Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@243:6d81340c0e7b, 2021-01-06 (annotated)

Committer:
Lightvalve
Date:
Wed Jan 06 00:43:52 2021 +0000
Revision:
243:6d81340c0e7b
Parent:
242:3a69403240a1
Child:
244:b8e9935406dd
210106-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 243:6d81340c0e7b 1 //210106_1 500Hz num_input 15 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 243:6d81340c0e7b 202 {0.2426416575908661f,0.22019553184509277f,0.038638919591903687f,-0.28833115100860596f,-0.4155330955982208f,-0.960847795009613f,-0.3490819036960602f,0.2376738041639328f,-1.2533519268035889f,-0.7306710481643677f,0.1127660945057869f,-0.3129321336746216f,-0.2836083769798279f,0.19339388608932495f,-0.8082801699638367f,0.34967198967933655f},
Lightvalve 243:6d81340c0e7b 203 {-0.07984253764152527f,0.09767907857894897f,0.3645952343940735f,0.1650388091802597f,0.07446616888046265f,-0.7925461530685425f,0.0668189525604248f,-0.01147061213850975f,-1.579444408416748f,-0.9638774394989014f,-0.3736152648925781f,-0.3686029016971588f,0.0033982396125793457f,0.1531161069869995f,-0.18784570693969727f,0.48837071657180786f},
Lightvalve 243:6d81340c0e7b 204 {-0.3338775038719177f,-0.29248523712158203f,-0.2509925961494446f,-0.3766935467720032f,-0.3347198963165283f,0.036577265709638596f,0.24376332759857178f,-0.2340160608291626f,-1.0122079849243164f,-1.0218331813812256f,-0.3462825417518616f,-0.22461646795272827f,0.1697424054145813f,0.22269046306610107f,-0.192513108253479f,-0.009906439110636711f},
Lightvalve 243:6d81340c0e7b 205 {-0.3513132333755493f,-0.18979313969612122f,-0.2564713954925537f,-0.21181565523147583f,-0.2106361836194992f,-0.08378063142299652f,-0.07833871245384216f,-0.02431868016719818f,-1.188582420349121f,-0.6215116381645203f,0.021388443186879158f,-0.39923545718193054f,0.19414609670639038f,-0.12889650464057922f,-0.41929519176483154f,0.27035394310951233f},
Lightvalve 243:6d81340c0e7b 206 {0.06266215443611145f,0.2985467314720154f,0.046925246715545654f,0.18890655040740967f,0.29851990938186646f,0.701492965221405f,-0.07447770237922668f,-0.33272838592529297f,-0.5406572222709656f,-1.1020270586013794f,0.22954575717449188f,0.05665591359138489f,-0.40332701802253723f,0.0021306276321411133f,0.080314502120018f,0.4345391094684601f},
Lightvalve 243:6d81340c0e7b 207 {-0.2102268636226654f,0.02471265196800232f,0.22019988298416138f,-0.06193647161126137f,-0.052234798669815063f,2.348221778869629f,0.10219252109527588f,-0.22582420706748962f,1.3845769166946411f,-1.4575117826461792f,0.0620768666267395f,0.4100075960159302f,-0.06651851534843445f,0.29486584663391113f,0.9575929045677185f,0.1818041205406189f},
Lightvalve 243:6d81340c0e7b 208 {-0.4468589127063751f,0.3260995149612427f,-0.33198100328445435f,0.009572708979249f,0.0969235897064209f,-3.793297529220581f,-0.07328951358795166f,-0.23523281514644623f,-2.1146247386932373f,2.514740467071533f,-0.4058745801448822f,0.00765615701675415f,0.108481764793396f,0.28416818380355835f,-1.9866564273834229f,-0.019559336826205254f},
Lightvalve 243:6d81340c0e7b 209 {-0.23531727492809296f,0.2122827172279358f,0.4228256940841675f,-0.19730143249034882f,-0.20334431529045105f,-1.6415754556655884f,-0.0006155073642730713f,-0.34953469038009644f,-0.325231671333313f,1.1337085962295532f,0.27176281809806824f,-0.1596420407295227f,0.3124876022338867f,-0.28742849826812744f,-0.8363202214241028f,-0.6913115978240967f},
Lightvalve 243:6d81340c0e7b 210 {0.14252673089504242f,0.0664520263671875f,-0.19457413256168365f,0.08777939528226852f,-0.09620559215545654f,0.4614688456058502f,-0.22167514264583588f,-0.04054870828986168f,1.0724784135818481f,0.4265463054180145f,0.37987539172172546f,0.0689961314201355f,-0.22933652997016907f,-0.0423736572265625f,0.510279655456543f,-0.45125341415405273f},
Lightvalve 243:6d81340c0e7b 211 {-0.11359938979148865f,0.4010307788848877f,-0.01456400752067566f,0.3892665505409241f,-0.3213164210319519f,1.355391025543213f,-0.24218180775642395f,0.21883025765419006f,1.2824559211730957f,-0.2841576337814331f,0.18143600225448608f,-0.19942331314086914f,0.4178558588027954f,-0.20797522366046906f,0.7563133239746094f,-0.12107682973146439f},
Lightvalve 243:6d81340c0e7b 212 {-0.331044465303421f,-0.006712973117828369f,0.03854483366012573f,0.13394321501255035f,0.06208515167236328f,0.9263473749160767f,-0.3259813189506531f,0.2382330745458603f,0.5789619088172913f,-0.4901904761791229f,-0.3500886857509613f,-0.31929516792297363f,-0.3779717981815338f,0.16420477628707886f,0.2852707803249359f,-0.6164341568946838f},
Lightvalve 243:6d81340c0e7b 213 {-0.16066770255565643f,-0.3333130180835724f,0.2740911841392517f,0.37836918234825134f,0.3958861231803894f,0.5620597004890442f,0.18537968397140503f,-0.4073611795902252f,0.5831527709960938f,-0.37470921874046326f,0.17797312140464783f,-0.15844795107841492f,-0.32350653409957886f,-0.1762060821056366f,0.009823855012655258f,-0.07518953830003738f},
Lightvalve 243:6d81340c0e7b 214 {0.3657006323337555f,0.3073391914367676f,0.0892636775970459f,0.279962420463562f,0.008891016244888306f,-0.38006922602653503f,0.0382058322429657f,0.191907599568367f,-0.05170278623700142f,0.1677311658859253f,-0.26207825541496277f,0.37108880281448364f,0.23616182804107666f,0.08562582731246948f,-0.38843291997909546f,-0.12969523668289185f},
Lightvalve 243:6d81340c0e7b 215 {0.06360382586717606f,-0.09081444144248962f,-0.03350529074668884f,-0.12857523560523987f,0.0944976806640625f,-0.07858990877866745f,0.2443365454673767f,-0.2210107147693634f,-0.12345795333385468f,0.047801438719034195f,-0.08474106341600418f,0.161712646484375f,0.0126628577709198f,0.2548195719718933f,-0.6583581566810608f,0.11489982157945633f},
Lightvalve 243:6d81340c0e7b 216 {-0.36465221643447876f,-0.13231772184371948f,-0.09768560528755188f,-0.08476009964942932f,-0.03454515337944031f,1.2674325704574585f,-0.39151039719581604f,0.2588794231414795f,0.9131219983100891f,-0.7167741060256958f,0.07405008375644684f,-0.19501163065433502f,0.3044053912162781f,0.0006307065486907959f,0.3604453206062317f,-0.3740781545639038f},
Lightvalve 65:a2d7c63419c2 217 };
Lightvalve 65:a2d7c63419c2 218
Lightvalve 169:645207e160ca 219 const float h2[16][16] = {
Lightvalve 243:6d81340c0e7b 220 {-0.3209214508533478f,0.19527314603328705f,0.3692755401134491f,-0.3171718120574951f,0.2862485945224762f,-0.18180909752845764f,-0.3276335597038269f,0.3442974388599396f,0.4148279130458832f,0.13026955723762512f,-0.27791929244995117f,0.13183942437171936f,0.31752148270606995f,-0.01397278904914856f,-0.0944136455655098f,-0.21188922226428986f},
Lightvalve 243:6d81340c0e7b 221 {0.11377331614494324f,-0.37852466106414795f,0.2370569407939911f,0.16720417141914368f,-0.3181529939174652f,-0.3957885801792145f,0.32069316506385803f,0.04377034306526184f,-0.22974573075771332f,0.39766010642051697f,-0.1368245780467987f,-0.002077043056488037f,0.17663273215293884f,0.3637915551662445f,-0.36169126629829407f,-0.006708413362503052f},
Lightvalve 243:6d81340c0e7b 222 {0.24961581826210022f,-0.3979327380657196f,0.33400359749794006f,-0.11577510833740234f,0.33888837695121765f,0.0025358498096466064f,0.37566879391670227f,0.11383256316184998f,0.35913869738578796f,-0.13233742117881775f,0.28255733847618103f,-0.014687597751617432f,0.16028288006782532f,0.42115524411201477f,-0.03804278373718262f,0.11670640110969543f},
Lightvalve 243:6d81340c0e7b 223 {-0.2843952178955078f,-0.10674364864826202f,-0.05828779935836792f,-0.02550429105758667f,-0.3856094479560852f,0.27161744236946106f,0.045299604535102844f,0.046430811285972595f,-0.10409536957740784f,-0.30188295245170593f,0.3404492437839508f,-0.2792280316352844f,0.09299281239509583f,-0.10469070076942444f,0.20082040131092072f,-0.02582683600485325f},
Lightvalve 243:6d81340c0e7b 224 {0.2572067677974701f,0.2781001627445221f,-0.405854731798172f,0.08892467617988586f,-0.2709423303604126f,0.42682674527168274f,0.3209557831287384f,-0.2756153345108032f,0.02407899498939514f,0.1756146252155304f,-0.389127254486084f,-0.25448572635650635f,-0.055950284004211426f,-0.31929004192352295f,-0.3446109890937805f,-0.09691348671913147f},
Lightvalve 243:6d81340c0e7b 225 {-0.5382754802703857f,0.5980117321014404f,-0.19337564706802368f,-0.3505755066871643f,1.5076755285263062f,-0.04760316014289856f,-0.5956137180328369f,0.19445766508579254f,-0.17806154489517212f,-0.34891924262046814f,-0.6709976196289062f,-0.22476613521575928f,0.06374580413103104f,-1.9985495805740356f,-0.06912603974342346f,-0.4410947263240814f},
Lightvalve 243:6d81340c0e7b 226 {0.1925239861011505f,0.40739431977272034f,0.1585346758365631f,0.012531578540802002f,0.14677610993385315f,0.42920753359794617f,-0.19571323692798615f,0.032037198543548584f,0.033829838037490845f,0.24610736966133118f,-0.02325493097305298f,0.08909699320793152f,0.3699655830860138f,-0.41911548376083374f,-0.3083699345588684f,0.21693852543830872f},
Lightvalve 243:6d81340c0e7b 227 {0.38889628648757935f,0.38968878984451294f,0.32160642743110657f,0.35630056262016296f,0.19406259059906006f,0.1516251266002655f,0.24212874472141266f,-0.13637618720531464f,0.3431205451488495f,-0.30215632915496826f,0.017935140058398247f,-0.03461197018623352f,0.0800233781337738f,-0.34450042247772217f,-0.3156430423259735f,-0.04929089546203613f},
Lightvalve 243:6d81340c0e7b 228 {-1.2690575122833252f,-0.41922739148139954f,0.24376170337200165f,0.10074576735496521f,0.8972052335739136f,-0.2767525911331177f,-1.8646751642227173f,-0.13671892881393433f,-0.0860334038734436f,0.1431577503681183f,0.4211086332798004f,-0.055606722831726074f,-0.14299863576889038f,-3.725269317626953f,0.13963326811790466f,-0.44991829991340637f},
Lightvalve 243:6d81340c0e7b 229 {-4.11514949798584f,2.633051872253418f,-0.4318431615829468f,-0.2701643407344818f,-0.7951452732086182f,0.09257593750953674f,1.1297763586044312f,0.17555080354213715f,-0.3864961266517639f,-0.03208726644515991f,1.5047467947006226f,-0.19104014337062836f,-0.23518845438957214f,-7.868664264678955f,-0.2569129765033722f,-0.44006308913230896f},
Lightvalve 243:6d81340c0e7b 230 {-0.0851685181260109f,-0.34350937604904175f,-0.32197198271751404f,0.2524145543575287f,0.11789050698280334f,-0.26150304079055786f,-0.15249848365783691f,-0.3123277723789215f,0.24206027388572693f,-0.25659048557281494f,0.4623681902885437f,0.11264470219612122f,-0.40188872814178467f,0.38653984665870667f,-0.0858321413397789f,0.3462865352630615f},
Lightvalve 243:6d81340c0e7b 231 {-0.24864348769187927f,-0.4162408113479614f,-0.3195984363555908f,-0.2512216567993164f,-0.3248611092567444f,-0.17238903045654297f,0.3525576889514923f,-0.23431308567523956f,0.3898591101169586f,-0.1842145472764969f,0.11759284138679504f,-0.018693149089813232f,0.2922026216983795f,-0.17276078462600708f,0.20373579859733582f,0.3641580045223236f},
Lightvalve 243:6d81340c0e7b 232 {-0.03393596410751343f,0.14770111441612244f,0.1157466471195221f,-0.014048665761947632f,0.30773255228996277f,0.23077449202537537f,-0.1857042759656906f,0.257400244474411f,0.062189072370529175f,-0.19969730079174042f,0.08790925145149231f,0.09972622990608215f,-0.2305293083190918f,-0.35955360531806946f,-0.2718116044998169f,0.08828327059745789f},
Lightvalve 243:6d81340c0e7b 233 {0.2866610586643219f,0.324022501707077f,0.36930540204048157f,0.021187901496887207f,0.18721124529838562f,-0.07024207711219788f,0.07090321183204651f,0.40661314129829407f,-0.18637192249298096f,0.08040741086006165f,0.05410262942314148f,0.18253520131111145f,-0.2780979871749878f,0.3454895317554474f,0.27210715413093567f,-0.04567694664001465f},
Lightvalve 243:6d81340c0e7b 234 {0.03838261216878891f,-0.5079368948936462f,0.10112041980028152f,0.18659386038780212f,0.6963626146316528f,0.12154439091682434f,-0.17538641393184662f,0.35791733860969543f,0.34097281098365784f,0.03882822394371033f,-1.3008806705474854f,-0.34781014919281006f,-0.14935171604156494f,-0.5407885909080505f,-0.5507271885871887f,-0.20391324162483215f},
Lightvalve 243:6d81340c0e7b 235 {0.37272968888282776f,-0.08322299271821976f,-0.2641978859901428f,-0.21258875727653503f,-0.5285504460334778f,0.2307353913784027f,-0.6646787524223328f,-0.06878728419542313f,0.4003201425075531f,0.37593039870262146f,-0.32459190487861633f,0.08050385117530823f,-0.12626805901527405f,0.696220338344574f,0.1509009301662445f,0.2698350250720978f},
Lightvalve 65:a2d7c63419c2 236 };
Lightvalve 65:a2d7c63419c2 237
Lightvalve 169:645207e160ca 238 const float h3[16][16] = {
Lightvalve 243:6d81340c0e7b 239 {-0.906178891658783f,0.7276226878166199f,0.16640469431877136f,-1.074025273323059f,0.35986682772636414f,0.07510380446910858f,-0.13449186086654663f,-1.567118763923645f,1.4718551635742188f,-1.3957968950271606f,-0.5369729995727539f,-0.35629796981811523f,-1.025177001953125f,-0.3967982232570648f,-1.2568471431732178f,0.42272046208381653f},
Lightvalve 243:6d81340c0e7b 240 {-1.7840583324432373f,-0.7951673865318298f,0.08712630718946457f,-0.49513906240463257f,0.22527280449867249f,-0.933793842792511f,-0.2128937840461731f,-1.6850707530975342f,-2.405503511428833f,2.103959083557129f,-0.6362944841384888f,-0.10680044442415237f,1.0738216638565063f,-0.5063754916191101f,-2.1546857357025146f,0.07512295991182327f},
Lightvalve 243:6d81340c0e7b 241 {0.004108738619834185f,-0.274260014295578f,-0.35367295145988464f,-0.23111958801746368f,-0.013286978006362915f,-0.35976120829582214f,0.20723947882652283f,-0.22688564658164978f,-0.3933952748775482f,-0.2469865083694458f,-0.10184195637702942f,-0.036791570484638214f,-0.20333541929721832f,-0.1474355161190033f,0.30211755633354187f,0.029817909002304077f},
Lightvalve 243:6d81340c0e7b 242 {-0.24431058764457703f,-0.17455258965492249f,0.09072163701057434f,0.36838439106941223f,0.1518034040927887f,-0.2244877964258194f,-0.3773283362388611f,-0.4137502908706665f,-0.43285298347473145f,0.21767470240592957f,0.3199503719806671f,0.18974873423576355f,-0.2736336588859558f,-0.26345178484916687f,0.2594381868839264f,-0.3755319118499756f},
Lightvalve 243:6d81340c0e7b 243 {-1.0546468496322632f,-1.879543662071228f,-0.3896068036556244f,-2.326030731201172f,-0.29278600215911865f,-1.6855119466781616f,-0.7656766176223755f,-1.3112117052078247f,-0.3009236454963684f,-0.1608448326587677f,-0.48595014214515686f,-2.58016037940979f,0.7338660955429077f,-0.02715977653861046f,-1.0012117624282837f,-0.29054537415504456f},
