Sungwoo Kim
/
HydraulicControlBoard_Learning
for learning
main.cpp@254:725d7435dfa3, 2021-02-22 (annotated)
- Committer:
- Lightvalve
- Date:
- Mon Feb 22 13:25:19 2021 +0000
- Revision:
- 254:725d7435dfa3
- Parent:
- 253:0246366e0dcb
- Child:
- 255:aa424a9ca332
210222 - spi - add cs = 0 cs=1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 252:179a8c8791dc | 1 | //After RaL |
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 | 251:4b0e0b1ff297 | 202 | {-0.034636590629816055f,-0.08510791510343552f,-0.3801865577697754f,0.03776714578270912f,0.2840934693813324f,-0.1901460736989975f,0.12296205759048462f,0.2284609079360962f,0.14127975702285767f,-0.1274729073047638f,-0.6219204664230347f,-0.3406560719013214f,0.26510030031204224f,0.04862070083618164f,-0.10759569704532623f,0.15142720937728882f}, |
Lightvalve | 252:179a8c8791dc | 203 | {-0.14657218754291534f,-0.34830769896507263f,-0.044384635984897614f,0.09097779542207718f,0.29299843311309814f,0.20048391819000244f,-0.3669555187225342f,0.577765166759491f,0.26391828060150146f,-0.6116664409637451f,-0.48967164754867554f,0.43264442682266235f,-0.2875143885612488f,0.20838868618011475f,0.4987501800060272f,-0.12150795757770538f}, |
Lightvalve | 252:179a8c8791dc | 204 | {-0.36621227860450745f,-0.5775251388549805f,0.25328558683395386f,-0.4689198136329651f,0.48624423146247864f,0.1806947886943817f,-0.02977663278579712f,0.46608680486679077f,-0.3409912884235382f,0.09726854413747787f,-0.5142548680305481f,0.39275670051574707f,-0.05826932191848755f,-0.1345062553882599f,0.35789212584495544f,-0.3863421678543091f}, |
Lightvalve | 252:179a8c8791dc | 205 | {-0.4689311385154724f,-0.5520263910293579f,0.11156318336725235f,-0.4460775554180145f,0.477514386177063f,-0.06286724656820297f,-0.20234209299087524f,-0.023230334743857384f,-0.39478203654289246f,0.22159633040428162f,-0.4476903975009918f,0.38044995069503784f,-0.17981481552124023f,0.2829986810684204f,0.041659221053123474f,0.010006793774664402f}, |
Lightvalve | 252:179a8c8791dc | 206 | {0.07658018171787262f,-0.13551065325737f,-0.04930756241083145f,-0.18194161355495453f,-0.30434608459472656f,-0.3774596154689789f,0.030568987131118774f,0.45075833797454834f,-0.34993308782577515f,0.00814745482057333f,0.271629273891449f,0.2641938328742981f,0.3928338885307312f,0.3520948886871338f,0.2681606411933899f,0.04452916979789734f}, |
Lightvalve | 252:179a8c8791dc | 207 | {0.1398475617170334f,-0.30324965715408325f,0.23745456337928772f,0.3544830083847046f,0.28628432750701904f,0.1924915313720703f,0.031466126441955566f,-0.05242495983839035f,-0.003589123487472534f,0.019043268635869026f,0.15009407699108124f,-0.33466243743896484f,-0.30160367488861084f,-0.2585424780845642f,-0.03835311904549599f,-0.620620608329773f}, |
Lightvalve | 252:179a8c8791dc | 208 | {0.7865412831306458f,0.34918898344039917f,-0.1276814490556717f,-0.7611914873123169f,0.07091358304023743f,-0.3924251198768616f,-0.030166536569595337f,0.13422253727912903f,0.3674931526184082f,-0.10135196149349213f,-0.21664942800998688f,0.23833078145980835f,-0.27123963832855225f,-0.08386284112930298f,-0.01957280933856964f,0.8007774353027344f}, |
Lightvalve | 252:179a8c8791dc | 209 | {0.6253918409347534f,0.3427291512489319f,0.2446969449520111f,-0.5424080491065979f,-0.4171082675457001f,-0.1339646875858307f,0.08264404535293579f,0.20667369663715363f,-0.16528040170669556f,0.10038857161998749f,0.2882964611053467f,0.19816702604293823f,0.37595224380493164f,-0.2227029651403427f,-0.20252738893032074f,0.4010050594806671f}, |
Lightvalve | 252:179a8c8791dc | 210 | {-0.10320301353931427f,-0.0669734925031662f,-0.3952587842941284f,0.014424772933125496f,0.06123732402920723f,0.12584073841571808f,-0.15519720315933228f,-0.12384038418531418f,0.20291584730148315f,-0.013697299174964428f,0.34133532643318176f,-0.1940154880285263f,-0.2515442967414856f,-0.23373761773109436f,-0.3340805768966675f,-0.005585795734077692f}, |
Lightvalve | 252:179a8c8791dc | 211 | {0.21723592281341553f,-0.3871166408061981f,-0.6769354343414307f,0.013060376048088074f,-0.3935699462890625f,-0.13699966669082642f,0.20312511920928955f,-0.24272094666957855f,0.28880298137664795f,0.012722134590148926f,0.6101362109184265f,0.1407831907272339f,-0.4085739254951477f,0.014354228973388672f,0.2012835443019867f,-0.41867175698280334f}, |
Lightvalve | 252:179a8c8791dc | 212 | {-0.348349392414093f,0.10514415800571442f,-0.29263970255851746f,0.14298589527606964f,-0.4824093282222748f,-0.16298454999923706f,-0.3280268609523773f,-0.14835195243358612f,-0.3790266811847687f,0.12452945858240128f,0.09102929383516312f,-0.017614006996154785f,-0.18276402354240417f,0.21967029571533203f,0.18263429403305054f,0.12917377054691315f}, |
Lightvalve | 252:179a8c8791dc | 213 | {-0.16717736423015594f,0.3654094338417053f,0.22285446524620056f,-0.2079508751630783f,0.15254132449626923f,-0.428370863199234f,0.12378334999084473f,0.042758338153362274f,-0.23888027667999268f,0.015105051919817924f,-0.03244645148515701f,0.07999944686889648f,-0.19709044694900513f,0.3904615044593811f,0.3818567395210266f,-0.1811094582080841f}, |
Lightvalve | 252:179a8c8791dc | 214 | {0.44972071051597595f,-0.028732342645525932f,-0.12203003466129303f,-0.16853941977024078f,-0.002657646546140313f,-0.27321964502334595f,-0.39909395575523376f,-0.22719086706638336f,-0.04522088170051575f,0.39755183458328247f,0.26120442152023315f,0.2014879584312439f,0.2502625584602356f,-0.049918800592422485f,-0.2698128819465637f,-0.39346325397491455f}, |
