Sungwoo Kim
/
HydraulicControlBoard_Learning
for learning
main.cpp@245:3592e0da43fb, 2021-01-06 (annotated)
- Committer:
- Lightvalve
- Date:
- Wed Jan 06 01:52:51 2021 +0000
- Revision:
- 245:3592e0da43fb
- Parent:
- 244:b8e9935406dd
- Child:
- 246:d483d039ca55
//210106_3 500Hz num_input 12 210105 data
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 245:3592e0da43fb | 1 | //210106_3 500Hz num_input 12 210105 data |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 11 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 12 | #include <string> |
Lightvalve | 170:42c938a40313 | 13 | #include <iostream> |
Lightvalve | 179:d5377766d7ea | 14 | #include <cmath> |
Lightvalve | 61:bc8c8270f0ab | 15 | |
Lightvalve | 61:bc8c8270f0ab | 16 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 17 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 18 | |
Lightvalve | 31:66738bfecec5 | 19 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 20 | |
jobuuu | 7:e9086c72bb22 | 21 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 22 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 23 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 24 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 25 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 26 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 27 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 28 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 29 | |
Lightvalve | 24:ef6e1092e9e6 | 30 | |
jobuuu | 7:e9086c72bb22 | 31 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 32 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 34 | |
jobuuu | 7:e9086c72bb22 | 35 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 36 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 37 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 38 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 39 | |
jobuuu | 7:e9086c72bb22 | 40 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 41 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 42 | DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 43 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 44 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 45 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 46 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 50 | |
jobuuu | 7:e9086c72bb22 | 51 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 52 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 53 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 54 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 55 | { |
Lightvalve | 11:82d8768d7351 | 56 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 57 | } |
jobuuu | 2:a1c0a37df760 | 58 | |
jobuuu | 7:e9086c72bb22 | 59 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 60 | State pos; |
jobuuu | 7:e9086c72bb22 | 61 | State vel; |
jobuuu | 7:e9086c72bb22 | 62 | State Vout; |
jobuuu | 7:e9086c72bb22 | 63 | State torq; |
Lightvalve | 207:c70c5a9f17dd | 64 | State torq_dot; |
jobuuu | 7:e9086c72bb22 | 65 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 66 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 67 | State cur; |
Lightvalve | 14:8e7590227d22 | 68 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 69 | |
Lightvalve | 14:8e7590227d22 | 70 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 71 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 72 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 73 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 74 | |
Lightvalve | 19:23b7c1ad8683 | 75 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 77 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 78 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 79 | |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 84 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 85 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 86 | |
Lightvalve | 61:bc8c8270f0ab | 87 | |
Lightvalve | 61:bc8c8270f0ab | 88 | |
Lightvalve | 61:bc8c8270f0ab | 89 | |
jobuuu | 7:e9086c72bb22 | 90 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 91 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 92 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 93 | |
Lightvalve | 12:6f2531038ea4 | 94 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 95 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 96 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 97 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 98 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 100 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 101 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 102 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 103 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 104 | }; |
Lightvalve | 12:6f2531038ea4 | 105 | |
Lightvalve | 12:6f2531038ea4 | 106 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 107 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 108 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 109 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 110 | //control mode |
Lightvalve | 12:6f2531038ea4 | 111 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 112 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 113 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 114 | |
Lightvalve | 47:fdcb8bd86fd6 | 115 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 116 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 171:bfc1fd2629d8 | 117 | MODE_RL, //5 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 121 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 122 | |
Lightvalve | 12:6f2531038ea4 | 123 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 124 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 125 | |
Lightvalve | 14:8e7590227d22 | 126 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 127 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 128 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 171:bfc1fd2629d8 | 129 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 |
Lightvalve | 13:747daba9cf59 | 130 | |
Lightvalve | 12:6f2531038ea4 | 131 | //utility |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 135 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 138 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 139 | |
Lightvalve | 12:6f2531038ea4 | 140 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 141 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 142 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 143 | MODE_SYSTEM_ID, //33 |
Lightvalve | 169:645207e160ca | 144 | MODE_FREQ_TEST, //34 |
Lightvalve | 169:645207e160ca | 145 | MODE_SEND_BUFFER, //35 |
Lightvalve | 169:645207e160ca | 146 | MODE_SEND_OVER, //36 |
Lightvalve | 169:645207e160ca | 147 | MODE_STEP_TEST, //37 |
Lightvalve | 12:6f2531038ea4 | 148 | }; |
Lightvalve | 12:6f2531038ea4 | 149 | |
Lightvalve | 65:a2d7c63419c2 | 150 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 151 | { |
Lightvalve | 169:645207e160ca | 152 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 169:645207e160ca | 153 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 154 | |
Lightvalve | 169:645207e160ca | 155 | /** Configure the main internal regulator output voltage |
Lightvalve | 169:645207e160ca | 156 | */ |
Lightvalve | 169:645207e160ca | 157 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 169:645207e160ca | 158 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 169:645207e160ca | 159 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 160 | */ |
Lightvalve | 169:645207e160ca | 161 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 169:645207e160ca | 162 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 169:645207e160ca | 163 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 169:645207e160ca | 164 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 169:645207e160ca | 165 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 169:645207e160ca | 166 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 169:645207e160ca | 167 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 169:645207e160ca | 168 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 169:645207e160ca | 169 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 169:645207e160ca | 170 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 169:645207e160ca | 171 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 172 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 173 | } |
Lightvalve | 169:645207e160ca | 174 | /** Activate the Over-Drive mode |
Lightvalve | 169:645207e160ca | 175 | */ |
Lightvalve | 169:645207e160ca | 176 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 169:645207e160ca | 177 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 178 | } |
Lightvalve | 169:645207e160ca | 179 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 180 | */ |
Lightvalve | 169:645207e160ca | 181 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 169:645207e160ca | 182 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 169:645207e160ca | 183 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 169:645207e160ca | 184 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 169:645207e160ca | 185 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 169:645207e160ca | 186 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 169:645207e160ca | 188 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 189 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 190 | } |
Lightvalve | 65:a2d7c63419c2 | 191 | } |
Lightvalve | 65:a2d7c63419c2 | 192 | |
Lightvalve | 99:7bbcb3c0fb06 | 193 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 194 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 195 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 196 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 197 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 198 | |
Lightvalve | 73:f80dc3970c99 | 199 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 200 | |
Lightvalve | 169:645207e160ca | 201 | const float h1[num_input][16] = { |
Lightvalve | 245:3592e0da43fb | 202 | {-0.08928373456001282f,0.18988078832626343f,0.14029145240783691f,-0.11808817088603973f,-0.003978874068707228f,-0.007696872111409903f,0.42820632457733154f,-0.20236220955848694f,0.939854085445404f,-0.07558992505073547f,-0.027743147686123848f,-0.3279592990875244f,-0.31727975606918335f,-0.20024743676185608f,0.3523602783679962f,-0.6278733611106873f}, |
Lightvalve | 245:3592e0da43fb | 203 | {-0.11774742603302002f,0.09604662656784058f,0.29011616110801697f,0.2234950214624405f,0.23440349102020264f,0.5232492089271545f,0.2210281491279602f,-0.3678447902202606f,0.7886034250259399f,-0.27516597509384155f,-0.2500557601451874f,-0.12492232769727707f,-0.11310917139053345f,-0.4406680464744568f,0.1511378139257431f,-0.4245671331882477f}, |
Lightvalve | 245:3592e0da43fb | 204 | {0.36453908681869507f,-0.02021932601928711f,-0.3012392818927765f,-0.3477104902267456f,0.5035558342933655f,-0.3530597984790802f,-0.3702338933944702f,-0.3288705348968506f,0.3931751549243927f,0.23595577478408813f,-0.6494159698486328f,0.13738729059696198f,-0.0888165533542633f,0.3261997401714325f,0.1456020325422287f,-0.08090786635875702f}, |
Lightvalve | 245:3592e0da43fb | 205 | {-0.4103831648826599f,-0.12864279747009277f,0.1022421345114708f,-0.6185715198516846f,-0.2637539505958557f,-0.328195184469223f,0.4355844259262085f,0.12046816200017929f,-0.13170522451400757f,-0.21010851860046387f,-0.34591883420944214f,0.23238110542297363f,-0.09013718366622925f,0.3507763743400574f,-0.12376902252435684f,-0.4103527069091797f}, |
Lightvalve | 245:3592e0da43fb | 206 | {-0.4158014953136444f,0.4469558000564575f,-0.4252530634403229f,-0.7594079375267029f,0.15881256759166718f,0.570539653301239f,0.20091718435287476f,0.11978109925985336f,-0.6337155103683472f,-0.3290080726146698f,-0.538169264793396f,0.10523770749568939f,0.08139365911483765f,0.19170653820037842f,0.16857746243476868f,-0.6932903528213501f}, |
Lightvalve | 245:3592e0da43fb | 207 | {0.02771398425102234f,-0.4239081144332886f,-0.1293027102947235f,-0.9767598509788513f,-0.005095937754958868f,0.12170109897851944f,-0.265327125787735f,-0.20950207114219666f,-1.7486470937728882f,-0.4134688079357147f,-0.32466891407966614f,-0.4746890366077423f,0.3993561267852783f,0.027073565870523453f,-0.4189585745334625f,-0.658713698387146f}, |
Lightvalve | 245:3592e0da43fb | 208 | {0.4493045210838318f,-0.17244070768356323f,0.21882575750350952f,3.133983612060547f,-1.4239774942398071f,-0.9012263417243958f,0.39546728134155273f,-0.7601503133773804f,3.533515691757202f,-0.09566733241081238f,-0.49558505415916443f,0.12108597159385681f,-0.4244987964630127f,-0.3255382776260376f,0.1717403382062912f,0.15440697968006134f}, |
Lightvalve | 245:3592e0da43fb | 209 | {0.234513521194458f,-0.16211813688278198f,0.33604222536087036f,2.0154271125793457f,-0.8926435708999634f,-0.2883564531803131f,0.17530131340026855f,-0.08909942954778671f,1.4232977628707886f,-0.0270843505859375f,-0.23662754893302917f,-0.039105724543333054f,-0.17777305841445923f,-0.2930698096752167f,-0.295630544424057f,0.8173853754997253f}, |
Lightvalve | 245:3592e0da43fb | 210 | {0.35531145334243774f,0.32643234729766846f,-0.20846526324748993f,0.5044971108436584f,-0.6685876846313477f,0.013467200100421906f,-0.3044210970401764f,-0.61872798204422f,-0.29994454979896545f,-0.24198894202709198f,0.044176068156957626f,-0.2424609363079071f,-0.4050760865211487f,0.014094186946749687f,0.11948834359645844f,0.08273530006408691f}, |
Lightvalve | 245:3592e0da43fb | 211 | {-0.15392860770225525f,0.3473075032234192f,-0.25585490465164185f,-0.34898388385772705f,-0.30887138843536377f,-0.27727174758911133f,-0.4218664765357971f,0.2524242699146271f,-0.9651307463645935f,-0.2347547560930252f,-0.2579735219478607f,0.13620002567768097f,-0.45715731382369995f,-0.2101370245218277f,-0.3693336844444275f,0.5827489495277405f}, |
Lightvalve | 245:3592e0da43fb | 212 | {-0.434734970331192f,-0.1676338016986847f,-0.16730430722236633f,-0.7783320546150208f,-0.4176149368286133f,-0.0822678655385971f,-0.4028127193450928f,-0.15296562016010284f,-1.7470310926437378f,0.23425424098968506f,0.2960582673549652f,0.4209096133708954f,-0.02016448974609375f,-0.3919544517993927f,-0.18460549414157867f,-0.5643852949142456f}, |
Lightvalve | 245:3592e0da43fb | 213 | {-0.2947876453399658f,-0.3233926296234131f,-0.396773099899292f,-1.4096735715866089f,-0.6982089877128601f,0.09473533183336258f,0.16410261392593384f,-0.2024194449186325f,-2.3709700107574463f,0.3230099678039551f,-0.33460134267807007f,0.14395946264266968f,0.41723358631134033f,-0.5597719550132751f,0.2465231865644455f,-0.376107782125473f}, |
Lightvalve | 65:a2d7c63419c2 | 214 | }; |
Lightvalve | 65:a2d7c63419c2 | 215 | |
Lightvalve | 169:645207e160ca | 216 | const float h2[16][16] = { |
Lightvalve | 245:3592e0da43fb | 217 | {0.22040846943855286f,-0.4028656780719757f,-0.30482804775238037f,0.2847701609134674f,0.37607017159461975f,-0.12173402309417725f,-0.27083414793014526f,0.19983914494514465f,0.12811920046806335f,0.026121854782104492f,0.33117517828941345f,0.31377163529396057f,-0.3039761185646057f,0.10410508513450623f,0.019344478845596313f,0.13114729523658752f}, |
Lightvalve | 245:3592e0da43fb | 218 | {0.07885774970054626f,0.2685442268848419f,-0.20929814875125885f,-0.013690829277038574f,-0.28124189376831055f,0.3748907744884491f,-0.4218168258666992f,-0.13014042377471924f,0.34662631154060364f,0.2236320674419403f,-0.2787289619445801f,-0.16978111863136292f,-0.12639987468719482f,-0.11595618724822998f,0.20541444420814514f,-0.19707195460796356f}, |
Lightvalve | 245:3592e0da43fb | 219 | {-0.289584755897522f,-0.3754548728466034f,0.4180505573749542f,-0.3319404125213623f,-0.12211531400680542f,0.40512141585350037f,-0.25835028290748596f,0.42814746499061584f,-0.3197705149650574f,0.35452306270599365f,0.20276597142219543f,-0.1963835507631302f,-0.26259419322013855f,0.10237613320350647f,-0.21197760105133057f,-0.054215338081121445f}, |
Lightvalve | 245:3592e0da43fb | 220 | {-4.1213297843933105f,0.01764225959777832f,-0.27558714151382446f,-0.24608424305915833f,0.2943190336227417f,0.2841133773326874f,-0.35425087809562683f,0.02605552040040493f,0.25242629647254944f,-1.1704930067062378f,0.17697389423847198f,-0.26277410984039307f,-2.00290846824646f,0.10458657145500183f,0.19668230414390564f,0.3635267913341522f}, |
Lightvalve | 245:3592e0da43fb | 221 | {-0.6215770244598389f,-0.22804522514343262f,-0.2246006429195404f,0.053406450897455215f,0.27491495013237f,-0.12348288297653198f,0.27004075050354004f,-0.147074893116951f,0.11645037680864334f,-0.15487730503082275f,-0.10510046780109406f,-0.2283875197172165f,0.13212068378925323f,-0.1956327110528946f,-0.09801927208900452f,0.11065234243869781f}, |
Lightvalve | 245:3592e0da43fb | 222 | {0.10445184260606766f,-0.1510087102651596f,0.4312331974506378f,-0.5101251006126404f,0.2854827046394348f,0.34281787276268005f,-0.13838697969913483f,0.09894201159477234f,-0.23495729267597198f,0.08734504133462906f,-0.04059183597564697f,0.2733362019062042f,0.015527419745922089f,-0.10023930668830872f,-0.02278757095336914f,0.07353436946868896f}, |
Lightvalve | 245:3592e0da43fb | 223 | {-0.22515183687210083f,-0.3755156993865967f,-0.24480870366096497f,-0.29299992322921753f,0.059763699769973755f,0.20225438475608826f,0.33751097321510315f,0.3263198435306549f,-0.13278412818908691f,-0.095187246799469f,-0.2782473564147949f,-0.3706819713115692f,-0.021951347589492798f,0.27562615275382996f,0.03849485516548157f,0.29575976729393005f}, |
Lightvalve | 245:3592e0da43fb | 224 | {0.32057708501815796f,-0.524069607257843f,0.37138256430625916f,0.2010936439037323f,0.08615626394748688f,-0.03286612033843994f,0.15765780210494995f,-0.4324454665184021f,0.327019602060318f,-0.07884476333856583f,-0.1301749050617218f,-0.10347366333007812f,0.18177057802677155f,0.10729780793190002f,-0.10135778784751892f,-0.27579066157341003f}, |
Lightvalve | 245:3592e0da43fb | 225 | {-1.386614441871643f,-0.49351364374160767f,-0.3842683434486389f,0.07866570353507996f,2.973254919052124f,-0.2822301983833313f,0.2986585795879364f,-0.17486296594142914f,-0.31111371517181396f,-0.29488277435302734f,-0.21365593373775482f,-0.36962851881980896f,-1.2022932767868042f,-0.29541951417922974f,-0.00033593177795410156f,2.188819646835327f}, |
Lightvalve | 245:3592e0da43fb | 226 | {-0.15491563081741333f,-0.1982559859752655f,-0.27656543254852295f,-0.057386428117752075f,0.006925225257873535f,-0.0061952173709869385f,-0.30878782272338867f,-0.16744297742843628f,-0.15944159030914307f,-0.07186901569366455f,0.1433509886264801f,-0.11715862154960632f,0.009978801012039185f,-0.23373784124851227f,0.4134136140346527f,-0.22950156033039093f}, |
Lightvalve | 245:3592e0da43fb | 227 | {0.06308726221323013f,-0.36588433384895325f,-0.08402159810066223f,0.028938988223671913f,-0.2953241169452667f,-0.28359758853912354f,0.345768541097641f,0.010517789050936699f,-0.3439469635486603f,-0.39201247692108154f,-0.22572417557239532f,0.17512741684913635f,0.13216380774974823f,0.23759087920188904f,-0.2779344618320465f,0.2651509642601013f}, |