Lightvalve 243:6d81340c0e7b 244 {-0.35896390676498413f,0.1519547402858734f,-0.1918996125459671f,0.3441784083843231f,-0.251690149307251f,0.07633808255195618f,-0.20442241430282593f,0.15600016713142395f,-0.34061896800994873f,-0.42899268865585327f,0.24141374230384827f,-0.0907757580280304f,-0.2614765167236328f,-0.26180750131607056f,-0.16899681091308594f,0.3768171966075897f},
Lightvalve 243:6d81340c0e7b 245 {-0.880810558795929f,-3.1539807319641113f,-0.0410144068300724f,-1.0675164461135864f,-0.42980632185935974f,-2.771942377090454f,-1.2194820642471313f,-1.6178263425827026f,-0.4983506500720978f,1.2420903444290161f,-0.737767219543457f,-0.6286841034889221f,1.0471004247665405f,-0.04755221679806709f,0.06619733572006226f,-0.07779356092214584f},
Lightvalve 243:6d81340c0e7b 246 {-0.31270870566368103f,-0.3115420639514923f,-0.4113859236240387f,0.36236318945884705f,0.18753167986869812f,0.2137911319732666f,0.13785728812217712f,-0.4067135453224182f,-0.3037393391132355f,0.015455139800906181f,-0.12907131016254425f,-0.039838116616010666f,0.2778095304965973f,0.13849052786827087f,-0.38960275053977966f,0.10178551077842712f},
Lightvalve 243:6d81340c0e7b 247 {-0.38132068514823914f,0.350312739610672f,0.236850768327713f,-0.33636629581451416f,-0.0563720166683197f,-0.34556347131729126f,-0.16514313220977783f,-0.4196615219116211f,-0.06099119782447815f,0.363854318857193f,-0.09745600819587708f,-0.16400223970413208f,0.027912020683288574f,0.313402384519577f,0.2799864113330841f,0.07999011874198914f},
Lightvalve 243:6d81340c0e7b 248 {-0.13869988918304443f,0.38950952887535095f,-0.11942046880722046f,-0.013615667819976807f,0.10183486342430115f,-0.14478465914726257f,-0.055372774600982666f,0.40451738238334656f,-0.0004988610744476318f,-0.15372157096862793f,0.39738205075263977f,-0.34888216853141785f,-0.22685009241104126f,0.05806469917297363f,-0.3431790769100189f,-0.055206865072250366f},
Lightvalve 243:6d81340c0e7b 249 {-0.5467628240585327f,-0.3657051622867584f,-0.0928201973438263f,0.7215098738670349f,-0.3938039243221283f,0.05579270049929619f,-0.297423392534256f,0.8841676712036133f,-0.9665785431861877f,0.27645450830459595f,-0.6296942830085754f,0.10412584990262985f,2.061190128326416f,-0.019191347062587738f,-1.101051688194275f,-0.24198441207408905f},
Lightvalve 243:6d81340c0e7b 250 {-0.3683733642101288f,-0.21325372159481049f,0.32993969321250916f,0.12162211537361145f,-0.1353546679019928f,-0.04242327809333801f,-0.429615318775177f,0.3358100354671478f,-0.1642657220363617f,-0.16881853342056274f,-0.3577517867088318f,0.2842075526714325f,0.1058095395565033f,0.03193211555480957f,-0.333587110042572f,-0.41875848174095154f},
Lightvalve 243:6d81340c0e7b 251 {-0.11944586038589478f,-0.016977638006210327f,-0.14040663838386536f,-0.18402284383773804f,-0.2888585329055786f,0.40755733847618103f,-0.2704409062862396f,0.2084963023662567f,0.2528785169124603f,0.3035930395126343f,0.011118561029434204f,-0.08494043350219727f,0.22720195353031158f,0.1980362832546234f,-0.09844750165939331f,-0.24369663000106812f},
Lightvalve 243:6d81340c0e7b 252 {0.19465525448322296f,0.5287004709243774f,-0.026385754346847534f,-0.572474479675293f,-0.06544613838195801f,0.8353392481803894f,0.584827184677124f,1.4129278659820557f,1.652499794960022f,-0.1460738629102707f,0.5699149966239929f,1.4096914529800415f,-0.9528071880340576f,0.28018197417259216f,-0.35613492131233215f,-0.08374109864234924f},
Lightvalve 243:6d81340c0e7b 253 {0.15651622414588928f,-0.05297498032450676f,-0.395809531211853f,-0.22493095695972443f,0.2059049904346466f,-0.3899354040622711f,-0.15729941427707672f,0.07761989533901215f,0.2827228307723999f,-0.48621320724487305f,-0.3187112510204315f,-0.16275028884410858f,-0.10706552118062973f,-0.3818236291408539f,-0.19069123268127441f,-0.16918760538101196f},
Lightvalve 243:6d81340c0e7b 254 {-0.13212862610816956f,0.2126924842596054f,0.20607492327690125f,0.31541842222213745f,0.30361661314964294f,-0.3614303171634674f,-0.036482229828834534f,-0.49492666125297546f,-0.3344106078147888f,0.3821418583393097f,0.09035366028547287f,0.0399528406560421f,0.27372878789901733f,-0.29966023564338684f,0.10072603076696396f,-0.17085057497024536f},
Lightvalve 66:a8e6799dbce3 255 };
Lightvalve 65:a2d7c63419c2 256
Lightvalve 243:6d81340c0e7b 257 const float hout[16] = { 0.028529714792966843f,0.249660462141037f,0.05429621413350105f,0.13649047911167145f,0.21182763576507568f,1.8589720726013184f,1.9251549243927002f,0.9950587153434753f,1.9887455701828003f,-1.162423014640808f,-0.023119617253541946f,0.13996505737304688f,1.009389877319336f,-0.1522718071937561f,2.308634042739868f,0.1380276083946228f };
Lightvalve 243:6d81340c0e7b 258
Lightvalve 243:6d81340c0e7b 259 const float b1[16] = { 0.44875094294548035f,-1.0360865592956543f,-1.1075365543365479f,-0.3995904326438904f,-0.3227563202381134f,1.0322879552841187f,-0.39429977536201477f,0.11284410208463669f,3.0705134868621826f,4.676753044128418f,-0.18211516737937927f,-0.31427258253097534f,-2.6619958877563477f,-1.9939937591552734f,0.8003115057945251f,-0.6729674935340881f };
Lightvalve 243:6d81340c0e7b 260
Lightvalve 243:6d81340c0e7b 261 const float b2[16] = { -0.11054568737745285f,-0.11000818014144897f,-0.8041005730628967f,-0.7400949597358704f,0.4239952564239502f,-1.4137567281723022f,0.9374799132347107f,-1.5409705638885498f,-0.9115832448005676f,-1.1571590900421143f,0.5601513385772705f,-0.20241180062294006f,-0.4464137554168701f,0.4011272192001343f,-0.314651757478714f,-0.115329310297966f };
Lightvalve 243:6d81340c0e7b 262
Lightvalve 243:6d81340c0e7b 263 const float b3[16] = { 0.4329838752746582f,0.5600898861885071f,-0.8156418800354004f,-0.868074357509613f,-2.275556802749634f,0.5312483906745911f,-0.6398064494132996f,0.4554269015789032f,1.816382884979248f,-0.6808826923370361f,-0.05475400388240814f,-1.62785005569458f,-1.4683955907821655f,-1.0120080709457397f,1.087712287902832f,-0.919655442237854f };
Lightvalve 243:6d81340c0e7b 264
Lightvalve 243:6d81340c0e7b 265 const float bout[1] = { 0.7085913419723511f };
Lightvalve 225:278b48b86f27 266
Lightvalve 225:278b48b86f27 267 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 268
Lightvalve 170:42c938a40313 269 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 270 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 271
Lightvalve 170:42c938a40313 272 //Critic Networks
Lightvalve 173:68c7914679ec 273 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 274 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 275 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 276 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 277 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 278 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 279
Lightvalve 170:42c938a40313 280 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 281 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 282 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 283 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 284 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 285 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 286 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 287
Lightvalve 170:42c938a40313 288 //Actor Networks
Lightvalve 173:68c7914679ec 289 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 290 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 291 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 292 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 293 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 294 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 295
Lightvalve 170:42c938a40313 296 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 297 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 298 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 299 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 300 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 301 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 302 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 303
Lightvalve 87:471334725012 304 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 305 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 306
Lightvalve 179:d5377766d7ea 307 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 308 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 309 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 310 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 311 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 312
Lightvalve 170:42c938a40313 313 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 314 {
Lightvalve 173:68c7914679ec 315 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 316 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 317 float output = 0.0f;
Lightvalve 173:68c7914679ec 318 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 319 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 320 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 321 }
Lightvalve 173:68c7914679ec 322 //ReLU
Lightvalve 173:68c7914679ec 323 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 324 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 325 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 326 output1[index2] = 0;
Lightvalve 173:68c7914679ec 327 }
Lightvalve 173:68c7914679ec 328 //tanh
Lightvalve 173:68c7914679ec 329 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 330 }
Lightvalve 173:68c7914679ec 331 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 332 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 333 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 334 }
Lightvalve 173:68c7914679ec 335 //ReLU
Lightvalve 173:68c7914679ec 336 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 337 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 338 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 339 output2[index2] = 0;
Lightvalve 173:68c7914679ec 340 }
Lightvalve 173:68c7914679ec 341 //tanh
Lightvalve 173:68c7914679ec 342 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 343 }
Lightvalve 170:42c938a40313 344 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 345 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 346 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 347 }
Lightvalve 173:68c7914679ec 348 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 349 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 350 }
Lightvalve 170:42c938a40313 351 return output;
Lightvalve 170:42c938a40313 352 }
Lightvalve 170:42c938a40313 353
Lightvalve 170:42c938a40313 354
Lightvalve 170:42c938a40313 355 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 356 {
Lightvalve 173:68c7914679ec 357 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 358 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 359 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 360
Lightvalve 173:68c7914679ec 361 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 362 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 363 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 364 }
Lightvalve 178:1074553d2f6f 365 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 366 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 367 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 368 output1[index2] = 0;
Lightvalve 173:68c7914679ec 369 }
Lightvalve 173:68c7914679ec 370 }
Lightvalve 173:68c7914679ec 371 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 372 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 373 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 374 }
Lightvalve 178:1074553d2f6f 375 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 376 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 377 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 378 output2[index2] = 0;
Lightvalve 173:68c7914679ec 379 }
Lightvalve 173:68c7914679ec 380 }
Lightvalve 173:68c7914679ec 381 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 382 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 383 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 384 }
Lightvalve 178:1074553d2f6f 385 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 386 }
Lightvalve 178:1074553d2f6f 387
Lightvalve 178:1074553d2f6f 388 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 389 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 390 //Softplus
Lightvalve 173:68c7914679ec 391 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 392 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 393 logging2 = mean;
Lightvalve 179:d5377766d7ea 394 logging4 = deviation;
Lightvalve 173:68c7914679ec 395 }
Lightvalve 173:68c7914679ec 396
Lightvalve 173:68c7914679ec 397
Lightvalve 173:68c7914679ec 398 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 399 {
Lightvalve 173:68c7914679ec 400 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 401 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 402 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 403
Lightvalve 173:68c7914679ec 404 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 405 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 406 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 407 }
Lightvalve 170:42c938a40313 408 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 409 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 410 output1[index2] = 0;
Lightvalve 170:42c938a40313 411 }
Lightvalve 170:42c938a40313 412 }
Lightvalve 173:68c7914679ec 413 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 414 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 415 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 416 }
Lightvalve 173:68c7914679ec 417 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 418 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 419 output2[index2] = 0;
