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1900 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1901 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1902 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1903 | } |
Lightvalve | 13:747daba9cf59 | 1904 | } |
Lightvalve | 170:42c938a40313 | 1905 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1906 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1907 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1908 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1909 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1910 | } |
Lightvalve | 13:747daba9cf59 | 1911 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1912 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1913 | } |
Lightvalve | 14:8e7590227d22 | 1914 | |
Lightvalve | 14:8e7590227d22 | 1915 | |
Lightvalve | 13:747daba9cf59 | 1916 | break; |
Lightvalve | 13:747daba9cf59 | 1917 | } |
Lightvalve | 14:8e7590227d22 | 1918 | |
Lightvalve | 14:8e7590227d22 | 1919 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1920 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1921 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1922 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1923 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1924 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1925 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1926 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1927 | pos_plus_end = pos.sen; |
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 | 30:8d561f16383b | 1930 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1931 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1932 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1933 | } else if(VALVE_DZ_timer < (int) (3.0f * (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 | 30:8d561f16383b | 1935 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1936 | 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 | 1937 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1938 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1939 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1940 | 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 | 1941 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1942 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1943 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1944 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1945 | |
Lightvalve | 30:8d561f16383b | 1946 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1947 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1948 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1949 | |
Lightvalve | 30:8d561f16383b | 1950 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1951 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1952 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1953 | |
Lightvalve | 30:8d561f16383b | 1954 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1955 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1956 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1957 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1958 | |
Lightvalve | 60:64181f1d3e60 | 1959 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1960 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1961 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1962 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1963 | } else { |
Lightvalve | 13:747daba9cf59 | 1964 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1965 | } |
Lightvalve | 61:bc8c8270f0ab | 1966 | |
Lightvalve | 60:64181f1d3e60 | 1967 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1968 | |
Lightvalve | 13:747daba9cf59 | 1969 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1970 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1971 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1972 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1973 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1974 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1975 | |
Lightvalve | 13:747daba9cf59 | 1976 | } |
Lightvalve | 19:23b7c1ad8683 | 1977 | } else { |
Lightvalve | 14:8e7590227d22 | 1978 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1979 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1980 | 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 | 1981 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1982 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1983 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1984 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1985 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1986 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1987 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1988 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1989 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1990 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1991 | } |
Lightvalve | 14:8e7590227d22 | 1992 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1993 | |
Lightvalve | 30:8d561f16383b | 1994 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1995 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1996 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1997 | |
Lightvalve | 14:8e7590227d22 | 1998 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1999 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2000 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2001 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2002 | } else { |
Lightvalve | 13:747daba9cf59 | 2003 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2004 | } |
Lightvalve | 14:8e7590227d22 | 2005 | |
Lightvalve | 13:747daba9cf59 | 2006 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2007 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2008 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2009 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2010 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2011 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2012 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2013 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2014 | } |
Lightvalve | 13:747daba9cf59 | 2015 | } |
Lightvalve | 14:8e7590227d22 | 2016 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2017 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2018 | 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 | 2019 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2020 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2021 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2022 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2023 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2024 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2025 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2026 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2027 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2028 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2029 | } |
Lightvalve | 14:8e7590227d22 | 2030 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2031 | |
Lightvalve | 30:8d561f16383b | 2032 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2033 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2034 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2035 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2036 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2037 | |