Lightvalve | 245:3592e0da43fb | 228 | {0.10504072904586792f,-0.03749573230743408f,0.33709099888801575f,0.37907975912094116f,0.22565968334674835f,0.3120448887348175f,0.39507538080215454f,0.006597965955734253f,-0.18118223547935486f,-0.42720532417297363f,-0.3804808259010315f,-0.25502610206604004f,0.0865727886557579f,0.4289310872554779f,0.1356206238269806f,-0.004186863079667091f}, |
Lightvalve | 245:3592e0da43fb | 229 | {0.09193530678749084f,-0.18952275812625885f,0.0726877748966217f,0.3987469971179962f,0.02890300750732422f,-0.12990233302116394f,0.14810273051261902f,0.01665481925010681f,-0.15090349316596985f,-0.33036649227142334f,-0.003201425075531006f,-0.3811122179031372f,0.22158536314964294f,0.17805215716362f,0.1948237121105194f,-0.08180281519889832f}, |
Lightvalve | 245:3592e0da43fb | 230 | {-0.06925216317176819f,-0.2162439227104187f,0.05184563994407654f,-0.01202910952270031f,0.03321986272931099f,-0.24826626479625702f,-0.5580893754959106f,0.30383768677711487f,-0.3802972733974457f,-0.40310049057006836f,0.13739612698554993f,-0.07380381226539612f,0.004031330347061157f,0.4251040518283844f,-0.12451288104057312f,-0.4890829622745514f}, |
Lightvalve | 245:3592e0da43fb | 231 | {-0.13223494589328766f,-0.11442816257476807f,0.18836888670921326f,0.0025912465061992407f,-0.19410231709480286f,0.04468163847923279f,0.19008231163024902f,0.3492031395435333f,0.014439105987548828f,-0.16926728188991547f,0.05260401964187622f,-0.19738321006298065f,0.17389413714408875f,0.09360900521278381f,-0.18755027651786804f,-0.24380405247211456f}, |
Lightvalve | 245:3592e0da43fb | 232 | {-0.6347722411155701f,-0.6213594675064087f,-0.28505873680114746f,-6.113732814788818f,-0.8829705119132996f,-0.39796411991119385f,-0.04346449673175812f,-0.11873544752597809f,-0.04968378692865372f,-1.9817637205123901f,-0.3773333430290222f,-0.2845912575721741f,-1.1904109716415405f,0.09081563353538513f,-0.27721232175827026f,0.04428445175290108f}, |
Lightvalve | 65:a2d7c63419c2 | 233 | }; |
Lightvalve | 65:a2d7c63419c2 | 234 | |
Lightvalve | 169:645207e160ca | 235 | const float h3[16][16] = { |
Lightvalve | 245:3592e0da43fb | 236 | {-0.3740372061729431f,-0.12622219324111938f,0.7481427788734436f,0.3189202547073364f,-2.452293872833252f,0.05530071258544922f,0.10995236039161682f,0.25306645035743713f,0.5455286502838135f,0.3019128143787384f,-0.3977643549442291f,1.2452392578125f,-0.08900150656700134f,0.2659699618816376f,-0.4051627218723297f,0.3587193489074707f}, |
Lightvalve | 245:3592e0da43fb | 237 | {0.2580176293849945f,-0.21952059864997864f,-0.536188006401062f,-0.13161329925060272f,-0.3679931163787842f,0.21937689185142517f,0.19945386052131653f,-0.2553171217441559f,-0.009911770932376385f,0.06814399361610413f,-0.09381365776062012f,0.25755026936531067f,-0.326202392578125f,-0.40252116322517395f,0.0038833022117614746f,0.014371702447533607f}, |
Lightvalve | 245:3592e0da43fb | 238 | {-0.06709745526313782f,-0.3487962782382965f,0.15876320004463196f,-0.08722096681594849f,-0.10967022180557251f,-0.4167609214782715f,0.1344209611415863f,-0.41463586688041687f,-0.37066638469696045f,-0.0406363308429718f,-0.17699375748634338f,-0.05360245704650879f,0.38655009865760803f,-0.01810634136199951f,-0.18493060767650604f,0.35194751620292664f}, |
Lightvalve | 245:3592e0da43fb | 239 | {-0.12081655859947205f,-0.16580137610435486f,-0.43180301785469055f,2.575126886367798f,-1.9781299829483032f,-0.09152081608772278f,-0.3956339359283447f,-0.48883336782455444f,-0.22402389347553253f,0.7732234597206116f,-0.36379221081733704f,0.251196026802063f,-0.43051815032958984f,-0.3846364915370941f,-0.1842559427022934f,-0.7160226702690125f}, |
Lightvalve | 245:3592e0da43fb | 240 | {0.005010038614273071f,-0.09848810732364655f,-1.4794831275939941f,-0.14799992740154266f,0.36386820673942566f,-0.42805469036102295f,-0.31440508365631104f,-0.0329747200012207f,1.4564002752304077f,-0.5649462342262268f,-1.146892786026001f,-1.6677275896072388f,-0.06857957690954208f,0.13153156638145447f,-0.2856975793838501f,-0.5936042666435242f}, |
Lightvalve | 245:3592e0da43fb | 241 | {-0.154278963804245f,0.15068575739860535f,-0.23259520530700684f,0.3329792320728302f,0.16978946328163147f,0.07678303122520447f,0.11548694968223572f,0.25491419434547424f,-0.29460608959198f,-0.2147803008556366f,-0.09733334183692932f,0.0077544450759887695f,0.17424574494361877f,0.24004992842674255f,0.10598781704902649f,0.3885243237018585f}, |
Lightvalve | 245:3592e0da43fb | 242 | {-0.06189775466918945f,-0.2343900054693222f,0.41815266013145447f,-0.06278818845748901f,0.038058292120695114f,0.05758383870124817f,-0.04267755150794983f,-0.28957313299179077f,-0.0036431453190743923f,-0.3373270332813263f,-0.4336230456829071f,0.05202546715736389f,0.1869029700756073f,0.09306725859642029f,-0.05534625053405762f,-0.23965637385845184f}, |
Lightvalve | 245:3592e0da43fb | 243 | {0.11816993355751038f,0.19791188836097717f,0.045647695660591125f,0.05645141005516052f,-0.18168418109416962f,0.1770211160182953f,-0.2681187689304352f,-0.0303591787815094f,-0.1650286614894867f,-0.10919004678726196f,0.2986362874507904f,-0.07121747732162476f,-0.09518930315971375f,-0.35569754242897034f,0.42722514271736145f,-0.15241912007331848f}, |
Lightvalve | 245:3592e0da43fb | 244 | {-0.08454379439353943f,-0.1466067135334015f,0.2962970435619354f,0.21947136521339417f,0.21353144943714142f,0.2355630099773407f,0.0014078617095947266f,0.0649329423904419f,-0.29372382164001465f,-0.2304542511701584f,-0.11185473203659058f,0.0468500554561615f,0.34780290722846985f,0.19274309277534485f,-0.311842143535614f,0.3789503276348114f}, |
Lightvalve | 245:3592e0da43fb | 245 | {-0.09536594152450562f,0.3562287390232086f,0.8924842476844788f,0.4579148590564728f,0.7366642951965332f,0.3642789423465729f,0.4044777452945709f,-0.42047369480133057f,-0.019772857427597046f,-0.23059403896331787f,0.047575924545526505f,0.400556743144989f,0.17998197674751282f,0.3105376064777374f,-0.42501863837242126f,0.10465378314256668f}, |
Lightvalve | 245:3592e0da43fb | 246 | {0.043095797300338745f,0.3075747787952423f,0.2890697419643402f,0.33099862933158875f,0.1751062572002411f,-0.3616466522216797f,0.2722831070423126f,-0.11669030785560608f,-0.02601027488708496f,-0.2050226330757141f,0.05298447608947754f,0.14272931218147278f,0.05636057257652283f,0.18077662587165833f,0.024709969758987427f,-0.2825847268104553f}, |
Lightvalve | 245:3592e0da43fb | 247 | {0.114739328622818f,-0.28732842206954956f,-0.007510572671890259f,0.05885201692581177f,-0.17437449097633362f,0.26788774132728577f,0.31876376271247864f,0.30347469449043274f,-0.39352715015411377f,0.09197589755058289f,-0.27865278720855713f,-0.04290211200714111f,0.02039027214050293f,0.09758958220481873f,-0.38352450728416443f,0.35282430052757263f}, |
Lightvalve | 245:3592e0da43fb | 248 | {-0.16227436065673828f,0.3044901192188263f,1.500205159187317f,-0.20669551193714142f,-0.8930017948150635f,0.3205467760562897f,-0.3996381461620331f,0.3226601779460907f,0.5433998107910156f,0.18693169951438904f,-0.6948516964912415f,0.9673228859901428f,-0.05647093057632446f,-0.12768149375915527f,0.15764620900154114f,0.7655152082443237f}, |
Lightvalve | 245:3592e0da43fb | 249 | {-0.4156169295310974f,0.20866098999977112f,0.02854001522064209f,0.011706173419952393f,0.04473334550857544f,-0.338489294052124f,0.13951000571250916f,-0.1403215527534485f,-0.3943132162094116f,-0.16522809863090515f,-0.17043307423591614f,-0.42026638984680176f,-0.22834034264087677f,0.32368162274360657f,-0.22774425148963928f,0.33402350544929504f}, |
Lightvalve | 245:3592e0da43fb | 250 | {0.2766123116016388f,-0.43157315254211426f,-0.2738536596298218f,0.16261598467826843f,-0.209463432431221f,0.11931833624839783f,0.151057630777359f,0.41193607449531555f,0.235458105802536f,0.16423484683036804f,-0.39183735847473145f,-0.06453084945678711f,-0.3313708007335663f,-0.27633973956108093f,0.270766943693161f,-0.05490243434906006f}, |
Lightvalve | 245:3592e0da43fb | 251 | {-0.3373720347881317f,-0.3408786356449127f,-0.19662676751613617f,0.04992261901497841f,1.2588192224502563f,-0.19240692257881165f,0.05765652284026146f,0.07387390732765198f,-2.614326000213623f,0.7213937640190125f,-0.4090003967285156f,0.03824680298566818f,0.0996483862400055f,-0.061470746994018555f,-0.05823567509651184f,-0.10553636401891708f}, |
Lightvalve | 66:a8e6799dbce3 | 252 | }; |
Lightvalve | 65:a2d7c63419c2 | 253 | |
Lightvalve | 245:3592e0da43fb | 254 | const float hout[16] = { 0.3696172833442688f,-0.033239372074604034f,1.0031309127807617f,1.0643973350524902f,-0.5450873374938965f,0.2716830372810364f,-0.2568954825401306f,0.13510213792324066f,2.1077351570129395f,0.6897874474525452f,0.06623781472444534f,1.021472692489624f,-0.16785483062267303f,-0.5563539266586304f,-0.3882039189338684f,0.5990738272666931f }; |
Lightvalve | 245:3592e0da43fb | 255 | |
Lightvalve | 245:3592e0da43fb | 256 | const float b1[16] = { -1.1430004835128784f,-1.1792505979537964f,0.137104794383049f,1.2572994232177734f,0.585432231426239f,-0.22034820914268494f,-0.9570482969284058f,0.7503839731216431f,1.030627965927124f,-2.6199684143066406f,0.6522615551948547f,-0.21148066222667694f,-1.5748937129974365f,-0.1155807301402092f,-0.2153463065624237f,2.533480644226074f }; |
Lightvalve | 245:3592e0da43fb | 257 | |
Lightvalve | 245:3592e0da43fb | 258 | const float b2[16] = { 0.24008359014987946f,-0.2304793894290924f,-0.9013299345970154f,0.8089731335639954f,-0.4296902120113373f,-0.8439559936523438f,-0.922905445098877f,-0.0648953840136528f,-1.008384346961975f,-0.048680439591407776f,-0.3683401644229889f,-1.3363648653030396f,-0.15714435279369354f,-0.8010820150375366f,-0.449018269777298f,-0.7082654237747192f }; |
Lightvalve | 245:3592e0da43fb | 259 | |
Lightvalve | 245:3592e0da43fb | 260 | const float b3[16] = { -0.3623056709766388f,-0.954131007194519f,-0.13478882610797882f,-0.7724200487136841f,0.2596184015274048f,-2.7422733306884766f,-0.741806149482727f,-1.2988611459732056f,-0.5918604731559753f,0.17699366807937622f,-0.037729937583208084f,-0.43741947412490845f,-0.9366039633750916f,-1.991359829902649f,-1.0550254583358765f,-0.35188284516334534f }; |
Lightvalve | 245:3592e0da43fb | 261 | |
Lightvalve | 245:3592e0da43fb | 262 | const float bout[1] = { 0.6205869317054749f }; |
Lightvalve | 225:278b48b86f27 | 263 | |
Lightvalve | 225:278b48b86f27 | 264 | float valve_ref_pos_buffer[10] = {0.0f}; |
Lightvalve | 65:a2d7c63419c2 | 265 | |
Lightvalve | 170:42c938a40313 | 266 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 267 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 268 | |
Lightvalve | 170:42c938a40313 | 269 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 270 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 271 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 272 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 273 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 274 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 275 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 276 | |
Lightvalve | 170:42c938a40313 | 277 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 278 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 279 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 280 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 281 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 282 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 283 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 284 | |
Lightvalve | 170:42c938a40313 | 285 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 286 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 287 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 288 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 289 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 290 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 291 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 292 | |
Lightvalve | 170:42c938a40313 | 293 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 294 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 295 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 296 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 297 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 298 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 299 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 300 | |
Lightvalve | 87:471334725012 | 301 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 302 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 303 | |
Lightvalve | 179:d5377766d7ea | 304 | /////////////////////////////////////////////RL tuning |
Lightvalve | 179:d5377766d7ea | 305 | float Gradient_Limit = 0.5f; |
Lightvalve | 179:d5377766d7ea | 306 | float gradient_rate_actor = 0.001f; |
Lightvalve | 179:d5377766d7ea | 307 | float gradient_rate_critic = 0.001f; |
Lightvalve | 179:d5377766d7ea | 308 | ////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 309 | |
Lightvalve | 170:42c938a40313 | 310 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 311 | { |
Lightvalve | 173:68c7914679ec | 312 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 313 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 314 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 315 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 316 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 317 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 318 | } |
Lightvalve | 173:68c7914679ec | 319 | //ReLU |
Lightvalve | 173:68c7914679ec | 320 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 321 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 322 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 323 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 324 | } |
Lightvalve | 173:68c7914679ec | 325 | //tanh |
Lightvalve | 173:68c7914679ec | 326 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 327 | } |
Lightvalve | 173:68c7914679ec | 328 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 329 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 330 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 331 | } |
Lightvalve | 173:68c7914679ec | 332 | //ReLU |
Lightvalve | 173:68c7914679ec | 333 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 334 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 335 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 336 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 337 | } |
Lightvalve | 173:68c7914679ec | 338 | //tanh |
Lightvalve | 173:68c7914679ec | 339 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 340 | } |
Lightvalve | 170:42c938a40313 | 341 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 342 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 343 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 344 | } |
Lightvalve | 173:68c7914679ec | 345 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 346 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 347 | } |
Lightvalve | 170:42c938a40313 | 348 | return output; |
Lightvalve | 170:42c938a40313 | 349 | } |
Lightvalve | 170:42c938a40313 | 350 | |
Lightvalve | 170:42c938a40313 | 351 | |
Lightvalve | 170:42c938a40313 | 352 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 353 | { |
Lightvalve | 173:68c7914679ec | 354 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 355 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 356 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 357 | |
Lightvalve | 173:68c7914679ec | 358 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 359 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 178:1074553d2f6f | 360 | output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 361 | } |
Lightvalve | 178:1074553d2f6f | 362 | output1[index2] = output1[index2] + ba1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 363 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 364 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 365 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 366 | } |
Lightvalve | 173:68c7914679ec | 367 | } |
Lightvalve | 173:68c7914679ec | 368 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 369 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 178:1074553d2f6f | 370 | output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 371 | } |
Lightvalve | 178:1074553d2f6f | 372 | output2[index2] = output2[index2] + ba2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 373 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 374 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 375 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 376 | } |
Lightvalve | 173:68c7914679ec | 377 | } |
Lightvalve | 173:68c7914679ec | 378 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 379 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 178:1074553d2f6f | 380 | output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 381 | } |
Lightvalve | 178:1074553d2f6f | 382 | hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 383 | } |
Lightvalve | 178:1074553d2f6f | 384 | |
Lightvalve | 178:1074553d2f6f | 385 | mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus |
Lightvalve | 178:1074553d2f6f | 386 | deviation_before_SP = output[1] + ba3_temp[1]; |
Lightvalve | 173:68c7914679ec | 387 | //Softplus |
Lightvalve | 173:68c7914679ec | 388 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 389 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 179:d5377766d7ea | 390 | logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 391 | logging4 = deviation; |
Lightvalve | 173:68c7914679ec | 392 | } |
Lightvalve | 173:68c7914679ec | 393 | |
Lightvalve | 173:68c7914679ec | 394 | |
Lightvalve | 173:68c7914679ec | 395 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 396 | { |
Lightvalve | 173:68c7914679ec | 397 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 398 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 399 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 400 | |
Lightvalve | 173:68c7914679ec | 401 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 402 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 403 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 404 | } |
Lightvalve | 170:42c938a40313 | 405 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 406 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 407 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 408 | } |
Lightvalve | 170:42c938a40313 | 409 | } |
Lightvalve | 173:68c7914679ec | 410 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 411 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 412 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 413 | } |
Lightvalve | 173:68c7914679ec | 414 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 415 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 416 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 417 | } |
Lightvalve | 170:42c938a40313 | 418 | } |
Lightvalve | 170:42c938a40313 | 419 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 420 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 421 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 422 | } |
Lightvalve | 170:42c938a40313 | 423 | } |
Lightvalve | 173:68c7914679ec | 424 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 425 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 426 | //Softplus |