Lightvalve 170:42c938a40313 420 }
Lightvalve 170:42c938a40313 421 }
Lightvalve 170:42c938a40313 422 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 423 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 424 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 425 }
Lightvalve 170:42c938a40313 426 }
Lightvalve 173:68c7914679ec 427 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 428 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 429 //Softplus
Lightvalve 173:68c7914679ec 430 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 431 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 432 }
Lightvalve 170:42c938a40313 433
Lightvalve 170:42c938a40313 434 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 435 {
Lightvalve 170:42c938a40313 436 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 437 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 438 return grad_mean;
Lightvalve 170:42c938a40313 439 }
Lightvalve 170:42c938a40313 440
Lightvalve 170:42c938a40313 441 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 442 {
Lightvalve 170:42c938a40313 443 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 444 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 445 return grad_dev;
Lightvalve 170:42c938a40313 446 }
Lightvalve 170:42c938a40313 447
Lightvalve 173:68c7914679ec 448 float ReLU(float x)
Lightvalve 173:68c7914679ec 449 {
Lightvalve 173:68c7914679ec 450 if (x >= 0) {
Lightvalve 173:68c7914679ec 451 return x;
Lightvalve 173:68c7914679ec 452 } else {
Lightvalve 173:68c7914679ec 453 return 0.0f;
Lightvalve 173:68c7914679ec 454 }
Lightvalve 173:68c7914679ec 455 }
Lightvalve 173:68c7914679ec 456
Lightvalve 170:42c938a40313 457 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 458 {
Lightvalve 173:68c7914679ec 459 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 460 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 461 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 462 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 463 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 464 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 465 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 466 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 467 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 468 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 469 }
Lightvalve 173:68c7914679ec 470 }
Lightvalve 170:42c938a40313 471 }
Lightvalve 177:8e9cf31d63f4 472 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 473 }
Lightvalve 170:42c938a40313 474 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 475 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 476 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 477 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 478 }
Lightvalve 173:68c7914679ec 479 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 480 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 481 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 482 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 483 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 484 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 485 }
Lightvalve 173:68c7914679ec 486 }
Lightvalve 173:68c7914679ec 487 }
Lightvalve 177:8e9cf31d63f4 488 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 489 }
Lightvalve 173:68c7914679ec 490 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 491 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 492 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 493 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 494 }
Lightvalve 173:68c7914679ec 495
Lightvalve 175:2f7289dbd488 496
Lightvalve 173:68c7914679ec 497 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 498 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 499 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 500 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 501 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 502 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 503 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 504 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 505 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 506 }
Lightvalve 173:68c7914679ec 507 }
Lightvalve 177:8e9cf31d63f4 508 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 509 }
Lightvalve 173:68c7914679ec 510 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 511 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 512 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 513 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 514 }
Lightvalve 173:68c7914679ec 515 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 516 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 517 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 518 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 519 }
Lightvalve 177:8e9cf31d63f4 520 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 521 }
Lightvalve 173:68c7914679ec 522 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 523 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 524 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 525 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 526 }
Lightvalve 173:68c7914679ec 527
Lightvalve 173:68c7914679ec 528 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 529 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 530 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 531 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 532 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 533 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 534 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 535 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 536 }
Lightvalve 177:8e9cf31d63f4 537 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 538 }
Lightvalve 173:68c7914679ec 539 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 540 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 541 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 542 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 543 }
Lightvalve 173:68c7914679ec 544 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 545 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 546 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 547 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 548 }
Lightvalve 173:68c7914679ec 549 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 550 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 551 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 552 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 553 }
Lightvalve 173:68c7914679ec 554
Lightvalve 173:68c7914679ec 555 // Simultaneous Update
Lightvalve 173:68c7914679ec 556 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 557 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 558 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 559 }
Lightvalve 179:d5377766d7ea 560 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 561 }
Lightvalve 173:68c7914679ec 562 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 563 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 564 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 565 }
Lightvalve 179:d5377766d7ea 566 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 567 }
Lightvalve 170:42c938a40313 568 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 569 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 570 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 571 }
Lightvalve 179:d5377766d7ea 572 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 573 }
Lightvalve 170:42c938a40313 574 }
Lightvalve 170:42c938a40313 575
Lightvalve 173:68c7914679ec 576 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 577 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 578 {
Lightvalve 218:066030f7951f 579
Lightvalve 173:68c7914679ec 580
Lightvalve 173:68c7914679ec 581 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 582 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 583
Lightvalve 173:68c7914679ec 584 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 585 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 586 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 587 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 588 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 589 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 590 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 591 } else {
Lightvalve 173:68c7914679ec 592 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 593 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 594 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 595 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 596 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 597 }
Lightvalve 171:bfc1fd2629d8 598 }
Lightvalve 170:42c938a40313 599 }
Lightvalve 170:42c938a40313 600 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 601 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 602 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 603 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 604
Lightvalve 173:68c7914679ec 605 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 606 }
Lightvalve 170:42c938a40313 607 }
Lightvalve 176:589ea3edcf3c 608 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 609 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 610 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 611 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 612 }
Lightvalve 173:68c7914679ec 613
Lightvalve 173:68c7914679ec 614 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 615 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 616 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 617 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 618 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 619 } else {
Lightvalve 173:68c7914679ec 620 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 621 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 622 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 623 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 624 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 625 }
Lightvalve 171:bfc1fd2629d8 626 }
Lightvalve 170:42c938a40313 627 }
Lightvalve 170:42c938a40313 628 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 629 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 630 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 631 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 632
Lightvalve 173:68c7914679ec 633 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 634 }
Lightvalve 170:42c938a40313 635 }
Lightvalve 176:589ea3edcf3c 636 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 637 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 638 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 639 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 640 }
Lightvalve 170:42c938a40313 641
Lightvalve 173:68c7914679ec 642 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 643 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 644
Lightvalve 173:68c7914679ec 645 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 646 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 647 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 648 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 649 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 650 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 651 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 652 } else {
Lightvalve 173:68c7914679ec 653 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 654 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 655 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 656 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 657 }
Lightvalve 170:42c938a40313 658 }
Lightvalve 173:68c7914679ec 659
Lightvalve 170:42c938a40313 660 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 661 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 662 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 663 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 664
Lightvalve 173:68c7914679ec 665 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 666 }
Lightvalve 170:42c938a40313 667 }
Lightvalve 176:589ea3edcf3c 668 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 669 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 670 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 671 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 672 }
Lightvalve 173:68c7914679ec 673
Lightvalve 173:68c7914679ec 674 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 675 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 676 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 677 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 678 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 679 } else {
Lightvalve 170:42c938a40313 680
Lightvalve 173:68c7914679ec 681 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 682 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 683 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 684 }
Lightvalve 173:68c7914679ec 685 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 686 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 687 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 688 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 689
Lightvalve 173:68c7914679ec 690 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 691 }
Lightvalve 170:42c938a40313 692 }
Lightvalve 176:589ea3edcf3c 693 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 694 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 695 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 696 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 697 }
Lightvalve 173:68c7914679ec 698