Lightvalve | 14:8e7590227d22 | 2038 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2039 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2040 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2041 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2042 | } else { |
Lightvalve | 60:64181f1d3e60 | 2043 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2044 | } |
Lightvalve | 14:8e7590227d22 | 2045 | |
Lightvalve | 13:747daba9cf59 | 2046 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2047 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2048 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2049 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2050 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2051 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2052 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2053 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2054 | |
Lightvalve | 170:42c938a40313 | 2055 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2056 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2057 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2058 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2059 | |
Lightvalve | 60:64181f1d3e60 | 2060 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2061 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2062 | } |
Lightvalve | 13:747daba9cf59 | 2063 | } |
Lightvalve | 14:8e7590227d22 | 2064 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2065 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2066 | 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 | 2067 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2068 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2069 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2070 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2071 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2072 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2073 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2074 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2075 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2076 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2077 | } |
Lightvalve | 14:8e7590227d22 | 2078 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2079 | |
Lightvalve | 30:8d561f16383b | 2080 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2081 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2082 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2083 | |
Lightvalve | 14:8e7590227d22 | 2084 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2085 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2086 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2087 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2088 | } else { |
Lightvalve | 13:747daba9cf59 | 2089 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2090 | } |
Lightvalve | 13:747daba9cf59 | 2091 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2092 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2093 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2094 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2095 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2096 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2097 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2098 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2099 | } |
Lightvalve | 13:747daba9cf59 | 2100 | } |
Lightvalve | 14:8e7590227d22 | 2101 | } else { |
Lightvalve | 30:8d561f16383b | 2102 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2103 | 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 | 2104 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2105 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2106 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2107 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2108 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2109 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2110 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2111 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2112 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2113 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2114 | } |
Lightvalve | 14:8e7590227d22 | 2115 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2116 | |
Lightvalve | 30:8d561f16383b | 2117 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2118 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2119 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2120 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2121 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2122 | |
Lightvalve | 60:64181f1d3e60 | 2123 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2124 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2125 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2126 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2127 | } else { |
Lightvalve | 13:747daba9cf59 | 2128 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2129 | } |
Lightvalve | 14:8e7590227d22 | 2130 | |
Lightvalve | 13:747daba9cf59 | 2131 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2132 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2133 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2134 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2135 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2136 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2137 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2138 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2139 | |
Lightvalve | 170:42c938a40313 | 2140 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2141 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2142 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2143 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2144 | |
Lightvalve | 57:f4819de54e7a | 2145 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2146 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2147 | } |
Lightvalve | 13:747daba9cf59 | 2148 | } |
Lightvalve | 13:747daba9cf59 | 2149 | } |
Lightvalve | 14:8e7590227d22 | 2150 | } |
Lightvalve | 13:747daba9cf59 | 2151 | break; |
Lightvalve | 13:747daba9cf59 | 2152 | } |
Lightvalve | 14:8e7590227d22 | 2153 | |
Lightvalve | 14:8e7590227d22 | 2154 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2155 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2156 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2157 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2158 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2159 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2160 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2161 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2162 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2163 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2164 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2165 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2166 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2167 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2168 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2169 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2170 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2171 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2172 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2173 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2174 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2175 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2176 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2177 | } |