Lightvalve | 173:68c7914679ec | 427 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 428 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 429 | } |
Lightvalve | 170:42c938a40313 | 430 | |
Lightvalve | 170:42c938a40313 | 431 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 432 | { |
Lightvalve | 170:42c938a40313 | 433 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 434 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 435 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 436 | } |
Lightvalve | 170:42c938a40313 | 437 | |
Lightvalve | 170:42c938a40313 | 438 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 439 | { |
Lightvalve | 170:42c938a40313 | 440 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 441 | 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 | 442 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 443 | } |
Lightvalve | 170:42c938a40313 | 444 | |
Lightvalve | 173:68c7914679ec | 445 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 446 | { |
Lightvalve | 173:68c7914679ec | 447 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 448 | return x; |
Lightvalve | 173:68c7914679ec | 449 | } else { |
Lightvalve | 173:68c7914679ec | 450 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 451 | } |
Lightvalve | 173:68c7914679ec | 452 | } |
Lightvalve | 173:68c7914679ec | 453 | |
Lightvalve | 170:42c938a40313 | 454 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 455 | { |
Lightvalve | 173:68c7914679ec | 456 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 177:8e9cf31d63f4 | 457 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 458 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 459 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 460 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 461 | float d_V_d_hc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 462 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 463 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 464 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 465 | d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 466 | } |
Lightvalve | 173:68c7914679ec | 467 | } |
Lightvalve | 170:42c938a40313 | 468 | } |
Lightvalve | 177:8e9cf31d63f4 | 469 | G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); |
Lightvalve | 170:42c938a40313 | 470 | } |
Lightvalve | 170:42c938a40313 | 471 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 472 | if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 473 | else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 474 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 475 | } |
Lightvalve | 173:68c7914679ec | 476 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 477 | float d_V_d_bc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 478 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 479 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 480 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 481 | d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 482 | } |
Lightvalve | 173:68c7914679ec | 483 | } |
Lightvalve | 173:68c7914679ec | 484 | } |
Lightvalve | 177:8e9cf31d63f4 | 485 | G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); |
Lightvalve | 173:68c7914679ec | 486 | } |
Lightvalve | 173:68c7914679ec | 487 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 488 | if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 489 | else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 490 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 491 | } |
Lightvalve | 173:68c7914679ec | 492 | |
Lightvalve | 175:2f7289dbd488 | 493 | |
Lightvalve | 173:68c7914679ec | 494 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 495 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 496 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 497 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 498 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 499 | float d_V_d_hc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 500 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 501 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 502 | d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 503 | } |
Lightvalve | 173:68c7914679ec | 504 | } |
Lightvalve | 177:8e9cf31d63f4 | 505 | G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); |
Lightvalve | 173:68c7914679ec | 506 | } |
Lightvalve | 173:68c7914679ec | 507 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 508 | if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 509 | else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 510 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 511 | } |
Lightvalve | 173:68c7914679ec | 512 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 513 | float d_V_d_bc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 514 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 515 | d_V_d_bc2 = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 516 | } |
Lightvalve | 177:8e9cf31d63f4 | 517 | G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); |
Lightvalve | 173:68c7914679ec | 518 | } |
Lightvalve | 173:68c7914679ec | 519 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 520 | if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 521 | else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 522 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 523 | } |
Lightvalve | 173:68c7914679ec | 524 | |
Lightvalve | 173:68c7914679ec | 525 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 526 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 527 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 528 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 529 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 530 | float d_V_d_hc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 531 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 532 | d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 533 | } |
Lightvalve | 177:8e9cf31d63f4 | 534 | G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); |
Lightvalve | 173:68c7914679ec | 535 | } |
Lightvalve | 173:68c7914679ec | 536 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 179:d5377766d7ea | 537 | if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 538 | else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 539 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 540 | } |
Lightvalve | 173:68c7914679ec | 541 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 542 | float d_V_d_bc3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 543 | d_V_d_bc3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 544 | G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); |
Lightvalve | 173:68c7914679ec | 545 | } |
Lightvalve | 173:68c7914679ec | 546 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 179:d5377766d7ea | 547 | if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 548 | else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 549 | //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 173:68c7914679ec | 550 | } |
Lightvalve | 173:68c7914679ec | 551 | |
Lightvalve | 173:68c7914679ec | 552 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 553 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 554 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 555 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 556 | } |
Lightvalve | 179:d5377766d7ea | 557 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 558 | } |
Lightvalve | 173:68c7914679ec | 559 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 560 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 561 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 562 | } |
Lightvalve | 179:d5377766d7ea | 563 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 564 | } |
Lightvalve | 170:42c938a40313 | 565 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 566 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 567 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 568 | } |
Lightvalve | 179:d5377766d7ea | 569 | bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 170:42c938a40313 | 570 | } |
Lightvalve | 170:42c938a40313 | 571 | } |
Lightvalve | 170:42c938a40313 | 572 | |
Lightvalve | 173:68c7914679ec | 573 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 574 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 575 | { |
Lightvalve | 218:066030f7951f | 576 | |
Lightvalve | 173:68c7914679ec | 577 | |
Lightvalve | 173:68c7914679ec | 578 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 579 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 580 | |
Lightvalve | 173:68c7914679ec | 581 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 582 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 583 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 584 | float d_x_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 585 | float d_y_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 586 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 587 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 588 | } else { |
Lightvalve | 173:68c7914679ec | 589 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 590 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 591 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 592 | d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 593 | d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 594 | } |
Lightvalve | 171:bfc1fd2629d8 | 595 | } |
Lightvalve | 170:42c938a40313 | 596 | } |
Lightvalve | 170:42c938a40313 | 597 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 598 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 599 | 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 | 600 | 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 | 601 | |
Lightvalve | 173:68c7914679ec | 602 | 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 | 603 | } |
Lightvalve | 170:42c938a40313 | 604 | } |
Lightvalve | 176:589ea3edcf3c | 605 | G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 606 | if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 607 | else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 608 | //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 609 | } |
Lightvalve | 173:68c7914679ec | 610 | |
Lightvalve | 173:68c7914679ec | 611 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 612 | float d_x_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 613 | float d_y_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 614 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 615 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 616 | } else { |
Lightvalve | 173:68c7914679ec | 617 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 618 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 619 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 620 | d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 621 | d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 622 | } |
Lightvalve | 171:bfc1fd2629d8 | 623 | } |
Lightvalve | 170:42c938a40313 | 624 | } |
Lightvalve | 170:42c938a40313 | 625 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 626 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 627 | 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 | 628 | 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 | 629 | |
Lightvalve | 173:68c7914679ec | 630 | 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 | 631 | } |
Lightvalve | 170:42c938a40313 | 632 | } |
Lightvalve | 176:589ea3edcf3c | 633 | G_ba1[index2] = -G_ba1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 634 | if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 635 | else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 636 | //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 637 | } |
Lightvalve | 170:42c938a40313 | 638 | |
Lightvalve | 173:68c7914679ec | 639 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 640 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 641 | |
Lightvalve | 173:68c7914679ec | 642 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 643 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 644 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 645 | float d_x_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 646 | float d_y_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 647 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 648 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 649 | } else { |
Lightvalve | 173:68c7914679ec | 650 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 651 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 652 | d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 653 | d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 654 | } |
Lightvalve | 170:42c938a40313 | 655 | } |
Lightvalve | 173:68c7914679ec | 656 | |
Lightvalve | 170:42c938a40313 | 657 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 658 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 659 | 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 | 660 | 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 | 661 | |
Lightvalve | 173:68c7914679ec | 662 | 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 | 663 | } |
Lightvalve | 170:42c938a40313 | 664 | } |
Lightvalve | 176:589ea3edcf3c | 665 | G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 666 | if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 667 | else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 668 | //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 669 | } |
Lightvalve | 173:68c7914679ec | 670 | |
Lightvalve | 173:68c7914679ec | 671 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 672 | float d_x_d_ba2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 673 | float d_y_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 674 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 675 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 676 | } else { |
Lightvalve | 170:42c938a40313 | 677 | |
Lightvalve | 173:68c7914679ec | 678 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 679 | d_x_d_ba2 = ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 680 | d_y_d_ba2 = ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 681 | } |
Lightvalve | 173:68c7914679ec | 682 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 683 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 684 | 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 | 685 | 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 | 686 | |
Lightvalve | 173:68c7914679ec | 687 | 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 | 688 | } |
Lightvalve | 170:42c938a40313 | 689 | } |
Lightvalve | 176:589ea3edcf3c | 690 | G_ba2[index2] = -G_ba2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 691 | if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 692 | else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 693 | //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 694 | } |
Lightvalve | 173:68c7914679ec | 695 | |
Lightvalve | 173:68c7914679ec | 696 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 697 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 698 | |
Lightvalve | 173:68c7914679ec | 699 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 700 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 701 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 702 | float d_x_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 703 | float d_y_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 704 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 705 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 706 | } else { |
Lightvalve | 173:68c7914679ec | 707 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 708 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 709 | d_x_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 177:8e9cf31d63f4 | 710 | d_y_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 711 | } |
Lightvalve | 173:68c7914679ec | 712 | } |
Lightvalve | 173:68c7914679ec | 713 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 714 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 715 | 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 | 716 | 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 | 717 | |
Lightvalve | 173:68c7914679ec | 718 | 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 | 719 | } |
Lightvalve | 173:68c7914679ec | 720 | } |
Lightvalve | 176:589ea3edcf3c | 721 | G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 722 | if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 723 | else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 724 | //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 725 | } |
Lightvalve | 173:68c7914679ec | 726 | |
Lightvalve | 173:68c7914679ec | 727 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 728 | float d_x_d_ba3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 729 | float d_y_d_ba3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 730 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 731 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 732 | } else { |
Lightvalve | 173:68c7914679ec | 733 | |
Lightvalve | 177:8e9cf31d63f4 | 734 | d_x_d_ba3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 735 | d_y_d_ba3 = 1.0f; |
Lightvalve | 173:68c7914679ec | 736 | |
Lightvalve | 173:68c7914679ec | 737 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 738 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 739 | 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 | 740 | 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 | 741 | |
Lightvalve | 173:68c7914679ec | 742 | 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 | 743 | } |
Lightvalve | 173:68c7914679ec | 744 | } |
Lightvalve | 176:589ea3edcf3c | 745 | G_ba3[index2] = -G_ba3[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 746 | if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 747 | else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 748 | //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 175:2f7289dbd488 | 749 | } |
Lightvalve | 177:8e9cf31d63f4 | 750 | |
Lightvalve | 175:2f7289dbd488 | 751 | // Simultaneous Update |
Lightvalve | 175:2f7289dbd488 | 752 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 175:2f7289dbd488 | 753 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 754 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 755 | } |
Lightvalve | 179:d5377766d7ea | 756 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 175:2f7289dbd488 | 757 | } |
Lightvalve | 175:2f7289dbd488 | 758 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 759 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 760 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 761 | } |
Lightvalve | 179:d5377766d7ea | 762 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 175:2f7289dbd488 | 763 | } |
Lightvalve | 175:2f7289dbd488 | 764 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 765 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 766 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 767 | } |
Lightvalve | 179:d5377766d7ea | 768 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 769 | } |