Lightvalve 173:68c7914679ec 699 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 700 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 701
Lightvalve 173:68c7914679ec 702 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 703 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 704 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 705 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 706 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 707 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 708 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 709 } else {
Lightvalve 173:68c7914679ec 710 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 711 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 712 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 713 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 714 }
Lightvalve 173:68c7914679ec 715 }
Lightvalve 173:68c7914679ec 716 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 717 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 718 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 719 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 720
Lightvalve 173:68c7914679ec 721 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 722 }
Lightvalve 173:68c7914679ec 723 }
Lightvalve 176:589ea3edcf3c 724 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 725 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 726 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 727 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 728 }
Lightvalve 173:68c7914679ec 729
Lightvalve 173:68c7914679ec 730 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 731 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 732 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 733 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 734 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 735 } else {
Lightvalve 173:68c7914679ec 736
Lightvalve 177:8e9cf31d63f4 737 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 738 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 739
Lightvalve 173:68c7914679ec 740 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 741 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 742 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 743 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 744
Lightvalve 173:68c7914679ec 745 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 746 }
Lightvalve 173:68c7914679ec 747 }
Lightvalve 176:589ea3edcf3c 748 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 749 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 750 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 751 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 752 }
Lightvalve 177:8e9cf31d63f4 753
Lightvalve 175:2f7289dbd488 754 // Simultaneous Update
Lightvalve 175:2f7289dbd488 755 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 756 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 757 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 758 }
Lightvalve 179:d5377766d7ea 759 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 760 }
Lightvalve 175:2f7289dbd488 761 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 762 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 763 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 764 }
Lightvalve 179:d5377766d7ea 765 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 766 }
Lightvalve 175:2f7289dbd488 767 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 768 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 769 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 770 }
Lightvalve 179:d5377766d7ea 771 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 772 }
Lightvalve 170:42c938a40313 773 }
Lightvalve 170:42c938a40313 774
Lightvalve 170:42c938a40313 775 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 776 {
Lightvalve 170:42c938a40313 777 //Box muller method
Lightvalve 170:42c938a40313 778 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 779 static int n2_cached = 0;
Lightvalve 170:42c938a40313 780 if (!n2_cached) {
Lightvalve 170:42c938a40313 781 double x, y, r;
Lightvalve 170:42c938a40313 782 do {
Lightvalve 170:42c938a40313 783 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 784 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 785
Lightvalve 170:42c938a40313 786 r = x*x + y*y;
Lightvalve 170:42c938a40313 787 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 788 {
Lightvalve 170:42c938a40313 789 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 790 double n1 = x*d;
Lightvalve 170:42c938a40313 791 n2 = y*d;
Lightvalve 170:42c938a40313 792 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 793 n2_cached = 1;
Lightvalve 170:42c938a40313 794 return result;
Lightvalve 170:42c938a40313 795 }
Lightvalve 170:42c938a40313 796 } else {
Lightvalve 170:42c938a40313 797 n2_cached = 0;
Lightvalve 170:42c938a40313 798 return n2*stddev + mean;
Lightvalve 170:42c938a40313 799 }
Lightvalve 170:42c938a40313 800 }
Lightvalve 170:42c938a40313 801
Lightvalve 179:d5377766d7ea 802 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 803 {
Lightvalve 179:d5377766d7ea 804 float add = 0.0f;
Lightvalve 179:d5377766d7ea 805 float result;
Lightvalve 218:066030f7951f 806
Lightvalve 218:066030f7951f 807 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 808 add += x[i];
Lightvalve 179:d5377766d7ea 809 }
Lightvalve 179:d5377766d7ea 810 result = (float) add/size;
Lightvalve 179:d5377766d7ea 811 return result;
Lightvalve 179:d5377766d7ea 812 }
Lightvalve 179:d5377766d7ea 813 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 814 {
Lightvalve 179:d5377766d7ea 815 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 816 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 817
Lightvalve 218:066030f7951f 818 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 819 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 820 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 821 }
Lightvalve 179:d5377766d7ea 822 return resultDeb;
Lightvalve 218:066030f7951f 823 }
Lightvalve 218:066030f7951f 824
Lightvalve 173:68c7914679ec 825
Lightvalve 170:42c938a40313 826 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 827 {
Lightvalve 173:68c7914679ec 828 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 829 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 830 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 831 }
Lightvalve 170:42c938a40313 832 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 833 }
Lightvalve 173:68c7914679ec 834 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 835 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 836 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 837 }
Lightvalve 173:68c7914679ec 838 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 839 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 840 }
Lightvalve 173:68c7914679ec 841 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 842 }
Lightvalve 170:42c938a40313 843 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 844 {
Lightvalve 173:68c7914679ec 845 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 846 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 847 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 848 }
Lightvalve 170:42c938a40313 849 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 850 }
Lightvalve 173:68c7914679ec 851 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 852 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 853 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 854 }
Lightvalve 170:42c938a40313 855 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 856 }
Lightvalve 173:68c7914679ec 857 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 858 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 859 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 860 }
Lightvalve 173:68c7914679ec 861 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 862 }
Lightvalve 170:42c938a40313 863 }
Lightvalve 170:42c938a40313 864
Lightvalve 170:42c938a40313 865
GiJeongKim 0:51c43836c1d7 866 int main()
GiJeongKim 0:51c43836c1d7 867 {
Lightvalve 66:a8e6799dbce3 868
Lightvalve 65:a2d7c63419c2 869 HAL_Init();
Lightvalve 65:a2d7c63419c2 870 SystemClock_Config();
Lightvalve 169:645207e160ca 871
jobuuu 6:df07d3491e3a 872 /*********************************
jobuuu 1:e04e563be5ce 873 *** Initialization
jobuuu 6:df07d3491e3a 874 *********************************/
Lightvalve 69:3995ffeaa786 875 LED = 0;
Lightvalve 61:bc8c8270f0ab 876 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 877
GiJeongKim 0:51c43836c1d7 878 // i2c init
Lightvalve 8:5d2eebdad025 879 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 880 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 881 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 882 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 883 make_delay();
jobuuu 2:a1c0a37df760 884
GiJeongKim 0:51c43836c1d7 885 // // spi init
Lightvalve 170:42c938a40313 886 eeprom.format(8,3);
Lightvalve 170:42c938a40313 887 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 888 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 889 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 890 make_delay();
Lightvalve 21:e5f1a43ea6f9 891
Lightvalve 16:903b5a4433b4 892 //rom
Lightvalve 19:23b7c1ad8683 893 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 894 make_delay();
Lightvalve 13:747daba9cf59 895
GiJeongKim 0:51c43836c1d7 896 // ADC init
jobuuu 5:a4319f79457b 897 Init_ADC();
Lightvalve 11:82d8768d7351 898 make_delay();
jobuuu 2:a1c0a37df760 899
GiJeongKim 0:51c43836c1d7 900 // Pwm init
GiJeongKim 0:51c43836c1d7 901 Init_PWM();
GiJeongKim 0:51c43836c1d7 902 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 903 make_delay();
Lightvalve 13:747daba9cf59 904
Lightvalve 11:82d8768d7351 905 // TMR3 init
Lightvalve 11:82d8768d7351 906 Init_TMR3();
Lightvalve 11:82d8768d7351 907 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 908 make_delay();
Lightvalve 21:e5f1a43ea6f9 909
Lightvalve 50:3c630b5eba9f 910 // TMR2 init
Lightvalve 56:6f50d9d3bfee 911 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 912 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 913 // make_delay();
Lightvalve 21:e5f1a43ea6f9 914
GiJeongKim 0:51c43836c1d7 915 // CAN
jobuuu 2:a1c0a37df760 916 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 917 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 918 make_delay();
Lightvalve 34:bb2ca2fc2a8e 919
Lightvalve 23:59218d4a256d 920 //Timer priority
Lightvalve 23:59218d4a256d 921 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 922 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 923 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 924
Lightvalve 23:59218d4a256d 925 //can.reset();
Lightvalve 19:23b7c1ad8683 926 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 927
GiJeongKim 0:51c43836c1d7 928 // spi _ enc
GiJeongKim 0:51c43836c1d7 929 spi_enc_set_init();
Lightvalve 11:82d8768d7351 930 make_delay();
Lightvalve 13:747daba9cf59 931
Lightvalve 11:82d8768d7351 932 //DAC init
Lightvalve 58:2eade98630e2 933 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 934 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 935 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 936 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 937 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 938 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 939 }
Lightvalve 11:82d8768d7351 940 make_delay();
Lightvalve 13:747daba9cf59 941
Lightvalve 19:23b7c1ad8683 942 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 943 if(i%2==0)
Lightvalve 38:118df027d851 944 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 945 else
Lightvalve 38:118df027d851 946 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 947 }
Lightvalve 169:645207e160ca 948
Lightvalve 173:68c7914679ec 949 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 950 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 951 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 952 }
Lightvalve 179:d5377766d7ea 953 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 954 }
Lightvalve 173:68c7914679ec 955 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 956 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 957 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 958 }
Lightvalve 179:d5377766d7ea 959 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 960 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 961 }
Lightvalve 179:d5377766d7ea 962 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 963
Lightvalve 173:68c7914679ec 964 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 965 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 966 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 967 }
Lightvalve 179:d5377766d7ea 968 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 969 }
Lightvalve 173:68c7914679ec 970 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 971 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 972 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 973 }
Lightvalve 179:d5377766d7ea 974 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 975 }
Lightvalve 170:42c938a40313 976 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 977 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 978 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 979 }
Lightvalve 179:d5377766d7ea 980 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 981 }
Lightvalve 171:bfc1fd2629d8 982
Lightvalve 170:42c938a40313 983 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 984 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 985
jobuuu 6:df07d3491e3a 986 /************************************
jobuuu 1:e04e563be5ce 987 *** Program is operating!