Lightvalve | 14:8e7590227d22 | 2178 | } else { |
Lightvalve | 30:8d561f16383b | 2179 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2180 | //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 | 2181 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2182 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2183 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2184 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2185 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2186 | |
Lightvalve | 14:8e7590227d22 | 2187 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2188 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2189 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2190 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2191 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2192 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2193 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2194 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2195 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2196 | } |
Lightvalve | 30:8d561f16383b | 2197 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2198 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2199 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2200 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2201 | } |
Lightvalve | 14:8e7590227d22 | 2202 | |
Lightvalve | 14:8e7590227d22 | 2203 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2204 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2205 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2206 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2207 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2208 | } |
Lightvalve | 13:747daba9cf59 | 2209 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2210 | |
Lightvalve | 13:747daba9cf59 | 2211 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2212 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2213 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2214 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2215 | } |
Lightvalve | 14:8e7590227d22 | 2216 | |
Lightvalve | 14:8e7590227d22 | 2217 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2218 | |
Lightvalve | 13:747daba9cf59 | 2219 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2220 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2221 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2222 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2223 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2224 | } |
Lightvalve | 13:747daba9cf59 | 2225 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2226 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2227 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2228 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2229 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2230 | } |
Lightvalve | 13:747daba9cf59 | 2231 | } |
Lightvalve | 13:747daba9cf59 | 2232 | break; |
Lightvalve | 13:747daba9cf59 | 2233 | } |
Lightvalve | 58:2eade98630e2 | 2234 | |
Lightvalve | 57:f4819de54e7a | 2235 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2236 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2237 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2238 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2239 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2240 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2241 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2242 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2243 | } |
Lightvalve | 57:f4819de54e7a | 2244 | break; |
Lightvalve | 57:f4819de54e7a | 2245 | } |
Lightvalve | 58:2eade98630e2 | 2246 | |
Lightvalve | 169:645207e160ca | 2247 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2248 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2249 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2250 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2251 | } else { |
Lightvalve | 169:645207e160ca | 2252 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2253 | } |
Lightvalve | 169:645207e160ca | 2254 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2255 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2256 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2257 | } else { |
Lightvalve | 169:645207e160ca | 2258 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2259 | } |
Lightvalve | 58:2eade98630e2 | 2260 | |
Lightvalve | 169:645207e160ca | 2261 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2262 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2263 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2264 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2265 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2266 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2267 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2268 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2269 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2270 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2271 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2272 | } |
Lightvalve | 169:645207e160ca | 2273 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2274 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2275 | |
Lightvalve | 169:645207e160ca | 2276 | } |
Lightvalve | 169:645207e160ca | 2277 | break; |
Lightvalve | 169:645207e160ca | 2278 | } |
Lightvalve | 169:645207e160ca | 2279 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2280 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2281 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2282 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2283 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2284 | // } |
Lightvalve | 169:645207e160ca | 2285 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2286 | // } |
Lightvalve | 169:645207e160ca | 2287 | |
Lightvalve | 169:645207e160ca | 2288 | break; |
Lightvalve | 169:645207e160ca | 2289 | } |
Lightvalve | 169:645207e160ca | 2290 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2291 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2292 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2293 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2294 | break; |
Lightvalve | 169:645207e160ca | 2295 | } |
Lightvalve | 170:42c938a40313 | 2296 | |
Lightvalve | 169:645207e160ca | 2297 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2298 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2299 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2300 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2301 | } else { |
Lightvalve | 169:645207e160ca | 2302 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2303 | } |
Lightvalve | 169:645207e160ca | 2304 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2305 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2306 | } else { |
Lightvalve | 169:645207e160ca | 2307 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2308 | } |