Lightvalve | 170:42c938a40313 | 770 | } |
Lightvalve | 170:42c938a40313 | 771 | |
Lightvalve | 170:42c938a40313 | 772 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 773 | { |
Lightvalve | 170:42c938a40313 | 774 | //Box muller method |
Lightvalve | 170:42c938a40313 | 775 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 776 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 777 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 778 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 779 | do { |
Lightvalve | 170:42c938a40313 | 780 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 781 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 782 | |
Lightvalve | 170:42c938a40313 | 783 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 784 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 785 | { |
Lightvalve | 170:42c938a40313 | 786 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 787 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 788 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 789 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 790 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 791 | return result; |
Lightvalve | 170:42c938a40313 | 792 | } |
Lightvalve | 170:42c938a40313 | 793 | } else { |
Lightvalve | 170:42c938a40313 | 794 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 795 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 796 | } |
Lightvalve | 170:42c938a40313 | 797 | } |
Lightvalve | 170:42c938a40313 | 798 | |
Lightvalve | 179:d5377766d7ea | 799 | float mean_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 800 | { |
Lightvalve | 179:d5377766d7ea | 801 | float add = 0.0f; |
Lightvalve | 179:d5377766d7ea | 802 | float result; |
Lightvalve | 218:066030f7951f | 803 | |
Lightvalve | 218:066030f7951f | 804 | for (int i=0; i<size; i++) { |
Lightvalve | 179:d5377766d7ea | 805 | add += x[i]; |
Lightvalve | 179:d5377766d7ea | 806 | } |
Lightvalve | 179:d5377766d7ea | 807 | result = (float) add/size; |
Lightvalve | 179:d5377766d7ea | 808 | return result; |
Lightvalve | 179:d5377766d7ea | 809 | } |
Lightvalve | 179:d5377766d7ea | 810 | float deviation_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 811 | { |
Lightvalve | 179:d5377766d7ea | 812 | float sigma = 0.0f; |
Lightvalve | 179:d5377766d7ea | 813 | float resultDeb = 0.0f; |
Lightvalve | 218:066030f7951f | 814 | |
Lightvalve | 218:066030f7951f | 815 | for (int k=0; k<size; k++) { |
Lightvalve | 179:d5377766d7ea | 816 | sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1); |
Lightvalve | 179:d5377766d7ea | 817 | resultDeb += sqrt(sigma); |
Lightvalve | 179:d5377766d7ea | 818 | } |
Lightvalve | 179:d5377766d7ea | 819 | return resultDeb; |
Lightvalve | 218:066030f7951f | 820 | } |
Lightvalve | 218:066030f7951f | 821 | |
Lightvalve | 173:68c7914679ec | 822 | |
Lightvalve | 170:42c938a40313 | 823 | void Overwirte_Critic_Networks() |
Lightvalve | 170:42c938a40313 | 824 | { |
Lightvalve | 173:68c7914679ec | 825 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 826 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 827 | hc1[index1][index2] = hc1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 828 | } |
Lightvalve | 170:42c938a40313 | 829 | bc1[index2] = bc1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 830 | } |
Lightvalve | 173:68c7914679ec | 831 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 832 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 833 | hc2[index1][index2] = hc2_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 834 | } |
Lightvalve | 173:68c7914679ec | 835 | bc2[index2] = bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 836 | hc3[index2] = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 837 | } |
Lightvalve | 173:68c7914679ec | 838 | bc3 = bc3_temp; |
Lightvalve | 170:42c938a40313 | 839 | } |
Lightvalve | 170:42c938a40313 | 840 | void Overwirte_Actor_Networks() |
Lightvalve | 170:42c938a40313 | 841 | { |
Lightvalve | 173:68c7914679ec | 842 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 843 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 844 | ha1[index1][index2] = ha1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 845 | } |
Lightvalve | 170:42c938a40313 | 846 | ba1[index2] = ba1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 847 | } |
Lightvalve | 173:68c7914679ec | 848 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 849 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 170:42c938a40313 | 850 | ha2[index1][index2] = ha2_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 851 | } |
Lightvalve | 170:42c938a40313 | 852 | ba2[index2] = ba2_temp[index2]; |
Lightvalve | 170:42c938a40313 | 853 | } |
Lightvalve | 173:68c7914679ec | 854 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 855 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 856 | ha3[index1][index2] = ha3_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 857 | } |
Lightvalve | 173:68c7914679ec | 858 | ba3[index2] = ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 859 | } |
Lightvalve | 170:42c938a40313 | 860 | } |
Lightvalve | 170:42c938a40313 | 861 | |
Lightvalve | 170:42c938a40313 | 862 | |
GiJeongKim | 0:51c43836c1d7 | 863 | int main() |
GiJeongKim | 0:51c43836c1d7 | 864 | { |
Lightvalve | 66:a8e6799dbce3 | 865 | |
Lightvalve | 65:a2d7c63419c2 | 866 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 867 | SystemClock_Config(); |
Lightvalve | 169:645207e160ca | 868 | |
jobuuu | 6:df07d3491e3a | 869 | /********************************* |
jobuuu | 1:e04e563be5ce | 870 | *** Initialization |
jobuuu | 6:df07d3491e3a | 871 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 872 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 873 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 874 | |
GiJeongKim | 0:51c43836c1d7 | 875 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 876 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 877 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 878 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 879 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 880 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 881 | |
GiJeongKim | 0:51c43836c1d7 | 882 | // // spi init |
Lightvalve | 170:42c938a40313 | 883 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 884 | eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 885 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 886 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 887 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 888 | |
Lightvalve | 16:903b5a4433b4 | 889 | //rom |
Lightvalve | 19:23b7c1ad8683 | 890 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 891 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 892 | |
GiJeongKim | 0:51c43836c1d7 | 893 | // ADC init |
jobuuu | 5:a4319f79457b | 894 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 895 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 896 | |
GiJeongKim | 0:51c43836c1d7 | 897 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 898 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 899 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 900 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 901 | |
Lightvalve | 11:82d8768d7351 | 902 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 903 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 904 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 905 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 906 | |
Lightvalve | 50:3c630b5eba9f | 907 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 908 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 909 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 910 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 911 | |
GiJeongKim | 0:51c43836c1d7 | 912 | // CAN |
jobuuu | 2:a1c0a37df760 | 913 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 914 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 915 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 916 | |
Lightvalve | 23:59218d4a256d | 917 | //Timer priority |
Lightvalve | 23:59218d4a256d | 918 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 919 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 920 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 921 | |
Lightvalve | 23:59218d4a256d | 922 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 923 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 924 | |
GiJeongKim | 0:51c43836c1d7 | 925 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 926 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 927 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 928 | |
Lightvalve | 11:82d8768d7351 | 929 | //DAC init |
Lightvalve | 58:2eade98630e2 | 930 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 931 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 932 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 933 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 934 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 935 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 936 | } |
Lightvalve | 11:82d8768d7351 | 937 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 938 | |
Lightvalve | 19:23b7c1ad8683 | 939 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 940 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 941 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 942 | else |
Lightvalve | 38:118df027d851 | 943 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 944 | } |
Lightvalve | 169:645207e160ca | 945 | |
Lightvalve | 173:68c7914679ec | 946 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 947 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 948 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; |
Lightvalve | 170:42c938a40313 | 949 | } |
Lightvalve | 179:d5377766d7ea | 950 | bc1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 951 | } |
Lightvalve | 173:68c7914679ec | 952 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 953 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 954 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 955 | } |
Lightvalve | 179:d5377766d7ea | 956 | bc2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 179:d5377766d7ea | 957 | hc3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 958 | } |
Lightvalve | 179:d5377766d7ea | 959 | bc3_temp = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 960 | |
Lightvalve | 173:68c7914679ec | 961 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 962 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 963 | ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 964 | } |
Lightvalve | 179:d5377766d7ea | 965 | ba1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 966 | } |
Lightvalve | 173:68c7914679ec | 967 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 968 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 969 | ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 970 | } |
Lightvalve | 179:d5377766d7ea | 971 | ba2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 972 | } |
Lightvalve | 170:42c938a40313 | 973 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 974 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 975 | ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 976 | } |
Lightvalve | 179:d5377766d7ea | 977 | ba3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 978 | } |
Lightvalve | 171:bfc1fd2629d8 | 979 | |
Lightvalve | 170:42c938a40313 | 980 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 981 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 982 | |
jobuuu | 6:df07d3491e3a | 983 | /************************************ |
jobuuu | 1:e04e563be5ce | 984 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 985 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 986 | while(1) { |
Lightvalve | 169:645207e160ca | 987 | |
Lightvalve | 171:bfc1fd2629d8 | 988 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 989 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 990 | // 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 | 991 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 992 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 993 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 994 | // } |
Lightvalve | 169:645207e160ca | 995 | |
Lightvalve | 171:bfc1fd2629d8 | 996 | |
Lightvalve | 171:bfc1fd2629d8 | 997 | //i2c |
Lightvalve | 180:02be1711ee0b | 998 | read_field(i2c_slave_addr1); |
Lightvalve | 180:02be1711ee0b | 999 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 1000 | |
Lightvalve | 177:8e9cf31d63f4 | 1001 | //timer_while ++; |
Lightvalve | 169:645207e160ca | 1002 | |
Lightvalve | 170:42c938a40313 | 1003 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1004 | |
Lightvalve | 73:f80dc3970c99 | 1005 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1006 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1007 | } |
Lightvalve | 169:645207e160ca | 1008 | |
Lightvalve | 73:f80dc3970c99 | 1009 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1010 | |
Lightvalve | 162:9dd4f35e9de8 | 1011 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1012 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1013 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1014 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1015 | } |
Lightvalve | 162:9dd4f35e9de8 | 1016 | |
Lightvalve | 162:9dd4f35e9de8 | 1017 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1018 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1019 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1020 | } |
Lightvalve | 162:9dd4f35e9de8 | 1021 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1022 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1023 | |
Lightvalve | 162:9dd4f35e9de8 | 1024 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1025 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1026 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1027 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1028 | |
Lightvalve | 162:9dd4f35e9de8 | 1029 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1030 | // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 208:408f9f15c486 | 1031 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1032 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1033 | } |
Lightvalve | 208:408f9f15c486 | 1034 | // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1035 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1036 | ind = ind + 1; |
Lightvalve | 238:e4bda4d06a7d | 1037 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1038 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1039 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; |
Lightvalve | 206:2e4d0c287578 | 1040 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 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 | 48:889798ff9329 | 1396 | |
Lightvalve | 11:82d8768d7351 | 1397 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1398 | { |
Lightvalve | 19:23b7c1ad8683 | 1399 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1400 | |
Lightvalve | 57:f4819de54e7a | 1401 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1402 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1403 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1404 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1405 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1406 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1407 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1408 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1409 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1410 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1411 | } |
Lightvalve | 50:3c630b5eba9f | 1412 | |
Lightvalve | 50:3c630b5eba9f | 1413 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1414 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1415 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1416 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1417 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1418 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1419 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1420 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1421 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1422 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1423 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1424 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1425 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1426 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1427 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1428 | } else { |
Lightvalve | 58:2eade98630e2 | 1429 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1430 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1431 | } |
Lightvalve | 45:35fa6884d0c6 | 1432 | |
Lightvalve | 50:3c630b5eba9f | 1433 | |
Lightvalve | 57:f4819de54e7a | 1434 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1435 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1436 | |
Lightvalve | 57:f4819de54e7a | 1437 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1438 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1439 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1440 | } else { |
Lightvalve | 57:f4819de54e7a | 1441 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1442 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1443 | } |
Lightvalve | 56:6f50d9d3bfee | 1444 | |
Lightvalve | 56:6f50d9d3bfee | 1445 | |
Lightvalve | 56:6f50d9d3bfee | 1446 | |
Lightvalve | 57:f4819de54e7a | 1447 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1448 | |
Lightvalve | 57:f4819de54e7a | 1449 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1450 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1451 | break; |
Lightvalve | 13:747daba9cf59 | 1452 | } |
Lightvalve | 14:8e7590227d22 | 1453 | |
Lightvalve | 14:8e7590227d22 | 1454 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1455 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1456 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1457 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1458 | |
Lightvalve | 14:8e7590227d22 | 1459 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1460 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1461 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1462 | |
Lightvalve | 84:c355d3e52bf1 | 1463 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1464 | |
Lightvalve | 30:8d561f16383b | 1465 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1466 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1467 | |
Lightvalve | 16:903b5a4433b4 | 1468 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1469 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1470 | } |
Lightvalve | 13:747daba9cf59 | 1471 | } else { |
Lightvalve | 58:2eade98630e2 | 1472 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1473 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1474 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1475 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1476 | |