Lightvalve | 252:179a8c8791dc | 215 | {0.18112419545650482f,-0.0779980793595314f,-0.45121440291404724f,-0.5473600029945374f,-0.5366666913032532f,0.18330438435077667f,0.1997523307800293f,-0.09354571998119354f,-0.12511596083641052f,0.48358815908432007f,-0.172188401222229f,0.41015303134918213f,-0.3052411675453186f,-0.1892547309398651f,0.2224881649017334f,-0.10170229524374008f}, |
Lightvalve | 252:179a8c8791dc | 216 | {0.10940403491258621f,-0.23863136768341064f,-0.6232994794845581f,0.16091983020305634f,-0.304459810256958f,0.2962200939655304f,0.18491721153259277f,0.01318122074007988f,0.18640142679214478f,0.13724061846733093f,0.24989944696426392f,0.35947704315185547f,-0.332058310508728f,0.40907591581344604f,-0.28181812167167664f,-0.16143277287483215f}, |
Lightvalve | 65:a2d7c63419c2 | 217 | }; |
Lightvalve | 65:a2d7c63419c2 | 218 | |
Lightvalve | 169:645207e160ca | 219 | const float h2[16][16] = { |
Lightvalve | 251:4b0e0b1ff297 | 220 | {0.04833245277404785f,0.8406158089637756f,0.3808237612247467f,0.3637321889400482f,0.644477128982544f,0.35276496410369873f,-1.0592999458312988f,-0.44195684790611267f,-2.155895948410034f,0.42358145117759705f,0.21362772583961487f,0.046894848346710205f,0.1278792917728424f,-0.37168267369270325f,0.04797150567173958f,0.41920337080955505f}, |
Lightvalve | 252:179a8c8791dc | 221 | {-0.0274239182472229f,0.9419358372688293f,-0.34082740545272827f,0.2642888128757477f,0.7276898622512817f,0.002614683471620083f,-1.1622995138168335f,0.30911850929260254f,-0.6000240445137024f,0.026576727628707886f,-0.29539918899536133f,-0.20509253442287445f,-0.1801471710205078f,-0.5503743290901184f,-0.09623444825410843f,0.16039973497390747f}, |
Lightvalve | 252:179a8c8791dc | 222 | {-0.35354936122894287f,-0.09730152785778046f,-0.24224385619163513f,-0.41592511534690857f,0.07027829438447952f,0.013607672415673733f,0.22128823399543762f,-0.10003288835287094f,-1.014364242553711f,-0.26868098974227905f,0.21410873532295227f,-0.228165864944458f,-0.05225086212158203f,-0.7968334555625916f,0.25415247678756714f,0.2862052619457245f}, |
Lightvalve | 252:179a8c8791dc | 223 | {-0.11117833852767944f,0.46299421787261963f,0.11902371048927307f,0.35618194937705994f,0.15819178521633148f,-0.5194926261901855f,-0.1352825164794922f,0.4493905305862427f,-0.4192030429840088f,-0.4216589629650116f,-0.4289160966873169f,-0.3305668830871582f,0.43245211243629456f,-0.18652261793613434f,-0.4980774223804474f,0.2913265824317932f}, |
Lightvalve | 252:179a8c8791dc | 224 | {0.39269885420799255f,-0.17476780712604523f,-0.07237827777862549f,0.09812912344932556f,-0.33486536145210266f,-0.47770196199417114f,0.9116359949111938f,0.20927821099758148f,0.6805155873298645f,-0.08264759182929993f,-0.15345615148544312f,0.3926151692867279f,-0.28366416692733765f,0.9803341031074524f,-0.7951028943061829f,-0.38231852650642395f}, |
Lightvalve | 252:179a8c8791dc | 225 | {-0.02339586615562439f,-0.21557484567165375f,0.0382651686668396f,-0.10381102561950684f,0.20424866676330566f,0.0569344200193882f,-0.15795065462589264f,-0.2686183750629425f,0.02425282634794712f,0.2855292856693268f,0.3241807520389557f,0.08525893092155457f,-0.07454681396484375f,-0.3016861081123352f,0.30999064445495605f,-0.2047392874956131f}, |
Lightvalve | 252:179a8c8791dc | 226 | {0.06456553936004639f,-0.29620951414108276f,-0.28450071811676025f,-0.3608437776565552f,0.14704784750938416f,-0.36015424132347107f,-0.315707266330719f,-0.2272750288248062f,-0.16718602180480957f,-0.3622615337371826f,0.3609362542629242f,0.3271537125110626f,-0.1134117841720581f,-0.24684466421604156f,-0.3105827271938324f,-0.29518258571624756f}, |
Lightvalve | 252:179a8c8791dc | 227 | {0.40061601996421814f,-0.2499115914106369f,-0.42576566338539124f,0.2771916687488556f,0.1725580394268036f,0.24982130527496338f,0.032843999564647675f,-0.13448423147201538f,-0.30728211998939514f,-0.24666368961334229f,0.034479737281799316f,0.11201921105384827f,-0.3116337060928345f,0.20088200271129608f,0.07602878659963608f,-0.32380038499832153f}, |
Lightvalve | 252:179a8c8791dc | 228 | {0.01738646626472473f,0.42550787329673767f,0.16973963379859924f,-0.19240723550319672f,-0.03196948766708374f,-0.12532320618629456f,-0.1082024872303009f,0.3715610206127167f,-0.23925665020942688f,0.15291878581047058f,0.21075895428657532f,-0.06213498115539551f,0.41508081555366516f,-0.27582913637161255f,0.06960871815681458f,-0.020523756742477417f}, |
Lightvalve | 252:179a8c8791dc | 229 | {0.2798302471637726f,0.3964071571826935f,0.23923692107200623f,0.1867220103740692f,-0.3472009599208832f,-0.4335924983024597f,-0.35373935103416443f,0.16244973242282867f,-0.7462126612663269f,-0.2594975531101227f,-0.315661758184433f,-0.2793809175491333f,0.27418074011802673f,-0.10312201827764511f,0.4119209051132202f,-0.05471741408109665f}, |
Lightvalve | 252:179a8c8791dc | 230 | {-0.14383485913276672f,1.081695318222046f,-0.404108464717865f,-0.22689129412174225f,-0.3717469274997711f,-0.41622504591941833f,-0.8190008401870728f,0.5285307168960571f,-3.050868034362793f,-0.16521230340003967f,-0.0948835015296936f,-0.3281487226486206f,-0.32793286442756653f,-1.8892099857330322f,-0.8883360028266907f,-0.44808080792427063f}, |
Lightvalve | 252:179a8c8791dc | 231 | {-0.3993529975414276f,0.41353103518486023f,0.2625258266925812f,-0.40873271226882935f,0.3280826508998871f,0.10209885239601135f,0.22779449820518494f,0.27592143416404724f,-0.24499990046024323f,0.11430332064628601f,0.1062566339969635f,-0.3577694296836853f,-0.05476459860801697f,0.17576757073402405f,0.21356281638145447f,-0.21355248987674713f}, |