Lightvalve | 169:645207e160ca | 2309 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2310 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2311 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2312 | } else { |
Lightvalve | 169:645207e160ca | 2313 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2314 | } |
Lightvalve | 169:645207e160ca | 2315 | |
Lightvalve | 169:645207e160ca | 2316 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2317 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2318 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2319 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2320 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2321 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2322 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2323 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2324 | } |
Lightvalve | 169:645207e160ca | 2325 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2326 | // { |
Lightvalve | 169:645207e160ca | 2327 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2328 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2329 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2330 | // } |
Lightvalve | 170:42c938a40313 | 2331 | |
Lightvalve | 169:645207e160ca | 2332 | break; |
Lightvalve | 169:645207e160ca | 2333 | } |
Lightvalve | 57:f4819de54e7a | 2334 | |
Lightvalve | 57:f4819de54e7a | 2335 | default: |
Lightvalve | 57:f4819de54e7a | 2336 | break; |
Lightvalve | 57:f4819de54e7a | 2337 | } |
Lightvalve | 57:f4819de54e7a | 2338 | |
Lightvalve | 57:f4819de54e7a | 2339 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2340 | |
Lightvalve | 57:f4819de54e7a | 2341 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2342 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2343 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2344 | break; |
Lightvalve | 57:f4819de54e7a | 2345 | } |
Lightvalve | 57:f4819de54e7a | 2346 | |
Lightvalve | 57:f4819de54e7a | 2347 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2348 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 2349 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 2350 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2351 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2352 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2353 | } else { |
Lightvalve | 67:c2812cf26c38 | 2354 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2355 | } |
Lightvalve | 57:f4819de54e7a | 2356 | break; |
Lightvalve | 57:f4819de54e7a | 2357 | } |
Lightvalve | 57:f4819de54e7a | 2358 | |
Lightvalve | 57:f4819de54e7a | 2359 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2360 | |
Lightvalve | 57:f4819de54e7a | 2361 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2362 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2363 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2364 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2365 | |
Lightvalve | 67:c2812cf26c38 | 2366 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2367 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2368 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2369 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2370 | |
Lightvalve | 139:15621998925b | 2371 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2372 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2373 | |
Lightvalve | 57:f4819de54e7a | 2374 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2375 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2376 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2377 | |
Lightvalve | 57:f4819de54e7a | 2378 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2379 | |
Lightvalve | 57:f4819de54e7a | 2380 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2381 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2382 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2383 | |
Lightvalve | 57:f4819de54e7a | 2384 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2385 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2386 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2387 | |
Lightvalve | 69:3995ffeaa786 | 2388 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2389 | 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 | 2390 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2391 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2392 | 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 | 2393 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2394 | } |
Lightvalve | 57:f4819de54e7a | 2395 | 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 | 2396 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2397 | |
Lightvalve | 57:f4819de54e7a | 2398 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2399 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2400 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2401 | // 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 | 2402 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2403 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2404 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2405 | 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 | 2406 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2407 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2408 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2409 | } |
Lightvalve | 57:f4819de54e7a | 2410 | 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 | 2411 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2412 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2413 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2414 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2415 | |
Lightvalve | 57:f4819de54e7a | 2416 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2417 | |
Lightvalve | 67:c2812cf26c38 | 2418 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2419 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2420 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2421 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2422 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2423 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2424 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2425 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2426 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2427 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2428 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2429 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2430 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2431 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2432 | } |
Lightvalve | 67:c2812cf26c38 | 2433 | } |
Lightvalve | 57:f4819de54e7a | 2434 | |
Lightvalve | 57:f4819de54e7a | 2435 | } else { |
Lightvalve | 57:f4819de54e7a | 2436 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2437 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2438 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2439 | |
Lightvalve | 57:f4819de54e7a | 2440 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f |
Lightvalve | 57:f4819de54e7a | 2441 | + 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 | 2442 | |
Lightvalve | 72:3436ce769b1e | 2443 | 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 | 2444 | |
Lightvalve | 72:3436ce769b1e | 2445 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2446 | |
Lightvalve | 169:645207e160ca | 2447 | |