Lightvalve | 170:42c938a40313 | 1477 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1478 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1479 | |
Lightvalve | 30:8d561f16383b | 1480 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1481 | |
Lightvalve | 13:747daba9cf59 | 1482 | } |
Lightvalve | 14:8e7590227d22 | 1483 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1484 | break; |
Lightvalve | 19:23b7c1ad8683 | 1485 | } |
Lightvalve | 14:8e7590227d22 | 1486 | |
Lightvalve | 50:3c630b5eba9f | 1487 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1488 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1489 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1490 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1491 | // } |
Lightvalve | 50:3c630b5eba9f | 1492 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1493 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1494 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1495 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1496 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1497 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1498 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1499 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1500 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1501 | // } |
Lightvalve | 50:3c630b5eba9f | 1502 | // |
Lightvalve | 50:3c630b5eba9f | 1503 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1504 | // 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 | 1505 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1506 | // |
Lightvalve | 50:3c630b5eba9f | 1507 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1508 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1509 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1510 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1511 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1512 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1513 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1514 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1515 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1516 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1517 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1518 | // |
Lightvalve | 50:3c630b5eba9f | 1519 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1520 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1521 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1522 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1523 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1524 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1525 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1526 | // |
Lightvalve | 50:3c630b5eba9f | 1527 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1528 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1529 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1530 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1531 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1532 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1533 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1534 | // } |
Lightvalve | 50:3c630b5eba9f | 1535 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1536 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1537 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1538 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1539 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1540 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1541 | // } |
Lightvalve | 50:3c630b5eba9f | 1542 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1543 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1544 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1545 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1546 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1547 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1548 | // } |
Lightvalve | 50:3c630b5eba9f | 1549 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1550 | // |
Lightvalve | 50:3c630b5eba9f | 1551 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1552 | // |
Lightvalve | 50:3c630b5eba9f | 1553 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1554 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1555 | // |
Lightvalve | 50:3c630b5eba9f | 1556 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1557 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1558 | // } |
Lightvalve | 50:3c630b5eba9f | 1559 | // } |
Lightvalve | 50:3c630b5eba9f | 1560 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1561 | // break; |
Lightvalve | 50:3c630b5eba9f | 1562 | // } |
Lightvalve | 14:8e7590227d22 | 1563 | |
Lightvalve | 14:8e7590227d22 | 1564 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1565 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1566 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1567 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1568 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1569 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1570 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1571 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1572 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1573 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1574 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1575 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1576 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1577 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1578 | } |
Lightvalve | 29:69f3f5445d6d | 1579 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1580 | |
Lightvalve | 29:69f3f5445d6d | 1581 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1582 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1583 | } else { |
Lightvalve | 29:69f3f5445d6d | 1584 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1585 | } |
Lightvalve | 19:23b7c1ad8683 | 1586 | |
Lightvalve | 57:f4819de54e7a | 1587 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1588 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1589 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1590 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1591 | |
Lightvalve | 59:f308b1656d9c | 1592 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1593 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1594 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1595 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1596 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1597 | |
Lightvalve | 59:f308b1656d9c | 1598 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1599 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1600 | |
Lightvalve | 34:bb2ca2fc2a8e | 1601 | |
Lightvalve | 29:69f3f5445d6d | 1602 | } else { |
Lightvalve | 29:69f3f5445d6d | 1603 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1604 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1605 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1606 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1607 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1608 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1609 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1610 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1611 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1612 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1613 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1614 | |
Lightvalve | 67:c2812cf26c38 | 1615 | |
Lightvalve | 67:c2812cf26c38 | 1616 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1617 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1618 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1619 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1620 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1621 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1622 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1623 | |
Lightvalve | 169:645207e160ca | 1624 | |
Lightvalve | 29:69f3f5445d6d | 1625 | } |
Lightvalve | 29:69f3f5445d6d | 1626 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1627 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1628 | 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 | 1629 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1630 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1631 | |
Lightvalve | 29:69f3f5445d6d | 1632 | // input for position control |
Lightvalve | 169:645207e160ca | 1633 | |
Lightvalve | 67:c2812cf26c38 | 1634 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1635 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1636 | |
Lightvalve | 67:c2812cf26c38 | 1637 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1638 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1639 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1640 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1641 | |
Lightvalve | 67:c2812cf26c38 | 1642 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1643 | |
Lightvalve | 67:c2812cf26c38 | 1644 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1645 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1646 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1647 | |
Lightvalve | 67:c2812cf26c38 | 1648 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1649 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1650 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1651 | |
Lightvalve | 69:3995ffeaa786 | 1652 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1653 | 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 | 1654 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1655 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1656 | 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 | 1657 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1658 | } |
Lightvalve | 67:c2812cf26c38 | 1659 | 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 | 1660 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1661 | |
Lightvalve | 67:c2812cf26c38 | 1662 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1663 | |
Lightvalve | 67:c2812cf26c38 | 1664 | |
Lightvalve | 67:c2812cf26c38 | 1665 | |
Lightvalve | 67:c2812cf26c38 | 1666 | } else { |
Lightvalve | 67:c2812cf26c38 | 1667 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1668 | 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 | 1669 | |
Lightvalve | 67:c2812cf26c38 | 1670 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1671 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1672 | } else { |
Lightvalve | 67:c2812cf26c38 | 1673 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1674 | } |
Lightvalve | 67:c2812cf26c38 | 1675 | |
Lightvalve | 67:c2812cf26c38 | 1676 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1677 | |
Lightvalve | 67:c2812cf26c38 | 1678 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1679 | |
Lightvalve | 67:c2812cf26c38 | 1680 | } |
Lightvalve | 67:c2812cf26c38 | 1681 | |
Lightvalve | 67:c2812cf26c38 | 1682 | |
Lightvalve | 169:645207e160ca | 1683 | |
Lightvalve | 169:645207e160ca | 1684 | |
Lightvalve | 59:f308b1656d9c | 1685 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1686 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1687 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1688 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1689 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1690 | |
Lightvalve | 29:69f3f5445d6d | 1691 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1692 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1693 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1694 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1695 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1696 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1697 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1698 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1699 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1700 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1701 | } |
Lightvalve | 13:747daba9cf59 | 1702 | } |
Lightvalve | 19:23b7c1ad8683 | 1703 | |
Lightvalve | 13:747daba9cf59 | 1704 | break; |
Lightvalve | 13:747daba9cf59 | 1705 | } |
Lightvalve | 14:8e7590227d22 | 1706 | |
Lightvalve | 50:3c630b5eba9f | 1707 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1708 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1709 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1710 | // else { |
Lightvalve | 50:3c630b5eba9f | 1711 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1712 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1713 | // } |
Lightvalve | 50:3c630b5eba9f | 1714 | // } |
Lightvalve | 50:3c630b5eba9f | 1715 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1716 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1717 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1718 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1719 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1720 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1721 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1722 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1723 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1724 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1725 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1726 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1727 | // } |
Lightvalve | 50:3c630b5eba9f | 1728 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1729 | // } |
Lightvalve | 50:3c630b5eba9f | 1730 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1731 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1732 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1733 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1734 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1735 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1736 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1737 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1738 | // 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 | 1739 | // // 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 | 1740 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1741 | // } |
Lightvalve | 50:3c630b5eba9f | 1742 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1743 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1744 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1745 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1746 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1747 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1748 | // 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 | 1749 | // // 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 | 1750 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1751 | // } |
Lightvalve | 50:3c630b5eba9f | 1752 | // } |
Lightvalve | 50:3c630b5eba9f | 1753 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1754 | // |
Lightvalve | 50:3c630b5eba9f | 1755 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1756 | // |
Lightvalve | 50:3c630b5eba9f | 1757 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1758 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1759 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1760 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1761 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1762 | // } |
Lightvalve | 50:3c630b5eba9f | 1763 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1764 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1765 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1766 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1767 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1768 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1769 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1770 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1771 | // } |
Lightvalve | 50:3c630b5eba9f | 1772 | // |
Lightvalve | 50:3c630b5eba9f | 1773 | // } |
Lightvalve | 50:3c630b5eba9f | 1774 | // break; |
Lightvalve | 50:3c630b5eba9f | 1775 | // } |
Lightvalve | 50:3c630b5eba9f | 1776 | // |
Lightvalve | 50:3c630b5eba9f | 1777 | // } |
Lightvalve | 14:8e7590227d22 | 1778 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1779 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1780 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1781 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1782 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1783 | |
Lightvalve | 14:8e7590227d22 | 1784 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1785 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1786 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1787 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1788 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1789 | |
Lightvalve | 38:118df027d851 | 1790 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1791 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1792 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1793 | |
Lightvalve | 30:8d561f16383b | 1794 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1795 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1796 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1797 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1798 | |
Lightvalve | 30:8d561f16383b | 1799 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1800 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1801 | } |
Lightvalve | 13:747daba9cf59 | 1802 | } else { |
Lightvalve | 57:f4819de54e7a | 1803 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1804 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1805 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1806 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1807 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1808 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1809 | |
Lightvalve | 170:42c938a40313 | 1810 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1811 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1812 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1813 | |
Lightvalve | 30:8d561f16383b | 1814 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1815 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1816 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1817 | } |
Lightvalve | 14:8e7590227d22 | 1818 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1819 | break; |
Lightvalve | 13:747daba9cf59 | 1820 | } |
Lightvalve | 14:8e7590227d22 | 1821 | |
Lightvalve | 50:3c630b5eba9f | 1822 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1823 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1824 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1825 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1826 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1827 | // } |
Lightvalve | 50:3c630b5eba9f | 1828 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1829 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1830 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1831 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1832 | // } |