Lightvalve | 252:179a8c8791dc | 232 | {0.26238974928855896f,0.13264122605323792f,0.17779704928398132f,0.3172527849674225f,-0.07196182012557983f,0.3440147936344147f,-0.20966216921806335f,0.19133642315864563f,-0.40352103114128113f,-0.01865154504776001f,0.4056650698184967f,0.4148031175136566f,-0.3938596844673157f,-0.15683236718177795f,-0.2691075801849365f,-0.31552961468696594f}, |
Lightvalve | 252:179a8c8791dc | 233 | {0.04255214333534241f,-0.10101297497749329f,-0.20923052728176117f,0.2541695535182953f,0.41217753291130066f,-0.301749050617218f,0.16364464163780212f,-0.16757863759994507f,-0.33475184440612793f,-0.3079894781112671f,-0.15280935168266296f,-0.3279605209827423f,-0.21071602404117584f,-0.09943103790283203f,0.25322189927101135f,-0.047403186559677124f}, |
Lightvalve | 252:179a8c8791dc | 234 | {-0.3407605290412903f,-1.6339330673217773f,-0.08496147394180298f,0.18828937411308289f,-1.2263431549072266f,-1.4933935403823853f,1.361119031906128f,1.3889564275741577f,1.7450194358825684f,0.3321857750415802f,0.10198095440864563f,0.14103266596794128f,0.07074931263923645f,1.626432180404663f,-1.5846821069717407f,-1.6313681602478027f}, |
Lightvalve | 252:179a8c8791dc | 235 | {-0.430133581161499f,2.0306808948516846f,0.3826504647731781f,0.4254762828350067f,1.4177906513214111f,0.9060602188110352f,-2.047635793685913f,-0.610949695110321f,-4.190510272979736f,-0.26547297835350037f,0.17560508847236633f,0.4241798222064972f,-0.07467690110206604f,-3.596113681793213f,0.9893742203712463f,1.3326054811477661f}, |
Lightvalve | 65:a2d7c63419c2 | 236 | }; |
Lightvalve | 65:a2d7c63419c2 | 237 | |
Lightvalve | 169:645207e160ca | 238 | const float h3[16][16] = { |
Lightvalve | 251:4b0e0b1ff297 | 239 | {0.37046024203300476f,0.04798617959022522f,0.392690509557724f,-0.20555028319358826f,-0.04246211051940918f,-0.37363746762275696f,0.015186339616775513f,-0.061466217041015625f,-0.13781791925430298f,-0.11356508731842041f,0.30632129311561584f,-0.03401225805282593f,0.14026448130607605f,-0.41080594062805176f,-0.021881461143493652f,-0.1677863597869873f}, |
Lightvalve | 252:179a8c8791dc | 240 | {-0.21526779234409332f,-1.1129813194274902f,-0.12068668007850647f,0.09446603804826736f,-0.015299053862690926f,0.23865419626235962f,-0.16593411564826965f,-1.1282691955566406f,-0.2572314739227295f,0.025441110134124756f,0.08321377635002136f,-0.22488360106945038f,0.10835165530443192f,0.01774216815829277f,-0.05000334233045578f,-0.3466002941131592f}, |
Lightvalve | 252:179a8c8791dc | 241 | {-0.08673667907714844f,0.23056277632713318f,0.42949649691581726f,-0.3032870888710022f,0.4159357249736786f,0.03299093246459961f,-0.035138070583343506f,0.00458759069442749f,-0.2919609248638153f,0.13052961230278015f,-0.09829097986221313f,-0.24485144019126892f,0.3602481186389923f,0.3898719251155853f,-0.0538104772567749f,0.07017943263053894f}, |
Lightvalve | 252:179a8c8791dc | 242 | {0.2464427649974823f,0.39936527609825134f,0.21032699942588806f,-0.2072734385728836f,0.19923558831214905f,0.2847035825252533f,-0.22418056428432465f,-0.43023446202278137f,-0.21198244392871857f,0.23950514197349548f,-0.3551802337169647f,0.11705091595649719f,0.18541833758354187f,-0.023748815059661865f,0.1462016999721527f,-0.08909019827842712f}, |
Lightvalve | 252:179a8c8791dc | 243 | {0.34622398018836975f,-1.2129888534545898f,-0.20742447674274445f,-0.032929010689258575f,0.08672287315130234f,-0.08068259805440903f,0.45541882514953613f,-2.018517017364502f,0.10944971442222595f,0.04921719431877136f,-0.20607680082321167f,0.21179592609405518f,0.4078998863697052f,0.09382607787847519f,-0.6051720380783081f,-0.19378763437271118f}, |
Lightvalve | 252:179a8c8791dc | 244 | {0.07416597008705139f,-0.1509564220905304f,-0.3286089599132538f,0.2575420141220093f,-0.32409292459487915f,-0.04360950365662575f,-0.05032980069518089f,0.03308649733662605f,-0.14956387877464294f,0.06287035346031189f,-0.18942220509052277f,-0.22120867669582367f,0.36484384536743164f,0.34050697088241577f,0.033385224640369415f,0.028106003999710083f}, |
Lightvalve | 252:179a8c8791dc | 245 | {-0.24521887302398682f,0.3061828017234802f,-0.09969070553779602f,-0.835078239440918f,-1.1966766119003296f,0.7502152919769287f,-0.6856613159179688f,0.31733009219169617f,0.16320112347602844f,-0.08684051036834717f,-0.3433442711830139f,-0.3093454837799072f,-0.3787883520126343f,-0.6157321929931641f,0.27898073196411133f,-0.3274548649787903f}, |
Lightvalve | 252:179a8c8791dc | 246 | {-0.037380099296569824f,-0.053829364478588104f,-0.23550507426261902f,-0.32296717166900635f,0.1419943869113922f,0.3212539851665497f,-0.5291021466255188f,-0.3196764588356018f,0.23772326111793518f,-0.15706628561019897f,-0.03474658727645874f,-0.42883461713790894f,-0.43303486704826355f,-0.46498894691467285f,0.23065359890460968f,-0.06882688403129578f}, |
Lightvalve | 252:179a8c8791dc | 247 | {0.22414228320121765f,0.6167948842048645f,0.17398694157600403f,-1.2930227518081665f,-0.07601547241210938f,1.1093199253082275f,-0.4207235872745514f,0.2633194625377655f,-0.16447538137435913f,0.31832489371299744f,-0.01876583695411682f,0.425087034702301f,-1.1076250076293945f,0.1036156564950943f,-0.3688891530036926f,-0.37546294927597046f}, |