Lightvalve | 72:3436ce769b1e | 2448 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2449 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2450 | } else { |
Lightvalve | 72:3436ce769b1e | 2451 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2452 | } |
Lightvalve | 57:f4819de54e7a | 2453 | |
Lightvalve | 57:f4819de54e7a | 2454 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2455 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2456 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2457 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2458 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2459 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2460 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2461 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2462 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2463 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2464 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2465 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2466 | } |
Lightvalve | 57:f4819de54e7a | 2467 | } |
Lightvalve | 61:bc8c8270f0ab | 2468 | |
Lightvalve | 57:f4819de54e7a | 2469 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2470 | |
Lightvalve | 67:c2812cf26c38 | 2471 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2472 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2473 | |
Lightvalve | 57:f4819de54e7a | 2474 | } |
Lightvalve | 169:645207e160ca | 2475 | |
Lightvalve | 72:3436ce769b1e | 2476 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2477 | |
Lightvalve | 133:22ab22818e01 | 2478 | |
Lightvalve | 57:f4819de54e7a | 2479 | break; |
Lightvalve | 57:f4819de54e7a | 2480 | } |
Lightvalve | 58:2eade98630e2 | 2481 | |
Lightvalve | 57:f4819de54e7a | 2482 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2483 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2484 | break; |
Lightvalve | 57:f4819de54e7a | 2485 | } |
Lightvalve | 169:645207e160ca | 2486 | |
Lightvalve | 138:a843f32ced33 | 2487 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2488 | |
Lightvalve | 169:645207e160ca | 2489 | |
Lightvalve | 139:15621998925b | 2490 | 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 | 2491 | 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 | 169:645207e160ca | 2492 | |
Lightvalve | 139:15621998925b | 2493 | // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 |
Lightvalve | 139:15621998925b | 2494 | // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 170:42c938a40313 | 2495 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2496 | |
Lightvalve | 169:645207e160ca | 2497 | |
Lightvalve | 170:42c938a40313 | 2498 | 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 | 169:645207e160ca | 2499 | |
Lightvalve | 138:a843f32ced33 | 2500 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2501 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2502 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2503 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2504 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2505 | } else { |
Lightvalve | 138:a843f32ced33 | 2506 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2507 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2508 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2509 | } else { |
Lightvalve | 138:a843f32ced33 | 2510 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2511 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2512 | } |
Lightvalve | 138:a843f32ced33 | 2513 | } |
Lightvalve | 138:a843f32ced33 | 2514 | float tau = 0.01f; |
Lightvalve | 142:43026242815a | 2515 | float K_valve = 0.0004f; |
Lightvalve | 169:645207e160ca | 2516 | |
Lightvalve | 138:a843f32ced33 | 2517 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2518 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2519 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2520 | } else { |
Lightvalve | 138:a843f32ced33 | 2521 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2522 | } |
Lightvalve | 138:a843f32ced33 | 2523 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2524 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2525 | |
Lightvalve | 139:15621998925b | 2526 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2527 | |
Lightvalve | 138:a843f32ced33 | 2528 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2529 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2530 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2531 | |
Lightvalve | 138:a843f32ced33 | 2532 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2533 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2534 | |
Lightvalve | 142:43026242815a | 2535 | float k3 = 20000.0f; //2000 |
Lightvalve | 142:43026242815a | 2536 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2537 | float rho3 = 3.2f; |
Lightvalve | 142:43026242815a | 2538 | float rho4 = 25000000.0f; |
Lightvalve | 139:15621998925b | 2539 | float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2540 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2541 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2542 | |
Lightvalve | 139:15621998925b | 2543 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2544 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2545 | } else { |
Lightvalve | 139:15621998925b | 2546 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2547 | } |
Lightvalve | 169:645207e160ca | 2548 | |
Lightvalve | 169:645207e160ca | 2549 | |
Lightvalve | 138:a843f32ced33 | 2550 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2551 | x_4_des_old = x_4_des; |
Lightvalve | 169:645207e160ca | 2552 | |
Lightvalve | 139:15621998925b | 2553 | V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; |
Lightvalve | 169:645207e160ca | 2554 | |
Lightvalve | 142:43026242815a | 2555 | float rho_gamma = 50000.0f;//5000 |
Lightvalve | 139:15621998925b | 2556 | float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); |
Lightvalve | 138:a843f32ced33 | 2557 | gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 169:645207e160ca | 2558 | break; |
Lightvalve | 138:a843f32ced33 | 2559 | } |
Lightvalve | 171:bfc1fd2629d8 | 2560 | |
Lightvalve | 170:42c938a40313 | 2561 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2562 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2563 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2564 | |
Lightvalve | 170:42c938a40313 | 2565 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2566 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2567 | |
Lightvalve | 170:42c938a40313 | 2568 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2569 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2570 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2571 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2572 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2573 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2574 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2575 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2576 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2577 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2578 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2579 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2580 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2581 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2582 | } |