Lightvalve | 50:3c630b5eba9f | 1833 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1834 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1835 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1836 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1837 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1838 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1839 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1840 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1841 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1842 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1843 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1844 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1845 | // |
Lightvalve | 50:3c630b5eba9f | 1846 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1847 | // |
Lightvalve | 50:3c630b5eba9f | 1848 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1849 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1850 | // } |
Lightvalve | 50:3c630b5eba9f | 1851 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1852 | // break; |
Lightvalve | 50:3c630b5eba9f | 1853 | // } |
Lightvalve | 19:23b7c1ad8683 | 1854 | |
Lightvalve | 50:3c630b5eba9f | 1855 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1856 | // 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 | 1857 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1858 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1859 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1860 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1861 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1862 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1863 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1864 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1865 | // } |
Lightvalve | 50:3c630b5eba9f | 1866 | // break; |
Lightvalve | 50:3c630b5eba9f | 1867 | // } |
Lightvalve | 14:8e7590227d22 | 1868 | |
Lightvalve | 14:8e7590227d22 | 1869 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1870 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1871 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1872 | |
Lightvalve | 14:8e7590227d22 | 1873 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1874 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1875 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1876 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1877 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1878 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1879 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1880 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1881 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1882 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1883 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1884 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1885 | } else { |
Lightvalve | 13:747daba9cf59 | 1886 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1887 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1888 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1889 | } |
Lightvalve | 14:8e7590227d22 | 1890 | |
Lightvalve | 17:1865016ca2e7 | 1891 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1892 | int i; |
Lightvalve | 13:747daba9cf59 | 1893 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1894 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1895 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1896 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1897 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1898 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1899 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1900 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1901 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1902 | } |
Lightvalve | 13:747daba9cf59 | 1903 | } |
Lightvalve | 170:42c938a40313 | 1904 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1905 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1906 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1907 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1908 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1909 | } |
Lightvalve | 13:747daba9cf59 | 1910 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1911 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1912 | } |
Lightvalve | 14:8e7590227d22 | 1913 | |
Lightvalve | 14:8e7590227d22 | 1914 | |
Lightvalve | 13:747daba9cf59 | 1915 | break; |
Lightvalve | 13:747daba9cf59 | 1916 | } |
Lightvalve | 14:8e7590227d22 | 1917 | |
Lightvalve | 14:8e7590227d22 | 1918 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1919 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1920 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1921 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1922 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1923 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1924 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1925 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1926 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1927 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1928 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1929 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1930 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1931 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1932 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1933 | 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 | 1934 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1935 | 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 | 1936 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1937 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1938 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1939 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1940 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1941 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1942 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1943 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1944 | |
Lightvalve | 30:8d561f16383b | 1945 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1946 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1947 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1948 | |
Lightvalve | 30:8d561f16383b | 1949 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1950 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1951 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1952 | |
Lightvalve | 30:8d561f16383b | 1953 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1954 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1955 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1956 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1957 | |
Lightvalve | 60:64181f1d3e60 | 1958 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1959 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1960 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1961 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1962 | } else { |
Lightvalve | 13:747daba9cf59 | 1963 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1964 | } |
Lightvalve | 61:bc8c8270f0ab | 1965 | |
Lightvalve | 60:64181f1d3e60 | 1966 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1967 | |
Lightvalve | 13:747daba9cf59 | 1968 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1969 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1970 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1971 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1972 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1973 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1974 | |
Lightvalve | 13:747daba9cf59 | 1975 | } |
Lightvalve | 19:23b7c1ad8683 | 1976 | } else { |
Lightvalve | 14:8e7590227d22 | 1977 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1978 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1979 | 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 | 1980 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1981 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1982 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1983 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1984 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1985 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1986 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1987 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1988 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1989 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1990 | } |
Lightvalve | 14:8e7590227d22 | 1991 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1992 | |
Lightvalve | 30:8d561f16383b | 1993 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1994 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1995 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1996 | |
Lightvalve | 14:8e7590227d22 | 1997 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1998 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1999 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2000 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2001 | } else { |
Lightvalve | 13:747daba9cf59 | 2002 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2003 | } |
Lightvalve | 14:8e7590227d22 | 2004 | |
Lightvalve | 13:747daba9cf59 | 2005 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2006 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2007 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2008 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2009 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2010 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2011 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2012 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2013 | } |
Lightvalve | 13:747daba9cf59 | 2014 | } |
Lightvalve | 14:8e7590227d22 | 2015 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2016 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2017 | 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 | 2018 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2019 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2020 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2021 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2022 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2023 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2024 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2025 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2026 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2027 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2028 | } |
Lightvalve | 14:8e7590227d22 | 2029 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2030 | |
Lightvalve | 30:8d561f16383b | 2031 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2032 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2033 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2034 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2035 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2036 | |
Lightvalve | 14:8e7590227d22 | 2037 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2038 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2039 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2040 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2041 | } else { |
Lightvalve | 60:64181f1d3e60 | 2042 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2043 | } |
Lightvalve | 14:8e7590227d22 | 2044 | |
Lightvalve | 13:747daba9cf59 | 2045 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2046 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2047 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2048 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2049 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2050 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2051 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2052 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2053 | |
Lightvalve | 170:42c938a40313 | 2054 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2055 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2056 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2057 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2058 | |
Lightvalve | 60:64181f1d3e60 | 2059 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2060 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2061 | } |
Lightvalve | 13:747daba9cf59 | 2062 | } |
Lightvalve | 14:8e7590227d22 | 2063 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2064 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2065 | 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 | 2066 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2067 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2068 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2069 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2070 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2071 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2072 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2073 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2074 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2075 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2076 | } |
Lightvalve | 14:8e7590227d22 | 2077 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2078 | |
Lightvalve | 30:8d561f16383b | 2079 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2080 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2081 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2082 | |
Lightvalve | 14:8e7590227d22 | 2083 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2084 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2085 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2086 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2087 | } else { |
Lightvalve | 13:747daba9cf59 | 2088 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2089 | } |
Lightvalve | 13:747daba9cf59 | 2090 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2091 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2092 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2093 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2094 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2095 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2096 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2097 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2098 | } |
Lightvalve | 13:747daba9cf59 | 2099 | } |
Lightvalve | 14:8e7590227d22 | 2100 | } else { |
Lightvalve | 30:8d561f16383b | 2101 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2102 | 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 | 2103 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2104 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2105 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2106 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2107 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2108 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2109 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2110 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2111 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2112 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2113 | } |
Lightvalve | 14:8e7590227d22 | 2114 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2115 | |
Lightvalve | 30:8d561f16383b | 2116 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2117 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2118 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2119 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2120 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2121 | |
Lightvalve | 60:64181f1d3e60 | 2122 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2123 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2124 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2125 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2126 | } else { |
Lightvalve | 13:747daba9cf59 | 2127 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2128 | } |
Lightvalve | 14:8e7590227d22 | 2129 | |
Lightvalve | 13:747daba9cf59 | 2130 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2131 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2132 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2133 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2134 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2135 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2136 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2137 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2138 | |
Lightvalve | 170:42c938a40313 | 2139 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2140 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2141 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2142 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2143 | |
Lightvalve | 57:f4819de54e7a | 2144 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2145 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2146 | } |
Lightvalve | 13:747daba9cf59 | 2147 | } |
Lightvalve | 13:747daba9cf59 | 2148 | } |
Lightvalve | 14:8e7590227d22 | 2149 | } |
Lightvalve | 13:747daba9cf59 | 2150 | break; |
Lightvalve | 13:747daba9cf59 | 2151 | } |
Lightvalve | 14:8e7590227d22 | 2152 | |
Lightvalve | 14:8e7590227d22 | 2153 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2154 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2155 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2156 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2157 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2158 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2159 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2160 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2161 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2162 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2163 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2164 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2165 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2166 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2167 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2168 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2169 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2170 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2171 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2172 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2173 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2174 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2175 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2176 | } |
Lightvalve | 14:8e7590227d22 | 2177 | } else { |