Lightvalve | 252:179a8c8791dc | 248 | {-0.37478217482566833f,-0.10878506302833557f,-0.33313462138175964f,0.08732470870018005f,-0.4272407591342926f,0.42993465065956116f,-0.3373659551143646f,-0.1347610354423523f,0.27883973717689514f,0.15846404433250427f,0.23034706711769104f,0.2679099142551422f,0.26554760336875916f,-0.39576658606529236f,0.27645888924598694f,0.3027357757091522f}, |
Lightvalve | 252:179a8c8791dc | 249 | {0.01714116334915161f,-0.41286614537239075f,-0.30441972613334656f,0.09042176604270935f,0.305792897939682f,0.25930657982826233f,-0.0077957212924957275f,0.2839451730251312f,0.06527414917945862f,0.30544695258140564f,-0.3269312381744385f,-0.23118992149829865f,-0.36912286281585693f,0.18185165524482727f,0.06934896111488342f,0.20831605792045593f}, |
Lightvalve | 252:179a8c8791dc | 250 | {-0.16316500306129456f,0.09996911883354187f,-0.11835616827011108f,0.22180476784706116f,0.2730047404766083f,-0.39772462844848633f,0.3122676908969879f,0.025347262620925903f,-0.0864812433719635f,-0.2908649444580078f,0.05068853497505188f,-0.23324716091156006f,-0.27006956934928894f,0.3646886646747589f,-0.22474992275238037f,0.03918728232383728f}, |
Lightvalve | 252:179a8c8791dc | 251 | {-0.2255314439535141f,0.0861915647983551f,-0.37378355860710144f,0.09740594029426575f,-0.17835164070129395f,-0.28151828050613403f,0.08090576529502869f,0.27042338252067566f,0.10048076510429382f,0.3275263011455536f,0.3301452696323395f,-0.33213010430336f,0.18207183480262756f,0.224577397108078f,-0.2358287274837494f,0.16939416527748108f}, |
Lightvalve | 252:179a8c8791dc | 252 | {0.18313375115394592f,3.035151958465576f,0.15208670496940613f,-2.073854684829712f,0.9186175465583801f,0.35607829689979553f,-1.5632147789001465f,-0.4666653871536255f,-0.15266752243041992f,-0.3787156641483307f,-0.23417361080646515f,0.41418468952178955f,-2.05690336227417f,-2.3053674697875977f,-0.29849734902381897f,-0.3566729426383972f}, |
Lightvalve | 252:179a8c8791dc | 253 | {0.19047978520393372f,0.24750559031963348f,-0.1217426061630249f,0.5728633403778076f,-0.08453264087438583f,0.24713492393493652f,0.41920486092567444f,0.4218023419380188f,-0.27937382459640503f,0.06346243619918823f,-0.3896019458770752f,0.36481839418411255f,0.7093786597251892f,-0.09001748263835907f,-0.4630468785762787f,-0.3792039752006531f}, |
Lightvalve | 252:179a8c8791dc | 254 | {-0.3329339325428009f,-0.4124312996864319f,-0.00382271409034729f,0.05026526004076004f,-0.49761754274368286f,0.3193882703781128f,0.4324275553226471f,-0.7607815861701965f,-0.3335152566432953f,0.10636988282203674f,0.262630432844162f,-0.17788830399513245f,0.3869096338748932f,0.1590534746646881f,-0.16216763854026794f,-0.017990201711654663f}, |
Lightvalve | 66:a8e6799dbce3 | 255 | }; |
Lightvalve | 65:a2d7c63419c2 | 256 | |
Lightvalve | 251:4b0e0b1ff297 | 257 | const float hout[16] = { 0.28352612257003784f,7.027318000793457f,0.20054447650909424f,-1.0949580669403076f,-0.5842559933662415f,0.2186238020658493f,-1.2922117710113525f,2.97406268119812f,0.3234240412712097f,-0.5405333638191223f,-0.04778480529785156f,0.04107429087162018f,-1.542391300201416f,-0.6290411949157715f,0.531202495098114f,-0.49622899293899536f }; |
Lightvalve | 251:4b0e0b1ff297 | 258 | |
Lightvalve | 251:4b0e0b1ff297 | 259 | const float b1[16] = { -0.023235002532601357f,1.8784174919128418f,1.2490769624710083f,1.8262481689453125f,-0.7069734334945679f,0.3653741180896759f,-2.117748498916626f,0.10555768758058548f,-0.2616904079914093f,0.9018311500549316f,1.0800175666809082f,-2.6183178424835205f,-1.0385421514511108f,-0.8662141561508179f,-0.949005663394928f,0.9264617562294006f }; |
Lightvalve | 251:4b0e0b1ff297 | 260 | |
Lightvalve | 251:4b0e0b1ff297 | 261 | const float b2[16] = { -1.3552442789077759f,0.2431674301624298f,0.09128525853157043f,-1.9293867349624634f,0.07398243993520737f,1.9222168922424316f,1.02919340133667f,0.9952839016914368f,1.659902811050415f,-1.3622498512268066f,0.16149760782718658f,-0.7032756209373474f,-0.3943362534046173f,0.033961519598960876f,0.5282865166664124f,1.0235947370529175f }; |
Lightvalve | 251:4b0e0b1ff297 | 262 | |
Lightvalve | 251:4b0e0b1ff297 | 263 | const float b3[16] = { -1.2821701765060425f,0.5424966812133789f,-2.4415693283081055f,-0.10150174796581268f,1.364449381828308f,1.4641811847686768f,0.3352581560611725f,0.6453125476837158f,-0.42281195521354675f,-0.8339861035346985f,-1.7887413501739502f,0.39875528216362f,-1.0230937004089355f,-0.40120580792427063f,-0.31424298882484436f,-0.0870584174990654f }; |
Lightvalve | 251:4b0e0b1ff297 | 264 | |
Lightvalve | 251:4b0e0b1ff297 | 265 | const float bout[1] = { 1.0808764696121216f }; |
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 | 254:725d7435dfa3 | 886 | eeprom_cs = 1; |
Lightvalve | 170:42c938a40313 | 887 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 888 | eeprom.frequency(5000000); //5M |
Lightvalve | 254:725d7435dfa3 | 889 | eeprom_cs = 0; |
Lightvalve | 254:725d7435dfa3 | 890 | |
Lightvalve | 254:725d7435dfa3 | 891 | enc_cs = 1; |
GiJeongKim | 0:51c43836c1d7 | 892 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 893 | enc.frequency(5000000); //5M |
Lightvalve | 254:725d7435dfa3 | 894 | enc_cs = 0; |
Lightvalve | 254:725d7435dfa3 | 895 | |
Lightvalve | 11:82d8768d7351 | 896 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 897 | |
Lightvalve | 254:725d7435dfa3 | 898 | // spi_eeprom_write(RID_BNO, (int16_t) 0); |
Lightvalve | 254:725d7435dfa3 | 899 | // make_delay(); |
Lightvalve | 254:725d7435dfa3 | 900 | |
Lightvalve | 16:903b5a4433b4 | 901 | //rom |