jobuuu 6:df07d3491e3a 988 *************************************/
GiJeongKim 0:51c43836c1d7 989 while(1) {
Lightvalve 169:645207e160ca 990
Lightvalve 171:bfc1fd2629d8 991 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 992 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 993 // 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 994 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 995 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 996 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 997 // }
Lightvalve 169:645207e160ca 998
Lightvalve 171:bfc1fd2629d8 999
Lightvalve 171:bfc1fd2629d8 1000 //i2c
Lightvalve 180:02be1711ee0b 1001 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 1002 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 1003
Lightvalve 177:8e9cf31d63f4 1004 //timer_while ++;
Lightvalve 169:645207e160ca 1005
Lightvalve 170:42c938a40313 1006 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1007
Lightvalve 73:f80dc3970c99 1008 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1009 LED = 0;
Lightvalve 73:f80dc3970c99 1010 }
Lightvalve 169:645207e160ca 1011
Lightvalve 73:f80dc3970c99 1012 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1013
Lightvalve 162:9dd4f35e9de8 1014 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1015 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1016 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1017 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1018 }
Lightvalve 162:9dd4f35e9de8 1019
Lightvalve 162:9dd4f35e9de8 1020 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1021 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1022 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1023 }
Lightvalve 162:9dd4f35e9de8 1024 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1025 ind = ind + 1;
Lightvalve 169:645207e160ca 1026
Lightvalve 162:9dd4f35e9de8 1027 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1028 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1029 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1030 // }
Lightvalve 162:9dd4f35e9de8 1031
Lightvalve 162:9dd4f35e9de8 1032 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1033 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1034 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1035 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1036 }
Lightvalve 208:408f9f15c486 1037 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1038 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1039 ind = ind + 1;
Lightvalve 238:e4bda4d06a7d 1040 for(int i=0; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1041 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1042 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1043 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1044 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1045 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1046 }
Lightvalve 169:645207e160ca 1047
Lightvalve 112:8dcb1600cb90 1048 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1049 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1050 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1051 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1052
Lightvalve 112:8dcb1600cb90 1053 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1054 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1055 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1056 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1057 }
Lightvalve 66:a8e6799dbce3 1058 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1059 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1060 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1061 }
Lightvalve 66:a8e6799dbce3 1062 }
Lightvalve 65:a2d7c63419c2 1063
Lightvalve 112:8dcb1600cb90 1064 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1065 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1066 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1067 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1068 }
Lightvalve 66:a8e6799dbce3 1069 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1070 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1071 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1072 }
Lightvalve 66:a8e6799dbce3 1073 }
Lightvalve 65:a2d7c63419c2 1074
Lightvalve 112:8dcb1600cb90 1075 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1076 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1077 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1078 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1079 }
Lightvalve 66:a8e6799dbce3 1080 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1081 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1082 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1083 }
Lightvalve 65:a2d7c63419c2 1084 }
Lightvalve 66:a8e6799dbce3 1085
Lightvalve 66:a8e6799dbce3 1086 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1087 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1088 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1089 }
Lightvalve 66:a8e6799dbce3 1090 output = output + bout[index2];
Lightvalve 169:645207e160ca 1091
Lightvalve 66:a8e6799dbce3 1092 }
Lightvalve 73:f80dc3970c99 1093 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1094 output_normalized = output;
Lightvalve 68:328e1be06f5d 1095 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1096
Lightvalve 66:a8e6799dbce3 1097 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1098 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1099 } else {
Lightvalve 66:a8e6799dbce3 1100 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1101 }
Lightvalve 87:471334725012 1102
Lightvalve 169:645207e160ca 1103
Lightvalve 69:3995ffeaa786 1104 if(LED==1) {
Lightvalve 69:3995ffeaa786 1105 LED=0;
Lightvalve 69:3995ffeaa786 1106 } else
Lightvalve 69:3995ffeaa786 1107 LED = 1;
Lightvalve 169:645207e160ca 1108
Lightvalve 65:a2d7c63419c2 1109 }
Lightvalve 171:bfc1fd2629d8 1110
Lightvalve 171:bfc1fd2629d8 1111
Lightvalve 170:42c938a40313 1112 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1113 switch (Update_Case) {
Lightvalve 170:42c938a40313 1114 case 0: {
Lightvalve 170:42c938a40313 1115 break;
Lightvalve 170:42c938a40313 1116 }
Lightvalve 170:42c938a40313 1117 case 1: {
Lightvalve 170:42c938a40313 1118 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1119 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1120 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1121 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1122 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1123 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1124 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1125 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1126 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1127 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1128 }
Lightvalve 173:68c7914679ec 1129 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1130 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1131 }
Lightvalve 175:2f7289dbd488 1132 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1133
Lightvalve 175:2f7289dbd488 1134 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 1135 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1136 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 1137 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1138 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1139 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1140 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1141 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1142 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1143 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1144 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1145 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1146 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1147 }
Lightvalve 179:d5377766d7ea 1148 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1149 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1150 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1151 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1152 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1153 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1154 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1155 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1156 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1157 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1158 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1159 } else {
Lightvalve 175:2f7289dbd488 1160 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1161 }
Lightvalve 175:2f7289dbd488 1162 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1163 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1164 }
Lightvalve 170:42c938a40313 1165 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1166 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1167 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1168 }
Lightvalve 170:42c938a40313 1169 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1170
Lightvalve 171:bfc1fd2629d8 1171
Lightvalve 170:42c938a40313 1172 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1173 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1174 //Update Networks
Lightvalve 170:42c938a40313 1175 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1176 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1177 }
Lightvalve 170:42c938a40313 1178 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1179 Update_Case = 0;
Lightvalve 170:42c938a40313 1180 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1181
Lightvalve 170:42c938a40313 1182 break;
Lightvalve 170:42c938a40313 1183 }
Lightvalve 170:42c938a40313 1184 case 2: {
Lightvalve 170:42c938a40313 1185 //Network apply to next Network
Lightvalve 170:42c938a40313 1186 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1187 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1188 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1189 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1190 Update_Case = 0;
Lightvalve 170:42c938a40313 1191 break;
Lightvalve 170:42c938a40313 1192 }
Lightvalve 169:645207e160ca 1193
Lightvalve 170:42c938a40313 1194 }
GiJeongKim 0:51c43836c1d7 1195 }
jobuuu 1:e04e563be5ce 1196 }
jobuuu 1:e04e563be5ce 1197
Lightvalve 33:91b17819ec30 1198 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1199 {
Lightvalve 14:8e7590227d22 1200
Lightvalve 13:747daba9cf59 1201 int i = 0;
Lightvalve 48:889798ff9329 1202 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1203 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1204 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 1205 if(i==0) {
Lightvalve 50:3c630b5eba9f 1206 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1207 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1208 } else {
Lightvalve 57:f4819de54e7a 1209 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 1210 }
Lightvalve 14:8e7590227d22 1211 } else {
Lightvalve 50:3c630b5eba9f 1212 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1213 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1214 } else {
Lightvalve 57:f4819de54e7a 1215 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 1216 }
Lightvalve 13:747daba9cf59 1217 }
Lightvalve 13:747daba9cf59 1218 break;
Lightvalve 13:747daba9cf59 1219 }
Lightvalve 13:747daba9cf59 1220 }
Lightvalve 14:8e7590227d22 1221 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1222 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1223 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1224 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1225 }
Lightvalve 36:a46e63505ed8 1226
Lightvalve 57:f4819de54e7a 1227 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1228 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1229
Lightvalve 13:747daba9cf59 1230 }
jobuuu 6:df07d3491e3a 1231
jobuuu 6:df07d3491e3a 1232
Lightvalve 30:8d561f16383b 1233 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1234 {
Lightvalve 13:747daba9cf59 1235 int i = 0;
Lightvalve 13:747daba9cf59 1236
Lightvalve 38:118df027d851 1237 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1238 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1239 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1240 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1241 }
Lightvalve 38:118df027d851 1242
Lightvalve 89:a7b45368ea0f 1243 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1244 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1245 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1246 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1247 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1248 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1249
Lightvalve 13:747daba9cf59 1250 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 1251
Lightvalve 18:b8adf1582ea3 1252 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1253 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 1254 if(i==0) {
Lightvalve 48:889798ff9329 1255 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 1256 } else {
Lightvalve 48:889798ff9329 1257 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 1258 }
Lightvalve 13:747daba9cf59 1259 break;
Lightvalve 13:747daba9cf59 1260 }
Lightvalve 13:747daba9cf59 1261 }
Lightvalve 59:f308b1656d9c 1262 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1263 }
Lightvalve 13:747daba9cf59 1264
Lightvalve 14:8e7590227d22 1265 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1266 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 1267 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1268 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1269 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1270 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1271 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1272 }; // duty
Lightvalve 67:c2812cf26c38 1273 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 1274 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1275 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1276 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1277 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1278 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1279 }; // mV
Lightvalve 13:747daba9cf59 1280
Lightvalve 30:8d561f16383b 1281 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1282 {
Lightvalve 30:8d561f16383b 1283 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1284 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1285 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1286 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1287 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1288 } else {
Lightvalve 13:747daba9cf59 1289 int idx = 0;
Lightvalve 13:747daba9cf59 1290 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1291 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1292 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1293 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1294 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1295 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1296 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1297 break;
Lightvalve 13:747daba9cf59 1298 }
Lightvalve 13:747daba9cf59 1299 }
Lightvalve 13:747daba9cf59 1300 }
Lightvalve 14:8e7590227d22 1301
Lightvalve 13:747daba9cf59 1302 return PWM_duty;
Lightvalve 13:747daba9cf59 1303 }
jobuuu 6:df07d3491e3a 1304
Lightvalve 57:f4819de54e7a 1305
Lightvalve 57:f4819de54e7a 1306
Lightvalve 57:f4819de54e7a 1307
Lightvalve 57:f4819de54e7a 1308
jobuuu 2:a1c0a37df760 1309 /*******************************************************************************
jobuuu 2:a1c0a37df760 1310 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1311 *******************************************************************************/
jobuuu 2:a1c0a37df760 1312
Lightvalve 51:b46bed7fec80 1313 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1314 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1315 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1316 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1317 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1318 {
Lightvalve 19:23b7c1ad8683 1319 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1320
Lightvalve 21:e5f1a43ea6f9 1321 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1322 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1323 ********************************************************/
Lightvalve 13:747daba9cf59 1324
Lightvalve 57:f4819de54e7a 1325 //Encoder
Lightvalve 57:f4819de54e7a 1326 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1327 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1328 }
Lightvalve 61:bc8c8270f0ab 1329
Lightvalve 61:bc8c8270f0ab 1330 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1331 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1332 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1333 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1334 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1335 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1336 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1337
Lightvalve 67:c2812cf26c38 1338
Lightvalve 67:c2812cf26c38 1339 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1340 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1341 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1342 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1343 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1344
Lightvalve 17:1865016ca2e7 1345
Lightvalve 58:2eade98630e2 1346 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1347 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1348 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1349 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1350 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1351 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1352 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1353 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1354 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1355
Lightvalve 58:2eade98630e2 1356 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1357 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 1358 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1359 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 1360 }
Lightvalve 58:2eade98630e2 1361 }
Lightvalve 61:bc8c8270f0ab 1362
Lightvalve 58:2eade98630e2 1363 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1364 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1365 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1366 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1367 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1368 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1369 // 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 1370 //
Lightvalve 58:2eade98630e2 1371 //
Lightvalve 58:2eade98630e2 1372 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1373 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1374 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1375 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1376 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1377
Lightvalve 17:1865016ca2e7 1378
Lightvalve 21:e5f1a43ea6f9 1379 //Current
Lightvalve 21:e5f1a43ea6f9 1380 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1381 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1382 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1383 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1384 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1385 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1386 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1387
Lightvalve 57:f4819de54e7a 1388 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1389 }
Lightvalve 11:82d8768d7351 1390 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1391 }
Lightvalve 19:23b7c1ad8683 1392
Lightvalve 19:23b7c1ad8683 1393
Lightvalve 18:b8adf1582ea3 1394 int j =0;
Lightvalve 54:647072f5307a 1395 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1396 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1397 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1398 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 1399
Lightvalve 11:82d8768d7351 1400 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1401 {
Lightvalve 19:23b7c1ad8683 1402 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1403
Lightvalve 57:f4819de54e7a 1404 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1405 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1406 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1407 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1408 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1409 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1410 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1411 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1412 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1413 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1414 }
Lightvalve 50:3c630b5eba9f 1415
Lightvalve 50:3c630b5eba9f 1416 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1417 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1418 cnt_trans++;
Lightvalve 46:2694daea349b 1419 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1420 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1421 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1422 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1423 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1424 cnt_trans++;
Lightvalve 46:2694daea349b 1425 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1426 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1427 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1428 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1429 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1430 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1431 } else {
Lightvalve 58:2eade98630e2 1432 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1433 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1434 }
Lightvalve 45:35fa6884d0c6 1435
Lightvalve 50:3c630b5eba9f 1436
Lightvalve 57:f4819de54e7a 1437 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1438 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1439
Lightvalve 57:f4819de54e7a 1440 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1441 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1442 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1443 } else {
Lightvalve 57:f4819de54e7a 1444 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1445 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1446 }
Lightvalve 56:6f50d9d3bfee 1447
Lightvalve 56:6f50d9d3bfee 1448
Lightvalve 56:6f50d9d3bfee 1449
Lightvalve 57:f4819de54e7a 1450 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1451
Lightvalve 57:f4819de54e7a 1452 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1453 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1454 break;
Lightvalve 13:747daba9cf59 1455 }
Lightvalve 14:8e7590227d22 1456
Lightvalve 14:8e7590227d22 1457 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1458 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1459 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1460 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1461
Lightvalve 14:8e7590227d22 1462 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1463 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1464 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1465
Lightvalve 84:c355d3e52bf1 1466 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1467
Lightvalve 30:8d561f16383b 1468 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1469 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1470