Lightvalve | 173:68c7914679ec | 2583 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2584 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2585 | } |
Lightvalve | 173:68c7914679ec | 2586 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2587 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2588 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2589 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2590 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2591 | |
Lightvalve | 179:d5377766d7ea | 2592 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2593 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2594 | virt_pos = 70.0f; |
Lightvalve | 179:d5377766d7ea | 2595 | }else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2596 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2597 | } |
Lightvalve | 171:bfc1fd2629d8 | 2598 | |
Lightvalve | 170:42c938a40313 | 2599 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2600 | |
Lightvalve | 170:42c938a40313 | 2601 | |
Lightvalve | 170:42c938a40313 | 2602 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2603 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2604 | batch++; |
Lightvalve | 170:42c938a40313 | 2605 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2606 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2607 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2608 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2609 | } |
Lightvalve | 170:42c938a40313 | 2610 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2611 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2612 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2613 | |
Lightvalve | 170:42c938a40313 | 2614 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2615 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2616 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2617 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2618 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2619 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2620 | } |
Lightvalve | 170:42c938a40313 | 2621 | } |
Lightvalve | 170:42c938a40313 | 2622 | } |
Lightvalve | 170:42c938a40313 | 2623 | |
Lightvalve | 170:42c938a40313 | 2624 | else { |
Lightvalve | 170:42c938a40313 | 2625 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2626 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2627 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2628 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2629 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2630 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2631 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2632 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2633 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2634 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2635 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2636 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2637 | virt_pos = 70.0f; |
Lightvalve | 179:d5377766d7ea | 2638 | }else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2639 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2640 | } |
Lightvalve | 170:42c938a40313 | 2641 | |
Lightvalve | 170:42c938a40313 | 2642 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2643 | } |
Lightvalve | 170:42c938a40313 | 2644 | |
Lightvalve | 170:42c938a40313 | 2645 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2646 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2647 | |
Lightvalve | 170:42c938a40313 | 2648 | break; |
Lightvalve | 170:42c938a40313 | 2649 | } |
Lightvalve | 14:8e7590227d22 | 2650 | |
Lightvalve | 12:6f2531038ea4 | 2651 | default: |
Lightvalve | 12:6f2531038ea4 | 2652 | break; |
Lightvalve | 12:6f2531038ea4 | 2653 | } |
Lightvalve | 14:8e7590227d22 | 2654 | |
Lightvalve | 57:f4819de54e7a | 2655 | |
Lightvalve | 57:f4819de54e7a | 2656 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2657 | |
Lightvalve | 57:f4819de54e7a | 2658 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2659 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2660 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2661 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2662 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2663 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2664 | |
Lightvalve | 57:f4819de54e7a | 2665 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2666 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2667 | |
Lightvalve | 57:f4819de54e7a | 2668 | |
Lightvalve | 57:f4819de54e7a | 2669 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2670 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2671 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2672 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2673 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2674 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2675 | |
Lightvalve | 57:f4819de54e7a | 2676 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2677 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2678 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2679 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2680 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2681 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2682 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2683 | } |
Lightvalve | 57:f4819de54e7a | 2684 | |
Lightvalve | 57:f4819de54e7a | 2685 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2686 | |
Lightvalve | 67:c2812cf26c38 | 2687 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2688 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2689 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2690 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2691 | // 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 | 2692 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2693 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2694 | |
Lightvalve | 57:f4819de54e7a | 2695 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2696 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2697 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2698 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2699 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2700 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2701 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2702 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2703 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2704 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2705 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2706 | } |
Lightvalve | 57:f4819de54e7a | 2707 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2708 | } else { |
Lightvalve | 57:f4819de54e7a | 2709 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2710 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2711 | } |
Lightvalve | 57:f4819de54e7a | 2712 | |
Lightvalve | 57:f4819de54e7a | 2713 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2714 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2715 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2716 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2717 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2718 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2719 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2720 | |