Lightvalve | 19:23b7c1ad8683 | 902 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 903 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 904 | |
GiJeongKim | 0:51c43836c1d7 | 905 | // ADC init |
jobuuu | 5:a4319f79457b | 906 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 907 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 908 | |
GiJeongKim | 0:51c43836c1d7 | 909 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 910 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 911 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 912 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 913 | |
Lightvalve | 11:82d8768d7351 | 914 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 915 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 916 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 917 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 918 | |
Lightvalve | 50:3c630b5eba9f | 919 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 920 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 921 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 922 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 923 | |
GiJeongKim | 0:51c43836c1d7 | 924 | // CAN |
jobuuu | 2:a1c0a37df760 | 925 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 926 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 927 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 928 | |
Lightvalve | 23:59218d4a256d | 929 | //Timer priority |
Lightvalve | 23:59218d4a256d | 930 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 931 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 932 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 933 | |
Lightvalve | 23:59218d4a256d | 934 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 935 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 936 | |
GiJeongKim | 0:51c43836c1d7 | 937 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 938 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 939 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 940 | |
Lightvalve | 11:82d8768d7351 | 941 | //DAC init |
Lightvalve | 58:2eade98630e2 | 942 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 943 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 944 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 945 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 946 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 947 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 948 | } |
Lightvalve | 11:82d8768d7351 | 949 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 950 | |
Lightvalve | 19:23b7c1ad8683 | 951 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 952 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 953 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 954 | else |
Lightvalve | 38:118df027d851 | 955 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 956 | } |
Lightvalve | 169:645207e160ca | 957 | |
Lightvalve | 173:68c7914679ec | 958 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 959 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 960 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; |
Lightvalve | 170:42c938a40313 | 961 | } |
Lightvalve | 179:d5377766d7ea | 962 | bc1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 963 | } |
Lightvalve | 173:68c7914679ec | 964 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 965 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 966 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 967 | } |
Lightvalve | 179:d5377766d7ea | 968 | bc2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 179:d5377766d7ea | 969 | hc3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 970 | } |
Lightvalve | 179:d5377766d7ea | 971 | bc3_temp = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 972 | |
Lightvalve | 173:68c7914679ec | 973 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 974 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 975 | ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 976 | } |
Lightvalve | 179:d5377766d7ea | 977 | ba1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 978 | } |
Lightvalve | 173:68c7914679ec | 979 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 980 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 981 | ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 982 | } |
Lightvalve | 179:d5377766d7ea | 983 | ba2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 984 | } |
Lightvalve | 170:42c938a40313 | 985 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 986 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 987 | ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 988 | } |
Lightvalve | 179:d5377766d7ea | 989 | ba3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 990 | } |
Lightvalve | 171:bfc1fd2629d8 | 991 | |
Lightvalve | 170:42c938a40313 | 992 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 993 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 994 | |
jobuuu | 6:df07d3491e3a | 995 | /************************************ |
jobuuu | 1:e04e563be5ce | 996 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 997 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 998 | while(1) { |
Lightvalve | 169:645207e160ca | 999 | |