Lightvalve 16:903b5a4433b4 1471 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1472 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1473 }
Lightvalve 13:747daba9cf59 1474 } else {
Lightvalve 58:2eade98630e2 1475 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1476 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1477 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1478 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1479
Lightvalve 170:42c938a40313 1480 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1481 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1482
Lightvalve 30:8d561f16383b 1483 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1484
Lightvalve 13:747daba9cf59 1485 }
Lightvalve 14:8e7590227d22 1486 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1487 break;
Lightvalve 19:23b7c1ad8683 1488 }
Lightvalve 14:8e7590227d22 1489
Lightvalve 50:3c630b5eba9f 1490 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1491 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1492 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1493 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1494 // }
Lightvalve 50:3c630b5eba9f 1495 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1496 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1497 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1498 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1499 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1500 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1501 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1502 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1503 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1504 // }
Lightvalve 50:3c630b5eba9f 1505 //
Lightvalve 50:3c630b5eba9f 1506 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1507 // 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 1508 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1509 //
Lightvalve 50:3c630b5eba9f 1510 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1511 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1512 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1513 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1514 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1515 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1516 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1517 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1518 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1519 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1520 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1521 //
Lightvalve 50:3c630b5eba9f 1522 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1523 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1524 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1525 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1526 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1527 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1528 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1529 //
Lightvalve 50:3c630b5eba9f 1530 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1531 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1532 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1533 // } else {
Lightvalve 50:3c630b5eba9f 1534 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1535 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1536 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1537 // }
Lightvalve 50:3c630b5eba9f 1538 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1539 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1540 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1541 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1542 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1543 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1544 // }
Lightvalve 50:3c630b5eba9f 1545 // } else {
Lightvalve 50:3c630b5eba9f 1546 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1547 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1548 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1549 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1550 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1551 // }
Lightvalve 50:3c630b5eba9f 1552 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1553 //
Lightvalve 50:3c630b5eba9f 1554 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1555 //
Lightvalve 50:3c630b5eba9f 1556 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1557 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1558 //
Lightvalve 50:3c630b5eba9f 1559 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1560 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1561 // }
Lightvalve 50:3c630b5eba9f 1562 // }
Lightvalve 50:3c630b5eba9f 1563 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1564 // break;
Lightvalve 50:3c630b5eba9f 1565 // }
Lightvalve 14:8e7590227d22 1566
Lightvalve 14:8e7590227d22 1567 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1568 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1569 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1570 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1571 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1572 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1573 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1574 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1575 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1576 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1577 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1578 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1579 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1580 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1581 }
Lightvalve 29:69f3f5445d6d 1582 cnt_findhome++;
Lightvalve 14:8e7590227d22 1583
Lightvalve 29:69f3f5445d6d 1584 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1585 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1586 } else {
Lightvalve 29:69f3f5445d6d 1587 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1588 }
Lightvalve 19:23b7c1ad8683 1589
Lightvalve 57:f4819de54e7a 1590 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1591 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1592 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1593 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1594
Lightvalve 59:f308b1656d9c 1595 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1596 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1597 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1598 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1599 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1600
Lightvalve 59:f308b1656d9c 1601 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1602 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1603
Lightvalve 34:bb2ca2fc2a8e 1604
Lightvalve 29:69f3f5445d6d 1605 } else {
Lightvalve 29:69f3f5445d6d 1606 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1607 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1608 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1609 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1610 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1611 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1612 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1613 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1614 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1615 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1616 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1617
Lightvalve 67:c2812cf26c38 1618
Lightvalve 67:c2812cf26c38 1619 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1620 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1621 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1622 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1623 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1624 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1625 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1626
Lightvalve 169:645207e160ca 1627
Lightvalve 29:69f3f5445d6d 1628 }
Lightvalve 29:69f3f5445d6d 1629 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1630 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1631 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 1632 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1633 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1634
Lightvalve 29:69f3f5445d6d 1635 // input for position control
Lightvalve 169:645207e160ca 1636
Lightvalve 67:c2812cf26c38 1637 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1638 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1639
Lightvalve 67:c2812cf26c38 1640 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1641 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1642 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1643 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1644
Lightvalve 67:c2812cf26c38 1645 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1646
Lightvalve 67:c2812cf26c38 1647 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1648 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1649 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1650
Lightvalve 67:c2812cf26c38 1651 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1652 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1653 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1654
Lightvalve 69:3995ffeaa786 1655 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
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) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 1657 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1658 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1659 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 1660 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1661 }
Lightvalve 67:c2812cf26c38 1662 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 1663 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1664
Lightvalve 67:c2812cf26c38 1665 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1666
Lightvalve 67:c2812cf26c38 1667
Lightvalve 67:c2812cf26c38 1668
Lightvalve 67:c2812cf26c38 1669 } else {
Lightvalve 67:c2812cf26c38 1670 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1671 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 1672
Lightvalve 67:c2812cf26c38 1673 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1674 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1675 } else {
Lightvalve 67:c2812cf26c38 1676 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1677 }
Lightvalve 67:c2812cf26c38 1678
Lightvalve 67:c2812cf26c38 1679 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1680
Lightvalve 67:c2812cf26c38 1681 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1682
Lightvalve 67:c2812cf26c38 1683 }
Lightvalve 67:c2812cf26c38 1684
Lightvalve 67:c2812cf26c38 1685
Lightvalve 169:645207e160ca 1686
Lightvalve 169:645207e160ca 1687
Lightvalve 59:f308b1656d9c 1688 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1689 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1690 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1691 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1692 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1693
Lightvalve 29:69f3f5445d6d 1694 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1695 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1696 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1697 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1698 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1699 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1700 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1701 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1702 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1703 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1704 }
Lightvalve 13:747daba9cf59 1705 }
Lightvalve 19:23b7c1ad8683 1706
Lightvalve 13:747daba9cf59 1707 break;
Lightvalve 13:747daba9cf59 1708 }
Lightvalve 14:8e7590227d22 1709
Lightvalve 50:3c630b5eba9f 1710 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1711 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1712 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1713 // else {
Lightvalve 50:3c630b5eba9f 1714 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1715 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1716 // }
Lightvalve 50:3c630b5eba9f 1717 // }
Lightvalve 50:3c630b5eba9f 1718 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1719 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1720 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1721 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1722 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1723 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1724 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1725 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1726 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1727 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1728 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1729 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1730 // }
Lightvalve 50:3c630b5eba9f 1731 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1732 // }
Lightvalve 50:3c630b5eba9f 1733 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1734 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1735 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1736 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1737 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1738 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1739 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1740 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1741 // 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 1742 // // 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 1743 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1744 // }
Lightvalve 50:3c630b5eba9f 1745 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1746 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1747 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1748 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1749 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1750 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1751 // 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 1752 // // 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 1753 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1754 // }
Lightvalve 50:3c630b5eba9f 1755 // }
Lightvalve 50:3c630b5eba9f 1756 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1757 //
Lightvalve 50:3c630b5eba9f 1758 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1759 //
Lightvalve 50:3c630b5eba9f 1760 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1761 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1762 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1763 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1764 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1765 // }
Lightvalve 50:3c630b5eba9f 1766 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1767 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1768 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1769 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1770 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1771 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1772 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1773 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1774 // }
Lightvalve 50:3c630b5eba9f 1775 //
Lightvalve 50:3c630b5eba9f 1776 // }
Lightvalve 50:3c630b5eba9f 1777 // break;
Lightvalve 50:3c630b5eba9f 1778 // }
Lightvalve 50:3c630b5eba9f 1779 //
Lightvalve 50:3c630b5eba9f 1780 // }
Lightvalve 14:8e7590227d22 1781 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1782 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1783 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1784 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1785 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1786
Lightvalve 14:8e7590227d22 1787 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1788 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1789 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1790 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1791 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1792
Lightvalve 38:118df027d851 1793 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1794 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1795 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1796
Lightvalve 30:8d561f16383b 1797 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1798 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1799 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1800 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1801
Lightvalve 30:8d561f16383b 1802 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1803 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1804 }
Lightvalve 13:747daba9cf59 1805 } else {
Lightvalve 57:f4819de54e7a 1806 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1807 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1808 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1809 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1810 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1811 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1812
Lightvalve 170:42c938a40313 1813 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1814 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1815 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1816
Lightvalve 30:8d561f16383b 1817 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1818 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1819 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1820 }
Lightvalve 14:8e7590227d22 1821 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1822 break;
Lightvalve 13:747daba9cf59 1823 }
Lightvalve 14:8e7590227d22 1824
Lightvalve 50:3c630b5eba9f 1825 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1826 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1827 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1828 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1829 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1830 // }
Lightvalve 50:3c630b5eba9f 1831 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1832 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1833 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1834 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1835 // }
Lightvalve 50:3c630b5eba9f 1836 // } else {
Lightvalve 50:3c630b5eba9f 1837 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1838 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1839 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1840 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1841 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1842 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1843 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1844 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1845 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1846 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1847 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1848 //
Lightvalve 50:3c630b5eba9f 1849 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1850 //
Lightvalve 50:3c630b5eba9f 1851 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1852 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1853 // }
Lightvalve 50:3c630b5eba9f 1854 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1855 // break;
Lightvalve 50:3c630b5eba9f 1856 // }
Lightvalve 19:23b7c1ad8683 1857
Lightvalve 50:3c630b5eba9f 1858 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1859 // 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 1860 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1861 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1862 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1863 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1864 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1865 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1866 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1867 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1868 // }
Lightvalve 50:3c630b5eba9f 1869 // break;
Lightvalve 50:3c630b5eba9f 1870 // }
Lightvalve 14:8e7590227d22 1871
Lightvalve 14:8e7590227d22 1872 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1873 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1874 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1875
Lightvalve 14:8e7590227d22 1876 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1877 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1878 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1879 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1880 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1881 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1882 data_num = 0;
Lightvalve 14:8e7590227d22 1883 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1884 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1885 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1886 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1887 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1888 } else {
Lightvalve 13:747daba9cf59 1889 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1890 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1891 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1892 }
Lightvalve 14:8e7590227d22 1893
Lightvalve 17:1865016ca2e7 1894 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1895 int i;
Lightvalve 13:747daba9cf59 1896 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1897 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1898 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1899 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1900 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1901 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1902 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1903 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1904 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1905 }
Lightvalve 13:747daba9cf59 1906 }
Lightvalve 170:42c938a40313 1907 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1908 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1909 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1910 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1911 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1912 }
Lightvalve 13:747daba9cf59 1913 ID_index = 0;
Lightvalve 57:f4819de54e7a 1914 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1915 }
Lightvalve 14:8e7590227d22 1916
Lightvalve 14:8e7590227d22 1917
Lightvalve 13:747daba9cf59 1918 break;
Lightvalve 13:747daba9cf59 1919 }
Lightvalve 14:8e7590227d22 1920
Lightvalve 14:8e7590227d22 1921 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1922 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1923 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1924 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1925 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1926 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1927 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1928 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1929 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1930 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1931 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1932 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1933 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1934 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1935 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1936 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1937 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1938 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1939 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1940 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1941 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1942 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 1943 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1944 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1945 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1946 data_num = 0;