Lightvalve | 57:f4819de54e7a | 2721 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2722 | |
Lightvalve | 57:f4819de54e7a | 2723 | } else { |
Lightvalve | 57:f4819de54e7a | 2724 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2725 | } |
Lightvalve | 57:f4819de54e7a | 2726 | |
Lightvalve | 57:f4819de54e7a | 2727 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2728 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2729 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2730 | |
Lightvalve | 57:f4819de54e7a | 2731 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2732 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2733 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2734 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2735 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2736 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2737 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2738 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2739 | |
Lightvalve | 89:a7b45368ea0f | 2740 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2741 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2742 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2743 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2744 | |
Lightvalve | 135:79885a39c161 | 2745 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2746 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2747 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2748 | } |
Lightvalve | 169:645207e160ca | 2749 | |
Lightvalve | 67:c2812cf26c38 | 2750 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2751 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2752 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2753 | |
jobuuu | 7:e9086c72bb22 | 2754 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2755 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2756 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2757 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2758 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2759 | } |
Lightvalve | 169:645207e160ca | 2760 | |
Lightvalve | 49:e7bcfc244d40 | 2761 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2762 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2763 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2764 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2765 | } |
Lightvalve | 49:e7bcfc244d40 | 2766 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2767 | |
Lightvalve | 19:23b7c1ad8683 | 2768 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2769 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2770 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2771 | |
Lightvalve | 30:8d561f16383b | 2772 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2773 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2774 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2775 | } else { |
jobuuu | 2:a1c0a37df760 | 2776 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2777 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2778 | } |
Lightvalve | 13:747daba9cf59 | 2779 | |
jobuuu | 1:e04e563be5ce | 2780 | //pwm |
Lightvalve | 30:8d561f16383b | 2781 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2782 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2783 | |
Lightvalve | 61:bc8c8270f0ab | 2784 | |
Lightvalve | 57:f4819de54e7a | 2785 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 2786 | |
Lightvalve | 54:647072f5307a | 2787 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2788 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2789 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2790 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2791 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2792 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2793 | 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 | 2794 | } |
Lightvalve | 57:f4819de54e7a | 2795 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2796 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2797 | 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 | 2798 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2799 | 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 | 2800 | } |
Lightvalve | 52:8ea76864368a | 2801 | } |
Lightvalve | 52:8ea76864368a | 2802 | } |
Lightvalve | 56:6f50d9d3bfee | 2803 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 179:d5377766d7ea | 2804 | CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 54:647072f5307a | 2805 | } |
Lightvalve | 58:2eade98630e2 | 2806 | |
Lightvalve | 58:2eade98630e2 | 2807 | |
Lightvalve | 171:bfc1fd2629d8 | 2808 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2809 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2810 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2811 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2812 | } else { |
Lightvalve | 131:d08121ac87ba | 2813 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2814 | } |
Lightvalve | 169:645207e160ca | 2815 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2816 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2817 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2818 | } else { |
Lightvalve | 169:645207e160ca | 2819 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2820 | } |
Lightvalve | 169:645207e160ca | 2821 | |
Lightvalve | 169:645207e160ca | 2822 | |
Lightvalve | 169:645207e160ca | 2823 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2824 | } |
Lightvalve | 58:2eade98630e2 | 2825 | |
Lightvalve | 57:f4819de54e7a | 2826 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 2827 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2828 | ; |
Lightvalve | 57:f4819de54e7a | 2829 | } |
Lightvalve | 58:2eade98630e2 | 2830 | |
Lightvalve | 169:645207e160ca | 2831 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2832 | //PWM |
Lightvalve | 180:02be1711ee0b | 2833 | //CAN_TX_PWM((int16_t) (V[0]*100.0f)); //1500 |
Lightvalve | 180:02be1711ee0b | 2834 | CAN_TX_PWM((int16_t) (torq.ref)); //1500 |
Lightvalve | 54:647072f5307a | 2835 | } |
Lightvalve | 179:d5377766d7ea | 2836 | |
Lightvalve | 56:6f50d9d3bfee | 2837 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2838 | //valve position |
Lightvalve | 179:d5377766d7ea | 2839 | 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 | 179:d5377766d7ea | 2840 | //CAN_TX_VALVE_POSITION((int16_t) action_array[20], (int16_t) virt_pos, (int16_t) Update_Case*1000, (int16_t) (logging4*1000.0f)); //1600 |
Lightvalve | 54:647072f5307a | 2841 | } |
Lightvalve | 20:806196fda269 | 2842 | |
Lightvalve | 54:647072f5307a | 2843 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 2844 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 2845 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 2846 | // } |
Lightvalve | 54:647072f5307a | 2847 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 2848 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 2849 | //} |
Lightvalve | 52:8ea76864368a | 2850 | |
Lightvalve | 54:647072f5307a | 2851 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2852 | } |
Lightvalve | 54:647072f5307a | 2853 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 2854 | |
Lightvalve | 20:806196fda269 | 2855 | } |
Lightvalve | 52:8ea76864368a | 2856 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2857 | |
Lightvalve | 58:2eade98630e2 | 2858 | } |