Lightvalve | 171:bfc1fd2629d8 | 1000 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 1001 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 1002 | // 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 | 1003 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 1004 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 1005 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 1006 | // } |
Lightvalve | 169:645207e160ca | 1007 | |
Lightvalve | 171:bfc1fd2629d8 | 1008 | |
Lightvalve | 171:bfc1fd2629d8 | 1009 | //i2c |
Lightvalve | 180:02be1711ee0b | 1010 | read_field(i2c_slave_addr1); |
Lightvalve | 180:02be1711ee0b | 1011 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 1012 | |
Lightvalve | 177:8e9cf31d63f4 | 1013 | //timer_while ++; |
Lightvalve | 169:645207e160ca | 1014 | |
Lightvalve | 170:42c938a40313 | 1015 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1016 | |
Lightvalve | 73:f80dc3970c99 | 1017 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1018 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1019 | } |
Lightvalve | 169:645207e160ca | 1020 | |
Lightvalve | 73:f80dc3970c99 | 1021 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1022 | |
Lightvalve | 162:9dd4f35e9de8 | 1023 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1024 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1025 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1026 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1027 | } |
Lightvalve | 162:9dd4f35e9de8 | 1028 | |
Lightvalve | 162:9dd4f35e9de8 | 1029 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1030 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1031 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1032 | } |
Lightvalve | 162:9dd4f35e9de8 | 1033 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1034 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1035 | |
Lightvalve | 162:9dd4f35e9de8 | 1036 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1037 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1038 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1039 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1040 | |
Lightvalve | 162:9dd4f35e9de8 | 1041 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1042 | // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 208:408f9f15c486 | 1043 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1044 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1045 | } |
Lightvalve | 208:408f9f15c486 | 1046 | // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1047 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1048 | ind = ind + 1; |
Lightvalve | 238:e4bda4d06a7d | 1049 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1050 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1051 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; |
Lightvalve | 206:2e4d0c287578 | 1052 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1053 | input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1054 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1055 | } |
Lightvalve | 169:645207e160ca | 1056 | |
Lightvalve | 112:8dcb1600cb90 | 1057 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1058 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1059 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1060 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1061 | |
Lightvalve | 112:8dcb1600cb90 | 1062 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1063 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1064 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1065 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1066 | } |
Lightvalve | 66:a8e6799dbce3 | 1067 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1068 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1069 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1070 | } |
Lightvalve | 66:a8e6799dbce3 | 1071 | } |
Lightvalve | 65:a2d7c63419c2 | 1072 | |
Lightvalve | 112:8dcb1600cb90 | 1073 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1074 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1075 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1076 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1077 | } |
Lightvalve | 66:a8e6799dbce3 | 1078 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1079 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1080 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1081 | } |
Lightvalve | 66:a8e6799dbce3 | 1082 | } |
Lightvalve | 65:a2d7c63419c2 | 1083 | |
Lightvalve | 112:8dcb1600cb90 | 1084 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1085 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1086 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1087 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1088 | } |
Lightvalve | 66:a8e6799dbce3 | 1089 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1090 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1091 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1092 | } |
Lightvalve | 65:a2d7c63419c2 | 1093 | } |
Lightvalve | 66:a8e6799dbce3 | 1094 | |
Lightvalve | 66:a8e6799dbce3 | 1095 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1096 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1097 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1098 | } |
Lightvalve | 66:a8e6799dbce3 | 1099 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1100 | |
Lightvalve | 66:a8e6799dbce3 | 1101 | } |