Lightvalve | 30:8d561f16383b | 2178 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2179 | //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 | 2180 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2181 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2182 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2183 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2184 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2185 | |
Lightvalve | 14:8e7590227d22 | 2186 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2187 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2188 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2189 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2190 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2191 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2192 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2193 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2194 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2195 | } |
Lightvalve | 30:8d561f16383b | 2196 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2197 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2198 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2199 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2200 | } |
Lightvalve | 14:8e7590227d22 | 2201 | |
Lightvalve | 14:8e7590227d22 | 2202 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2203 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2204 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2205 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2206 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2207 | } |
Lightvalve | 13:747daba9cf59 | 2208 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2209 | |
Lightvalve | 13:747daba9cf59 | 2210 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2211 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2212 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2213 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2214 | } |
Lightvalve | 14:8e7590227d22 | 2215 | |
Lightvalve | 14:8e7590227d22 | 2216 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2217 | |
Lightvalve | 13:747daba9cf59 | 2218 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2219 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2220 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2221 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2222 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2223 | } |
Lightvalve | 13:747daba9cf59 | 2224 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2225 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2226 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2227 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2228 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2229 | } |
Lightvalve | 13:747daba9cf59 | 2230 | } |
Lightvalve | 13:747daba9cf59 | 2231 | break; |
Lightvalve | 13:747daba9cf59 | 2232 | } |
Lightvalve | 58:2eade98630e2 | 2233 | |
Lightvalve | 57:f4819de54e7a | 2234 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2235 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2236 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2237 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2238 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2239 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2240 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2241 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2242 | } |
Lightvalve | 57:f4819de54e7a | 2243 | break; |
Lightvalve | 57:f4819de54e7a | 2244 | } |
Lightvalve | 58:2eade98630e2 | 2245 | |
Lightvalve | 169:645207e160ca | 2246 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2247 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2248 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2249 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2250 | } else { |
Lightvalve | 169:645207e160ca | 2251 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2252 | } |
Lightvalve | 169:645207e160ca | 2253 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2254 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2255 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2256 | } else { |
Lightvalve | 169:645207e160ca | 2257 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2258 | } |
Lightvalve | 58:2eade98630e2 | 2259 | |
Lightvalve | 169:645207e160ca | 2260 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2261 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2262 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2263 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2264 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2265 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2266 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2267 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2268 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2269 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2270 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2271 | } |
Lightvalve | 169:645207e160ca | 2272 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2273 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2274 | |
Lightvalve | 169:645207e160ca | 2275 | } |
Lightvalve | 169:645207e160ca | 2276 | break; |
Lightvalve | 169:645207e160ca | 2277 | } |
Lightvalve | 169:645207e160ca | 2278 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2279 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2280 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2281 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2282 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2283 | // } |
Lightvalve | 169:645207e160ca | 2284 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2285 | // } |
Lightvalve | 169:645207e160ca | 2286 | |
Lightvalve | 169:645207e160ca | 2287 | break; |
Lightvalve | 169:645207e160ca | 2288 | } |
Lightvalve | 169:645207e160ca | 2289 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2290 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2291 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2292 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2293 | break; |
Lightvalve | 169:645207e160ca | 2294 | } |
Lightvalve | 170:42c938a40313 | 2295 | |
Lightvalve | 169:645207e160ca | 2296 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2297 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2298 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2299 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2300 | } else { |
Lightvalve | 169:645207e160ca | 2301 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2302 | } |
Lightvalve | 169:645207e160ca | 2303 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2304 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2305 | } else { |
Lightvalve | 169:645207e160ca | 2306 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2307 | } |
Lightvalve | 169:645207e160ca | 2308 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2309 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2310 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2311 | } else { |
Lightvalve | 169:645207e160ca | 2312 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2313 | } |
Lightvalve | 169:645207e160ca | 2314 | |
Lightvalve | 169:645207e160ca | 2315 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2316 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2317 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2318 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2319 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2320 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2321 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2322 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2323 | } |
Lightvalve | 169:645207e160ca | 2324 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2325 | // { |
Lightvalve | 169:645207e160ca | 2326 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2327 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2328 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2329 | // } |
Lightvalve | 170:42c938a40313 | 2330 | |
Lightvalve | 169:645207e160ca | 2331 | break; |
Lightvalve | 169:645207e160ca | 2332 | } |
Lightvalve | 57:f4819de54e7a | 2333 | |
Lightvalve | 57:f4819de54e7a | 2334 | default: |
Lightvalve | 57:f4819de54e7a | 2335 | break; |
Lightvalve | 57:f4819de54e7a | 2336 | } |
Lightvalve | 57:f4819de54e7a | 2337 | |
Lightvalve | 57:f4819de54e7a | 2338 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2339 | |
Lightvalve | 57:f4819de54e7a | 2340 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2341 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2342 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2343 | break; |
Lightvalve | 57:f4819de54e7a | 2344 | } |
Lightvalve | 57:f4819de54e7a | 2345 | |
Lightvalve | 57:f4819de54e7a | 2346 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2347 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 225:278b48b86f27 | 2348 | ////For Test LIMC////////////////////////////////////////// |
Lightvalve | 233:0a37cdd59651 | 2349 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 233:0a37cdd59651 | 2350 | // for(int i=0; i<9; i++){ |
Lightvalve | 233:0a37cdd59651 | 2351 | // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1]; |
Lightvalve | 233:0a37cdd59651 | 2352 | // } |
Lightvalve | 233:0a37cdd59651 | 2353 | // valve_ref_pos_buffer[9] = valve_pos.ref; |
Lightvalve | 233:0a37cdd59651 | 2354 | // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]); |
Lightvalve | 225:278b48b86f27 | 2355 | //////////////////////////////////////////////////////////// |
Lightvalve | 225:278b48b86f27 | 2356 | |
Lightvalve | 59:f308b1656d9c | 2357 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2358 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2359 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2360 | } else { |
Lightvalve | 67:c2812cf26c38 | 2361 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2362 | } |
Lightvalve | 57:f4819de54e7a | 2363 | break; |
Lightvalve | 57:f4819de54e7a | 2364 | } |
Lightvalve | 57:f4819de54e7a | 2365 | |
Lightvalve | 57:f4819de54e7a | 2366 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2367 | |
Lightvalve | 57:f4819de54e7a | 2368 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2369 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2370 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2371 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2372 | |
Lightvalve | 67:c2812cf26c38 | 2373 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2374 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2375 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2376 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2377 | |
Lightvalve | 139:15621998925b | 2378 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2379 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2380 | |
Lightvalve | 57:f4819de54e7a | 2381 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2382 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2383 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2384 | |
Lightvalve | 57:f4819de54e7a | 2385 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2386 | |
Lightvalve | 57:f4819de54e7a | 2387 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2388 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2389 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2390 | |
Lightvalve | 57:f4819de54e7a | 2391 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2392 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2393 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2394 | |
Lightvalve | 69:3995ffeaa786 | 2395 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2396 | 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 | 2397 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2398 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2399 | 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 | 2400 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2401 | } |
Lightvalve | 57:f4819de54e7a | 2402 | 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 | 2403 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2404 | |
Lightvalve | 57:f4819de54e7a | 2405 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2406 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2407 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2408 | // 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 | 2409 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2410 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2411 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2412 | 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 | 2413 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2414 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2415 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2416 | } |
Lightvalve | 57:f4819de54e7a | 2417 | 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 | 2418 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2419 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2420 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2421 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2422 | |
Lightvalve | 57:f4819de54e7a | 2423 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2424 | |
Lightvalve | 67:c2812cf26c38 | 2425 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2426 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2427 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2428 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2429 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2430 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2431 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2432 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2433 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2434 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2435 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2436 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2437 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2438 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2439 | } |
Lightvalve | 67:c2812cf26c38 | 2440 | } |
Lightvalve | 57:f4819de54e7a | 2441 | |
Lightvalve | 57:f4819de54e7a | 2442 | } else { |
Lightvalve | 57:f4819de54e7a | 2443 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2444 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2445 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2446 | |
Lightvalve | 209:ebc69d6ee6f1 | 2447 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 57:f4819de54e7a | 2448 | |
Lightvalve | 72:3436ce769b1e | 2449 | 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 | 2450 | |
Lightvalve | 72:3436ce769b1e | 2451 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2452 | |
Lightvalve | 169:645207e160ca | 2453 | |
Lightvalve | 72:3436ce769b1e | 2454 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2455 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2456 | } else { |
Lightvalve | 72:3436ce769b1e | 2457 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2458 | } |
Lightvalve | 57:f4819de54e7a | 2459 | |
Lightvalve | 57:f4819de54e7a | 2460 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2461 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2462 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2463 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2464 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2465 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2466 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2467 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2468 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2469 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2470 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2471 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2472 | } |
Lightvalve | 57:f4819de54e7a | 2473 | } |
Lightvalve | 61:bc8c8270f0ab | 2474 | |
Lightvalve | 57:f4819de54e7a | 2475 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2476 | |
Lightvalve | 67:c2812cf26c38 | 2477 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2478 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2479 | |
Lightvalve | 57:f4819de54e7a | 2480 | } |
Lightvalve | 169:645207e160ca | 2481 | |
Lightvalve | 72:3436ce769b1e | 2482 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2483 | |
Lightvalve | 133:22ab22818e01 | 2484 | |
Lightvalve | 57:f4819de54e7a | 2485 | break; |
Lightvalve | 57:f4819de54e7a | 2486 | } |
Lightvalve | 58:2eade98630e2 | 2487 | |
Lightvalve | 57:f4819de54e7a | 2488 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2489 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2490 | break; |
Lightvalve | 57:f4819de54e7a | 2491 | } |
Lightvalve | 169:645207e160ca | 2492 | |
Lightvalve | 138:a843f32ced33 | 2493 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2494 | |
Lightvalve | 169:645207e160ca | 2495 | |
Lightvalve | 139:15621998925b | 2496 | 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 | 2497 | float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 218:066030f7951f | 2498 | |
Lightvalve | 170:42c938a40313 | 2499 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2500 | |
Lightvalve | 218:066030f7951f | 2501 | //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 218:066030f7951f | 2502 | float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 169:645207e160ca | 2503 | |
Lightvalve | 138:a843f32ced33 | 2504 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2505 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2506 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2507 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2508 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2509 | } else { |
Lightvalve | 138:a843f32ced33 | 2510 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2511 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2512 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2513 | } else { |
Lightvalve | 138:a843f32ced33 | 2514 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2515 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2516 | } |
Lightvalve | 138:a843f32ced33 | 2517 | } |
Lightvalve | 138:a843f32ced33 | 2518 | float tau = 0.01f; |
Lightvalve | 142:43026242815a | 2519 | float K_valve = 0.0004f; |
Lightvalve | 169:645207e160ca | 2520 | |
Lightvalve | 138:a843f32ced33 | 2521 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2522 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2523 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2524 | } else { |
Lightvalve | 138:a843f32ced33 | 2525 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2526 | } |
Lightvalve | 138:a843f32ced33 | 2527 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2528 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2529 | |
Lightvalve | 139:15621998925b | 2530 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2531 | |
Lightvalve | 138:a843f32ced33 | 2532 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2533 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2534 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2535 | |