Lightvalve 14:8e7590227d22 1947
Lightvalve 30:8d561f16383b 1948 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1949 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1950 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1951
Lightvalve 30:8d561f16383b 1952 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1953 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1954 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1955
Lightvalve 30:8d561f16383b 1956 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1957 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1958 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1959 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1960
Lightvalve 60:64181f1d3e60 1961 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1962 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1963 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1964 DZ_case = -1;
Lightvalve 14:8e7590227d22 1965 } else {
Lightvalve 13:747daba9cf59 1966 DZ_case = 0;
Lightvalve 13:747daba9cf59 1967 }
Lightvalve 61:bc8c8270f0ab 1968
Lightvalve 60:64181f1d3e60 1969 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1970
Lightvalve 13:747daba9cf59 1971 first_check = 1;
Lightvalve 13:747daba9cf59 1972 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1973 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1974 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1975 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1976 DZ_index = 1;
Lightvalve 14:8e7590227d22 1977
Lightvalve 13:747daba9cf59 1978 }
Lightvalve 19:23b7c1ad8683 1979 } else {
Lightvalve 14:8e7590227d22 1980 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1981 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1982 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 1983 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1984 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1985 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1986 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1987 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1988 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1989 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1990 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1991 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1992 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1993 }
Lightvalve 14:8e7590227d22 1994 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1995
Lightvalve 30:8d561f16383b 1996 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1997 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1998 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1999
Lightvalve 14:8e7590227d22 2000 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2001 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2002 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2003 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2004 } else {
Lightvalve 13:747daba9cf59 2005 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2006 }
Lightvalve 14:8e7590227d22 2007
Lightvalve 13:747daba9cf59 2008 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2009 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2010 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2011 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2012 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2013 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2014 DZ_index = 1;
Lightvalve 13:747daba9cf59 2015 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2016 }
Lightvalve 13:747daba9cf59 2017 }
Lightvalve 14:8e7590227d22 2018 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2019 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2020 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 2021 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2022 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2023 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2024 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2025 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2026 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2027 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2028 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2029 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2030 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2031 }
Lightvalve 14:8e7590227d22 2032 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2033
Lightvalve 30:8d561f16383b 2034 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2035 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2036 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2037 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2038 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2039
Lightvalve 14:8e7590227d22 2040 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2041 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2042 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2043 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2044 } else {
Lightvalve 60:64181f1d3e60 2045 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2046 }
Lightvalve 14:8e7590227d22 2047
Lightvalve 13:747daba9cf59 2048 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2049 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2050 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2051 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2052 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2053 first_check = 0;
Lightvalve 33:91b17819ec30 2054 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2055 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2056
Lightvalve 170:42c938a40313 2057 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2058 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2059 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2060 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2061
Lightvalve 60:64181f1d3e60 2062 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2063 DZ_index = 1;
Lightvalve 13:747daba9cf59 2064 }
Lightvalve 13:747daba9cf59 2065 }
Lightvalve 14:8e7590227d22 2066 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2067 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2068 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 2069 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2070 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2071 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2072 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2073 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2074 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2075 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2076 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2077 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2078 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2079 }
Lightvalve 14:8e7590227d22 2080 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2081
Lightvalve 30:8d561f16383b 2082 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2083 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2084 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2085
Lightvalve 14:8e7590227d22 2086 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2087 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2088 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2089 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2090 } else {
Lightvalve 13:747daba9cf59 2091 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2092 }
Lightvalve 13:747daba9cf59 2093 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2094 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2095 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2096 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2097 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2098 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2099 DZ_index = 1;
Lightvalve 13:747daba9cf59 2100 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2101 }
Lightvalve 13:747daba9cf59 2102 }
Lightvalve 14:8e7590227d22 2103 } else {
Lightvalve 30:8d561f16383b 2104 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2105 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 2106 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2107 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2108 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2109 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2110 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2111 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2112 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2113 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2114 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2115 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2116 }
Lightvalve 14:8e7590227d22 2117 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2118
Lightvalve 30:8d561f16383b 2119 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2120 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2121 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2122 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2123 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2124
Lightvalve 60:64181f1d3e60 2125 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2126 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2127 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2128 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2129 } else {
Lightvalve 13:747daba9cf59 2130 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2131 }
Lightvalve 14:8e7590227d22 2132
Lightvalve 13:747daba9cf59 2133 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2134 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2135 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2136 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2137 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2138 first_check = 0;
Lightvalve 33:91b17819ec30 2139 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2140 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2141
Lightvalve 170:42c938a40313 2142 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2143 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2144 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2145 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2146
Lightvalve 57:f4819de54e7a 2147 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2148 DZ_index = 1;
Lightvalve 13:747daba9cf59 2149 }
Lightvalve 13:747daba9cf59 2150 }
Lightvalve 13:747daba9cf59 2151 }
Lightvalve 14:8e7590227d22 2152 }
Lightvalve 13:747daba9cf59 2153 break;
Lightvalve 13:747daba9cf59 2154 }
Lightvalve 14:8e7590227d22 2155
Lightvalve 14:8e7590227d22 2156 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2157 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2158 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2159 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2160 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2161 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2162 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2163 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2164 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2165 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2166 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2167 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2168 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2169 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2170 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2171 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2172 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2173 first_check = 1;
Lightvalve 13:747daba9cf59 2174 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2175 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2176 ID_index = 0;
Lightvalve 13:747daba9cf59 2177 max_check = 0;
Lightvalve 13:747daba9cf59 2178 min_check = 0;
Lightvalve 13:747daba9cf59 2179 }
Lightvalve 14:8e7590227d22 2180 } else {
Lightvalve 30:8d561f16383b 2181 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2182 //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 2183 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2184 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2185 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2186 data_num = 0;
Lightvalve 57:f4819de54e7a 2187 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2188
Lightvalve 14:8e7590227d22 2189 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2190 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2191 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2192 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2193 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2194 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2195 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2196 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2197 one_period_end = 1;
Lightvalve 13:747daba9cf59 2198 }
Lightvalve 30:8d561f16383b 2199 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2200 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2201 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2202 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2203 }
Lightvalve 14:8e7590227d22 2204
Lightvalve 14:8e7590227d22 2205 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2206 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2207 max_check = 1;
Lightvalve 14:8e7590227d22 2208 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2209 min_check = 1;
Lightvalve 13:747daba9cf59 2210 }
Lightvalve 13:747daba9cf59 2211 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2212
Lightvalve 13:747daba9cf59 2213 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2214 one_period_end = 0;
Lightvalve 13:747daba9cf59 2215 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2216 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2217 }
Lightvalve 14:8e7590227d22 2218
Lightvalve 14:8e7590227d22 2219 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2220
Lightvalve 13:747daba9cf59 2221 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2222 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2223 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2224 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2225 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2226 }
Lightvalve 13:747daba9cf59 2227 ID_index = 0;
Lightvalve 13:747daba9cf59 2228 first_check = 0;
Lightvalve 13:747daba9cf59 2229 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2230 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2231 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2232 }
Lightvalve 13:747daba9cf59 2233 }
Lightvalve 13:747daba9cf59 2234 break;
Lightvalve 13:747daba9cf59 2235 }
Lightvalve 58:2eade98630e2 2236
Lightvalve 57:f4819de54e7a 2237 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2238 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2239 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2240 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2241 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2242 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2243 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2244 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2245 }
Lightvalve 57:f4819de54e7a 2246 break;
Lightvalve 57:f4819de54e7a 2247 }
Lightvalve 58:2eade98630e2 2248
Lightvalve 169:645207e160ca 2249 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2250 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2251 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2252 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2253 } else {
Lightvalve 169:645207e160ca 2254 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2255 }
Lightvalve 169:645207e160ca 2256 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2257 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2258 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2259 } else {
Lightvalve 169:645207e160ca 2260 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2261 }
Lightvalve 58:2eade98630e2 2262
Lightvalve 169:645207e160ca 2263 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2264 cnt_freq_test++;
Lightvalve 169:645207e160ca 2265 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2266 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2267 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2268 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2269 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2270 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2271 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2272 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2273 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2274 }
Lightvalve 169:645207e160ca 2275 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2276 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2277
Lightvalve 169:645207e160ca 2278 }
Lightvalve 169:645207e160ca 2279 break;
Lightvalve 169:645207e160ca 2280 }
Lightvalve 169:645207e160ca 2281 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2282 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2283 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2284 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2285 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2286 // }
Lightvalve 169:645207e160ca 2287 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2288 // }
Lightvalve 169:645207e160ca 2289
Lightvalve 169:645207e160ca 2290 break;
Lightvalve 169:645207e160ca 2291 }
Lightvalve 169:645207e160ca 2292 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2293 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2294 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2295 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2296 break;
Lightvalve 169:645207e160ca 2297 }
Lightvalve 170:42c938a40313 2298
Lightvalve 169:645207e160ca 2299 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2300 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2301 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2302 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2303 } else {
Lightvalve 169:645207e160ca 2304 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2305 }
Lightvalve 169:645207e160ca 2306 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2307 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2308 } else {
Lightvalve 169:645207e160ca 2309 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2310 }
Lightvalve 169:645207e160ca 2311 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2312 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2313 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2314 } else {
Lightvalve 169:645207e160ca 2315 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2316 }
Lightvalve 169:645207e160ca 2317
Lightvalve 169:645207e160ca 2318 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2319 cnt_step_test++;
Lightvalve 170:42c938a40313 2320 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2321 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2322 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2323 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2324 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2325 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2326 }
Lightvalve 169:645207e160ca 2327 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2328 // {
Lightvalve 169:645207e160ca 2329 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2330 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2331 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2332 // }
Lightvalve 170:42c938a40313 2333
Lightvalve 169:645207e160ca 2334 break;
Lightvalve 169:645207e160ca 2335 }
Lightvalve 57:f4819de54e7a 2336
Lightvalve 57:f4819de54e7a 2337 default:
Lightvalve 57:f4819de54e7a 2338 break;
Lightvalve 57:f4819de54e7a 2339 }
Lightvalve 57:f4819de54e7a 2340
Lightvalve 57:f4819de54e7a 2341 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2342
Lightvalve 57:f4819de54e7a 2343 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2344 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2345 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2346 break;
Lightvalve 57:f4819de54e7a 2347 }
Lightvalve 57:f4819de54e7a 2348
Lightvalve 57:f4819de54e7a 2349 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2350 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2351 ////For Test LIMC//////////////////////////////////////////
Lightvalve 233:0a37cdd59651 2352 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 233:0a37cdd59651 2353 // for(int i=0; i<9; i++){
Lightvalve 233:0a37cdd59651 2354 // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 233:0a37cdd59651 2355 // }
Lightvalve 233:0a37cdd59651 2356 // valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 233:0a37cdd59651 2357 // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2358 ////////////////////////////////////////////////////////////
Lightvalve 225:278b48b86f27 2359
Lightvalve 59:f308b1656d9c 2360 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2361 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2362 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2363 } else {
Lightvalve 67:c2812cf26c38 2364 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2365 }
Lightvalve 57:f4819de54e7a 2366 break;
Lightvalve 57:f4819de54e7a 2367 }
Lightvalve 57:f4819de54e7a 2368
Lightvalve 57:f4819de54e7a 2369 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2370
Lightvalve 57:f4819de54e7a 2371 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2372 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2373 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2374 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2375
Lightvalve 67:c2812cf26c38 2376 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2377 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2378 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2379 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2380
Lightvalve 139:15621998925b 2381 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2382 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2383
Lightvalve 57:f4819de54e7a 2384 // torque feedback
Lightvalve 67:c2812cf26c38 2385 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2386 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2387
Lightvalve 57:f4819de54e7a 2388 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2389
Lightvalve 57:f4819de54e7a 2390 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2391 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2392 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2393
Lightvalve 57:f4819de54e7a 2394 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2395 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2396 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2397
Lightvalve 69:3995ffeaa786 2398 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
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) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2400 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2401 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2402 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 2403 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2404 }