Lightvalve | 73:f80dc3970c99 | 1102 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1103 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1104 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1105 | |
Lightvalve | 66:a8e6799dbce3 | 1106 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1107 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1108 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1109 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1110 | } |
Lightvalve | 87:471334725012 | 1111 | |
Lightvalve | 169:645207e160ca | 1112 | |
Lightvalve | 69:3995ffeaa786 | 1113 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1114 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1115 | } else |
Lightvalve | 69:3995ffeaa786 | 1116 | LED = 1; |
Lightvalve | 169:645207e160ca | 1117 | |
Lightvalve | 65:a2d7c63419c2 | 1118 | } |
Lightvalve | 171:bfc1fd2629d8 | 1119 | |
Lightvalve | 171:bfc1fd2629d8 | 1120 | |
Lightvalve | 170:42c938a40313 | 1121 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1122 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1123 | case 0: { |
Lightvalve | 170:42c938a40313 | 1124 | break; |
Lightvalve | 170:42c938a40313 | 1125 | } |
Lightvalve | 170:42c938a40313 | 1126 | case 1: { |
Lightvalve | 170:42c938a40313 | 1127 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1128 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1129 | float loss_sum = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1130 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 170:42c938a40313 | 1131 | //Calculate Estimated V |
Lightvalve | 175:2f7289dbd488 | 1132 | //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; |
Lightvalve | 175:2f7289dbd488 | 1133 | float temp_array[2] = {state_array[n][0], state_array[n][1]}; |
Lightvalve | 175:2f7289dbd488 | 1134 | V[n] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1135 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 175:2f7289dbd488 | 1136 | hx_c_sum_array[n][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1137 | } |
Lightvalve | 173:68c7914679ec | 1138 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 175:2f7289dbd488 | 1139 | hxh_c_sum_array[n][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1140 | } |
Lightvalve | 175:2f7289dbd488 | 1141 | hxhh_c_sum_array[n] = hxhh_c_sum; |
Lightvalve | 177:8e9cf31d63f4 | 1142 | |
Lightvalve | 175:2f7289dbd488 | 1143 | 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 | 1144 | Actor_Network_Old(temp_array); |
Lightvalve | 175:2f7289dbd488 | 1145 | 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 | 1146 | r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); |
Lightvalve | 175:2f7289dbd488 | 1147 | if(n == batch_size-1) return_G[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1148 | else return_G[n] = gamma * return_G[n+1] + r[n]; |
Lightvalve | 175:2f7289dbd488 | 1149 | if(n == batch_size-1) td_target[n] = r[n]; |
Lightvalve | 175:2f7289dbd488 | 1150 | else td_target[n] = r[n] + gamma * V[n+1]; |
Lightvalve | 175:2f7289dbd488 | 1151 | delta[n] = td_target[n] - V[n]; |
Lightvalve | 175:2f7289dbd488 | 1152 | if(n == batch_size-1) advantage[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1153 | else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; |
Lightvalve | 179:d5377766d7ea | 1154 | // return_G[n] = advantage[n] + V[n]; |
Lightvalve | 175:2f7289dbd488 | 1155 | ratio[n] = pi[n]/pi_old[n]; |
Lightvalve | 179:d5377766d7ea | 1156 | } |
Lightvalve | 179:d5377766d7ea | 1157 | float mean_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1158 | float dev_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1159 | mean_advantage = mean_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1160 | dev_advantage = deviation_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1161 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 179:d5377766d7ea | 1162 | //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; |
Lightvalve | 175:2f7289dbd488 | 1163 | surr1[n] = ratio[n] * advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1164 | if (ratio[n] > 1.0f + epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1165 | surr2[n] = (1.0f + epsilon)*advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1166 | } else if( ratio[n] < 1.0f - epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1167 | surr2[n] = (1.0f - epsilon)*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1168 | } else { |
Lightvalve | 175:2f7289dbd488 | 1169 | surr2[n] = ratio[n]*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1170 | } |
Lightvalve | 175:2f7289dbd488 | 1171 | loss[n] = -min(surr1[n], surr2[n]); |
Lightvalve | 175:2f7289dbd488 | 1172 | loss_sum = loss_sum + loss[n]; |
Lightvalve | 170:42c938a40313 | 1173 | } |
Lightvalve | 170:42c938a40313 | 1174 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1175 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1176 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1177 | } |
Lightvalve | 170:42c938a40313 | 1178 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1179 | |
Lightvalve | 171:bfc1fd2629d8 | 1180 | |
Lightvalve | 170:42c938a40313 | 1181 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1182 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1183 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1184 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1185 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1186 | } |