Lightvalve | 138:a843f32ced33 | 2536 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2537 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2538 | |
Lightvalve | 212:ec41f1449ef9 | 2539 | float k3 = 2000.0f; //2000 //20000 |
Lightvalve | 142:43026242815a | 2540 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2541 | float rho3 = 3.2f; |
Lightvalve | 212:ec41f1449ef9 | 2542 | float rho4 = 10000000.0f; //25000000.0f; |
Lightvalve | 218:066030f7951f | 2543 | float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2544 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2545 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2546 | |
Lightvalve | 139:15621998925b | 2547 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2548 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2549 | } else { |
Lightvalve | 139:15621998925b | 2550 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2551 | } |
Lightvalve | 169:645207e160ca | 2552 | |
Lightvalve | 138:a843f32ced33 | 2553 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2554 | x_4_des_old = x_4_des; |
Lightvalve | 212:ec41f1449ef9 | 2555 | float V_input = 0.0f; |
Lightvalve | 139:15621998925b | 2556 | V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; |
Lightvalve | 212:ec41f1449ef9 | 2557 | // //V_out LPF |
Lightvalve | 212:ec41f1449ef9 | 2558 | // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz |
Lightvalve | 212:ec41f1449ef9 | 2559 | // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out); |
Lightvalve | 212:ec41f1449ef9 | 2560 | |
Lightvalve | 218:066030f7951f | 2561 | // float rho_gamma = 5000.0f;//5000 for change //50000 for not change |
Lightvalve | 218:066030f7951f | 2562 | // float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); |
Lightvalve | 218:066030f7951f | 2563 | // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2564 | // |
Lightvalve | 218:066030f7951f | 2565 | // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f; |
Lightvalve | 218:066030f7951f | 2566 | // else if(gamma_hat < 100.0f) gamma_hat = 100.0f; |
Lightvalve | 218:066030f7951f | 2567 | |
Lightvalve | 218:066030f7951f | 2568 | float rho_a = 0.00001f; |
Lightvalve | 218:066030f7951f | 2569 | float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err); |
Lightvalve | 218:066030f7951f | 2570 | a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2571 | |
Lightvalve | 218:066030f7951f | 2572 | if(a_hat > -3000000.0f) a_hat = -3000000.0f; |
Lightvalve | 218:066030f7951f | 2573 | else if(a_hat < -30000000.0f) a_hat = -30000000.0f; |
Lightvalve | 218:066030f7951f | 2574 | |
Lightvalve | 169:645207e160ca | 2575 | break; |
Lightvalve | 138:a843f32ced33 | 2576 | } |
Lightvalve | 171:bfc1fd2629d8 | 2577 | |
Lightvalve | 170:42c938a40313 | 2578 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2579 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2580 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2581 | |
Lightvalve | 170:42c938a40313 | 2582 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2583 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2584 | |
Lightvalve | 170:42c938a40313 | 2585 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2586 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2587 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2588 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2589 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2590 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2591 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2592 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2593 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2594 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2595 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2596 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2597 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2598 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2599 | } |
Lightvalve | 173:68c7914679ec | 2600 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2601 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2602 | } |
Lightvalve | 173:68c7914679ec | 2603 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2604 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2605 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2606 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2607 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2608 | |
Lightvalve | 179:d5377766d7ea | 2609 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2610 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2611 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2612 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2613 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2614 | } |
Lightvalve | 171:bfc1fd2629d8 | 2615 | |
Lightvalve | 170:42c938a40313 | 2616 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2617 | |
Lightvalve | 170:42c938a40313 | 2618 | |
Lightvalve | 170:42c938a40313 | 2619 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2620 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2621 | batch++; |
Lightvalve | 170:42c938a40313 | 2622 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2623 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2624 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2625 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2626 | } |
Lightvalve | 170:42c938a40313 | 2627 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2628 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2629 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2630 | |
Lightvalve | 170:42c938a40313 | 2631 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2632 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2633 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2634 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2635 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2636 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2637 | } |
Lightvalve | 170:42c938a40313 | 2638 | } |
Lightvalve | 170:42c938a40313 | 2639 | } |
Lightvalve | 170:42c938a40313 | 2640 | |
Lightvalve | 170:42c938a40313 | 2641 | else { |
Lightvalve | 170:42c938a40313 | 2642 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2643 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2644 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2645 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2646 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2647 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2648 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2649 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2650 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2651 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2652 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2653 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2654 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2655 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2656 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2657 | } |
Lightvalve | 170:42c938a40313 | 2658 | |
Lightvalve | 170:42c938a40313 | 2659 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2660 | } |
Lightvalve | 170:42c938a40313 | 2661 | |
Lightvalve | 170:42c938a40313 | 2662 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2663 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2664 | |
Lightvalve | 170:42c938a40313 | 2665 | break; |
Lightvalve | 170:42c938a40313 | 2666 | } |
Lightvalve | 14:8e7590227d22 | 2667 | |
Lightvalve | 12:6f2531038ea4 | 2668 | default: |
Lightvalve | 12:6f2531038ea4 | 2669 | break; |
Lightvalve | 12:6f2531038ea4 | 2670 | } |
Lightvalve | 14:8e7590227d22 | 2671 | |
Lightvalve | 57:f4819de54e7a | 2672 | |
Lightvalve | 57:f4819de54e7a | 2673 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2674 | |
Lightvalve | 57:f4819de54e7a | 2675 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2676 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2677 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2678 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2679 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2680 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2681 | |
Lightvalve | 57:f4819de54e7a | 2682 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2683 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2684 | |
Lightvalve | 57:f4819de54e7a | 2685 | |
Lightvalve | 57:f4819de54e7a | 2686 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2687 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2688 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2689 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2690 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2691 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2692 | |
Lightvalve | 57:f4819de54e7a | 2693 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2694 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2695 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2696 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2697 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2698 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2699 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2700 | } |
Lightvalve | 57:f4819de54e7a | 2701 | |
Lightvalve | 57:f4819de54e7a | 2702 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2703 | |
Lightvalve | 67:c2812cf26c38 | 2704 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2705 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2706 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2707 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2708 | // 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 | 2709 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2710 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2711 | |
Lightvalve | 57:f4819de54e7a | 2712 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2713 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2714 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2715 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2716 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2717 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2718 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2719 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2720 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2721 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2722 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2723 | } |
Lightvalve | 57:f4819de54e7a | 2724 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2725 | } else { |
Lightvalve | 57:f4819de54e7a | 2726 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2727 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2728 | } |
Lightvalve | 57:f4819de54e7a | 2729 | |
Lightvalve | 57:f4819de54e7a | 2730 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2731 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2732 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2733 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2734 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2735 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2736 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2737 | |
Lightvalve | 57:f4819de54e7a | 2738 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2739 | |
Lightvalve | 57:f4819de54e7a | 2740 | } else { |
Lightvalve | 57:f4819de54e7a | 2741 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2742 | } |
Lightvalve | 57:f4819de54e7a | 2743 | |
Lightvalve | 57:f4819de54e7a | 2744 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2745 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2746 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2747 | |
Lightvalve | 57:f4819de54e7a | 2748 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2749 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2750 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2751 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2752 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2753 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2754 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2755 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2756 | |
Lightvalve | 89:a7b45368ea0f | 2757 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2758 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2759 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2760 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2761 | |
Lightvalve | 135:79885a39c161 | 2762 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2763 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2764 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2765 | } |
Lightvalve | 169:645207e160ca | 2766 | |
Lightvalve | 67:c2812cf26c38 | 2767 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2768 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2769 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2770 | |
jobuuu | 7:e9086c72bb22 | 2771 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2772 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2773 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2774 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2775 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2776 | } |
Lightvalve | 169:645207e160ca | 2777 | |
Lightvalve | 49:e7bcfc244d40 | 2778 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2779 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2780 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2781 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2782 | } |
Lightvalve | 49:e7bcfc244d40 | 2783 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2784 | |
Lightvalve | 19:23b7c1ad8683 | 2785 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2786 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2787 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2788 | |
Lightvalve | 30:8d561f16383b | 2789 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2790 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2791 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2792 | } else { |
jobuuu | 2:a1c0a37df760 | 2793 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2794 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2795 | } |
Lightvalve | 13:747daba9cf59 | 2796 | |
jobuuu | 1:e04e563be5ce | 2797 | //pwm |
Lightvalve | 30:8d561f16383b | 2798 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2799 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2800 | |
Lightvalve | 61:bc8c8270f0ab | 2801 | |
Lightvalve | 233:0a37cdd59651 | 2802 | |
Lightvalve | 233:0a37cdd59651 | 2803 | /* |
Lightvalve | 237:aa3863117889 | 2804 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 233:0a37cdd59651 | 2805 | |
Lightvalve | 54:647072f5307a | 2806 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2807 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2808 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2809 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2810 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2811 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2812 | 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 | 2813 | } |
Lightvalve | 57:f4819de54e7a | 2814 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2815 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2816 | 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 | 2817 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2818 | 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 | 2819 | } |
Lightvalve | 52:8ea76864368a | 2820 | } |
Lightvalve | 52:8ea76864368a | 2821 | } |
Lightvalve | 233:0a37cdd59651 | 2822 | |
Lightvalve | 56:6f50d9d3bfee | 2823 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 179:d5377766d7ea | 2824 | CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 54:647072f5307a | 2825 | } |
Lightvalve | 58:2eade98630e2 | 2826 | |
Lightvalve | 58:2eade98630e2 | 2827 | |
Lightvalve | 171:bfc1fd2629d8 | 2828 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2829 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2830 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2831 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2832 | } else { |
Lightvalve | 131:d08121ac87ba | 2833 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2834 | } |
Lightvalve | 169:645207e160ca | 2835 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2836 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2837 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2838 | } else { |
Lightvalve | 169:645207e160ca | 2839 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2840 | } |
Lightvalve | 169:645207e160ca | 2841 | |
Lightvalve | 169:645207e160ca | 2842 | |
Lightvalve | 169:645207e160ca | 2843 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2844 | } |
Lightvalve | 58:2eade98630e2 | 2845 | |
Lightvalve | 57:f4819de54e7a | 2846 | //If it doesn't rest, below can can not work. |
Lightvalve | 233:0a37cdd59651 | 2847 | for (int can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2848 | ; |
Lightvalve | 57:f4819de54e7a | 2849 | } |
Lightvalve | 58:2eade98630e2 | 2850 | |
Lightvalve | 169:645207e160ca | 2851 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2852 | //PWM |
Lightvalve | 209:ebc69d6ee6f1 | 2853 | CAN_TX_PWM((int16_t) (torq.ref)); //1500 |
Lightvalve | 209:ebc69d6ee6f1 | 2854 | // CAN_TX_PWM((int16_t) (f_future[1])); //1500 |
Lightvalve | 54:647072f5307a | 2855 | } |
Lightvalve | 179:d5377766d7ea | 2856 | |
Lightvalve | 56:6f50d9d3bfee | 2857 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2858 | //valve position |
Lightvalve | 212:ec41f1449ef9 | 2859 | //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600 |
Lightvalve | 218:066030f7951f | 2860 | CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600 |
Lightvalve | 54:647072f5307a | 2861 | } |
Lightvalve | 237:aa3863117889 | 2862 | |
Lightvalve | 233:0a37cdd59651 | 2863 | |
Lightvalve | 20:806196fda269 | 2864 | |
Lightvalve | 54:647072f5307a | 2865 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 237:aa3863117889 | 2866 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 237:aa3863117889 | 2867 | CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 237:aa3863117889 | 2868 | } |
Lightvalve | 237:aa3863117889 | 2869 | if (flag_delay_test == 1){ |
Lightvalve | 237:aa3863117889 | 2870 | CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 237:aa3863117889 | 2871 | } |
Lightvalve | 52:8ea76864368a | 2872 | |
Lightvalve | 54:647072f5307a | 2873 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2874 | } |
Lightvalve | 54:647072f5307a | 2875 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 237:aa3863117889 | 2876 | |
Lightvalve | 237:aa3863117889 | 2877 | */ |
Lightvalve | 237:aa3863117889 | 2878 | |
Lightvalve | 20:806196fda269 | 2879 | } |
Lightvalve | 52:8ea76864368a | 2880 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2881 | |
Lightvalve | 58:2eade98630e2 | 2882 | } |