Lightvalve 57:f4819de54e7a 2405 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 2406 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2407
Lightvalve 57:f4819de54e7a 2408 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2409 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2410 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2411 // 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 2412 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2413 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2414 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2415 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 2416 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2417 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2418 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2419 }
Lightvalve 57:f4819de54e7a 2420 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 2421 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2422 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2423 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2424 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2425
Lightvalve 57:f4819de54e7a 2426 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2427
Lightvalve 67:c2812cf26c38 2428 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2429 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2430 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2431 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2432 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2433 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2434 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2435 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2436 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2437 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2438 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2439 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2440 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2441 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2442 }
Lightvalve 67:c2812cf26c38 2443 }
Lightvalve 57:f4819de54e7a 2444
Lightvalve 57:f4819de54e7a 2445 } else {
Lightvalve 57:f4819de54e7a 2446 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2447 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2448 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2449
Lightvalve 209:ebc69d6ee6f1 2450 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 2451
Lightvalve 72:3436ce769b1e 2452 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 2453
Lightvalve 72:3436ce769b1e 2454 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2455
Lightvalve 169:645207e160ca 2456
Lightvalve 72:3436ce769b1e 2457 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2458 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2459 } else {
Lightvalve 72:3436ce769b1e 2460 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2461 }
Lightvalve 57:f4819de54e7a 2462
Lightvalve 57:f4819de54e7a 2463 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2464 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2465 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2466 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2467 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2468 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2469 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2470 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2471 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2472 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2473 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2474 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2475 }
Lightvalve 57:f4819de54e7a 2476 }
Lightvalve 61:bc8c8270f0ab 2477
Lightvalve 57:f4819de54e7a 2478 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2479
Lightvalve 67:c2812cf26c38 2480 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2481 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2482
Lightvalve 57:f4819de54e7a 2483 }
Lightvalve 169:645207e160ca 2484
Lightvalve 72:3436ce769b1e 2485 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2486
Lightvalve 133:22ab22818e01 2487
Lightvalve 57:f4819de54e7a 2488 break;
Lightvalve 57:f4819de54e7a 2489 }
Lightvalve 58:2eade98630e2 2490
Lightvalve 57:f4819de54e7a 2491 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2492 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2493 break;
Lightvalve 57:f4819de54e7a 2494 }
Lightvalve 169:645207e160ca 2495
Lightvalve 138:a843f32ced33 2496 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2497
Lightvalve 169:645207e160ca 2498
Lightvalve 139:15621998925b 2499 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 2500 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 2501
Lightvalve 170:42c938a40313 2502 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2503
Lightvalve 218:066030f7951f 2504 //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 2505 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2506
Lightvalve 138:a843f32ced33 2507 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2508 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2509 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2510 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2511 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2512 } else {
Lightvalve 138:a843f32ced33 2513 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2514 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2515 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2516 } else {
Lightvalve 138:a843f32ced33 2517 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2518 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2519 }
Lightvalve 138:a843f32ced33 2520 }
Lightvalve 138:a843f32ced33 2521 float tau = 0.01f;
Lightvalve 142:43026242815a 2522 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 2523
Lightvalve 138:a843f32ced33 2524 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2525 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2526 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2527 } else {
Lightvalve 138:a843f32ced33 2528 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2529 }
Lightvalve 138:a843f32ced33 2530 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2531 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2532
Lightvalve 139:15621998925b 2533 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2534
Lightvalve 138:a843f32ced33 2535 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2536 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2537 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2538
Lightvalve 138:a843f32ced33 2539 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2540 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2541
Lightvalve 212:ec41f1449ef9 2542 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2543 float k4 = 10.0f;
Lightvalve 142:43026242815a 2544 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2545 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2546 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2547 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2548 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2549
Lightvalve 139:15621998925b 2550 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2551 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2552 } else {
Lightvalve 139:15621998925b 2553 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2554 }
Lightvalve 169:645207e160ca 2555
Lightvalve 138:a843f32ced33 2556 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2557 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2558 float V_input = 0.0f;
Lightvalve 139:15621998925b 2559 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 2560 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2561 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2562 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2563
Lightvalve 218:066030f7951f 2564 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2565 // 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 2566 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2567 //
Lightvalve 218:066030f7951f 2568 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2569 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2570
Lightvalve 218:066030f7951f 2571 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2572 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2573 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2574
Lightvalve 218:066030f7951f 2575 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2576 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2577
Lightvalve 169:645207e160ca 2578 break;
Lightvalve 138:a843f32ced33 2579 }
Lightvalve 171:bfc1fd2629d8 2580
Lightvalve 170:42c938a40313 2581 case MODE_RL: {
Lightvalve 170:42c938a40313 2582 //t.reset();
Lightvalve 170:42c938a40313 2583 //t.start();
Lightvalve 170:42c938a40313 2584
Lightvalve 170:42c938a40313 2585 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2586 // else LED = 0;
Lightvalve 170:42c938a40313 2587
Lightvalve 170:42c938a40313 2588 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2589 //Gather Data on each loop
Lightvalve 170:42c938a40313 2590 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2591 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-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 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2594 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2595 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2596 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2597 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2598 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2599 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2600 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2601 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2602 }
Lightvalve 173:68c7914679ec 2603 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2604 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2605 }
Lightvalve 173:68c7914679ec 2606 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2607 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2608 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2609 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2610 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2611
Lightvalve 179:d5377766d7ea 2612 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2613 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2614 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2615 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2616 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2617 }
Lightvalve 171:bfc1fd2629d8 2618
Lightvalve 170:42c938a40313 2619 RL_timer++;
Lightvalve 170:42c938a40313 2620
Lightvalve 170:42c938a40313 2621
Lightvalve 170:42c938a40313 2622 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2623 RL_timer = 0;
Lightvalve 170:42c938a40313 2624 batch++;
Lightvalve 170:42c938a40313 2625 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2626 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2627 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2628 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2629 }
Lightvalve 170:42c938a40313 2630 Update_Case = 1;
Lightvalve 170:42c938a40313 2631 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2632 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2633
Lightvalve 170:42c938a40313 2634 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2635 batch = 0;
Lightvalve 170:42c938a40313 2636 RL_timer = 0;
Lightvalve 170:42c938a40313 2637 Update_Case = 2;
Lightvalve 170:42c938a40313 2638 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2639 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2640 }
Lightvalve 170:42c938a40313 2641 }
Lightvalve 170:42c938a40313 2642 }
Lightvalve 170:42c938a40313 2643
Lightvalve 170:42c938a40313 2644 else {
Lightvalve 170:42c938a40313 2645 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2646 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2647 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2648 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2649 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2650 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2651 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2652 //logging1 = action;
Lightvalve 179:d5377766d7ea 2653 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2654 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2655 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2656 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2657 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2658 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2659 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2660 }
Lightvalve 170:42c938a40313 2661
Lightvalve 170:42c938a40313 2662 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2663 }
Lightvalve 170:42c938a40313 2664
Lightvalve 170:42c938a40313 2665 //t.stop();
Lightvalve 170:42c938a40313 2666 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2667
Lightvalve 170:42c938a40313 2668 break;
Lightvalve 170:42c938a40313 2669 }
Lightvalve 14:8e7590227d22 2670
Lightvalve 12:6f2531038ea4 2671 default:
Lightvalve 12:6f2531038ea4 2672 break;
Lightvalve 12:6f2531038ea4 2673 }
Lightvalve 14:8e7590227d22 2674
Lightvalve 57:f4819de54e7a 2675
Lightvalve 57:f4819de54e7a 2676 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2677
Lightvalve 57:f4819de54e7a 2678 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2679 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2680 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2681 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2682 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2683 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2684
Lightvalve 57:f4819de54e7a 2685 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2686 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2687
Lightvalve 57:f4819de54e7a 2688
Lightvalve 57:f4819de54e7a 2689 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2690 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2691 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2692 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2693 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2694 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2695
Lightvalve 57:f4819de54e7a 2696 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2697 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2698 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2699 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2700 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2701 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2702 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2703 }
Lightvalve 57:f4819de54e7a 2704
Lightvalve 57:f4819de54e7a 2705 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2706
Lightvalve 67:c2812cf26c38 2707 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2708 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2709 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2710 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2711 // 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 2712 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2713 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2714
Lightvalve 57:f4819de54e7a 2715 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2716 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2717 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2718 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2719 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2720 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2721 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2722 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2723 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2724 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2725 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2726 }
Lightvalve 57:f4819de54e7a 2727 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2728 } else {
Lightvalve 57:f4819de54e7a 2729 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2730 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2731 }
Lightvalve 57:f4819de54e7a 2732
Lightvalve 57:f4819de54e7a 2733 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2734 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2735 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2736 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2737 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2738 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2739 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2740
Lightvalve 57:f4819de54e7a 2741 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2742
Lightvalve 57:f4819de54e7a 2743 } else {
Lightvalve 57:f4819de54e7a 2744 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2745 }
Lightvalve 57:f4819de54e7a 2746
Lightvalve 57:f4819de54e7a 2747 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2748 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2749 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2750
Lightvalve 57:f4819de54e7a 2751 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2752 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2753 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2754 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2755 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2756 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2757 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2758 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2759
Lightvalve 89:a7b45368ea0f 2760 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2761 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2762 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2763 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2764
Lightvalve 135:79885a39c161 2765 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2766 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2767 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2768 }
Lightvalve 169:645207e160ca 2769
Lightvalve 67:c2812cf26c38 2770 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2771 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2772 // else V_out = V_out;
Lightvalve 169:645207e160ca 2773
jobuuu 7:e9086c72bb22 2774 /*******************************************************
jobuuu 7:e9086c72bb22 2775 *** PWM
jobuuu 7:e9086c72bb22 2776 ********************************************************/
Lightvalve 169:645207e160ca 2777 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2778 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2779 }
Lightvalve 169:645207e160ca 2780
Lightvalve 49:e7bcfc244d40 2781 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2782 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2783 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2784 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2785 }
Lightvalve 49:e7bcfc244d40 2786 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2787
Lightvalve 19:23b7c1ad8683 2788 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2789 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2790 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2791
Lightvalve 30:8d561f16383b 2792 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2793 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2794 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2795 } else {
jobuuu 2:a1c0a37df760 2796 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2797 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2798 }
Lightvalve 13:747daba9cf59 2799
jobuuu 1:e04e563be5ce 2800 //pwm
Lightvalve 30:8d561f16383b 2801 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2802 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2803
Lightvalve 61:bc8c8270f0ab 2804
Lightvalve 233:0a37cdd59651 2805
Lightvalve 233:0a37cdd59651 2806 /*
Lightvalve 237:aa3863117889 2807 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 233:0a37cdd59651 2808
Lightvalve 54:647072f5307a 2809 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2810 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2811 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2812 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2813 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2814 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2815 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 2816 }
Lightvalve 57:f4819de54e7a 2817 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2818 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2819 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 2820 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2821 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 2822 }
Lightvalve 52:8ea76864368a 2823 }
Lightvalve 52:8ea76864368a 2824 }
Lightvalve 233:0a37cdd59651 2825
Lightvalve 56:6f50d9d3bfee 2826 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2827 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2828 }
Lightvalve 58:2eade98630e2 2829
Lightvalve 58:2eade98630e2 2830
Lightvalve 171:bfc1fd2629d8 2831 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2832 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2833 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2834 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2835 } else {
Lightvalve 131:d08121ac87ba 2836 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2837 }
Lightvalve 169:645207e160ca 2838 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2839 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2840 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2841 } else {
Lightvalve 169:645207e160ca 2842 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2843 }
Lightvalve 169:645207e160ca 2844
Lightvalve 169:645207e160ca 2845
Lightvalve 169:645207e160ca 2846 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2847 }
Lightvalve 58:2eade98630e2 2848
Lightvalve 57:f4819de54e7a 2849 //If it doesn't rest, below can can not work.
Lightvalve 233:0a37cdd59651 2850 for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2851 ;
Lightvalve 57:f4819de54e7a 2852 }
Lightvalve 58:2eade98630e2 2853
Lightvalve 169:645207e160ca 2854 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2855 //PWM
Lightvalve 209:ebc69d6ee6f1 2856 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 209:ebc69d6ee6f1 2857 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2858 }
Lightvalve 179:d5377766d7ea 2859
Lightvalve 56:6f50d9d3bfee 2860 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2861 //valve position
Lightvalve 212:ec41f1449ef9 2862 //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 2863 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 54:647072f5307a 2864 }
Lightvalve 237:aa3863117889 2865
Lightvalve 233:0a37cdd59651 2866
Lightvalve 20:806196fda269 2867
Lightvalve 54:647072f5307a 2868 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 237:aa3863117889 2869 if (flag_data_request[1] == HIGH) {
Lightvalve 237:aa3863117889 2870 CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 237:aa3863117889 2871 }
Lightvalve 237:aa3863117889 2872 if (flag_delay_test == 1){
Lightvalve 237:aa3863117889 2873 CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 237:aa3863117889 2874 }
Lightvalve 52:8ea76864368a 2875
Lightvalve 54:647072f5307a 2876 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2877 }
Lightvalve 54:647072f5307a 2878 TMR2_COUNT_CAN_TX++;
Lightvalve 237:aa3863117889 2879
Lightvalve 237:aa3863117889 2880 */
Lightvalve 237:aa3863117889 2881
Lightvalve 20:806196fda269 2882 }
Lightvalve 52:8ea76864368a 2883 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2884
Lightvalve 58:2eade98630e2 2885 }