Lightvalve | 170:42c938a40313 | 1187 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1188 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1189 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1190 | |
Lightvalve | 170:42c938a40313 | 1191 | break; |
Lightvalve | 170:42c938a40313 | 1192 | } |
Lightvalve | 170:42c938a40313 | 1193 | case 2: { |
Lightvalve | 170:42c938a40313 | 1194 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1195 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1196 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1197 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1198 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1199 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1200 | break; |
Lightvalve | 170:42c938a40313 | 1201 | } |
Lightvalve | 169:645207e160ca | 1202 | |
Lightvalve | 170:42c938a40313 | 1203 | } |
GiJeongKim | 0:51c43836c1d7 | 1204 | } |
jobuuu | 1:e04e563be5ce | 1205 | } |
jobuuu | 1:e04e563be5ce | 1206 | |
Lightvalve | 33:91b17819ec30 | 1207 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1208 | { |
Lightvalve | 14:8e7590227d22 | 1209 | |
Lightvalve | 13:747daba9cf59 | 1210 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1211 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1212 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1213 | 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 | 1214 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1215 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1216 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1217 | } else { |
Lightvalve | 57:f4819de54e7a | 1218 | 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 | 1219 | } |
Lightvalve | 14:8e7590227d22 | 1220 | } else { |
Lightvalve | 50:3c630b5eba9f | 1221 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1222 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1223 | } else { |
Lightvalve | 57:f4819de54e7a | 1224 | 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 | 1225 | } |
Lightvalve | 13:747daba9cf59 | 1226 | } |
Lightvalve | 13:747daba9cf59 | 1227 | break; |
Lightvalve | 13:747daba9cf59 | 1228 | } |
Lightvalve | 13:747daba9cf59 | 1229 | } |
Lightvalve | 14:8e7590227d22 | 1230 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1231 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1232 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1233 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1234 | } |
Lightvalve | 36:a46e63505ed8 | 1235 | |
Lightvalve | 57:f4819de54e7a | 1236 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1237 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1238 | |
Lightvalve | 13:747daba9cf59 | 1239 | } |
jobuuu | 6:df07d3491e3a | 1240 | |
jobuuu | 6:df07d3491e3a | 1241 | |
Lightvalve | 30:8d561f16383b | 1242 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1243 | { |
Lightvalve | 13:747daba9cf59 | 1244 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1245 | |
Lightvalve | 38:118df027d851 | 1246 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1247 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1248 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1249 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1250 | } |
Lightvalve | 38:118df027d851 | 1251 | |
Lightvalve | 89:a7b45368ea0f | 1252 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1253 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1254 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1255 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1256 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1257 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1258 | |
Lightvalve | 13:747daba9cf59 | 1259 | 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 | 1260 | |
Lightvalve | 18:b8adf1582ea3 | 1261 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1262 | 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 | 1263 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1264 | 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 | 1265 | } else { |
Lightvalve | 48:889798ff9329 | 1266 | 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 | 1267 | } |
Lightvalve | 13:747daba9cf59 | 1268 | break; |
Lightvalve | 13:747daba9cf59 | 1269 | } |
Lightvalve | 13:747daba9cf59 | 1270 | } |
Lightvalve | 59:f308b1656d9c | 1271 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1272 | } |
Lightvalve | 13:747daba9cf59 | 1273 | |
Lightvalve | 14:8e7590227d22 | 1274 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1275 | 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 | 1276 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1277 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1278 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1279 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1280 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1281 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1282 | 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 | 1283 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1284 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1285 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1286 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1287 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1288 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1289 | |
Lightvalve | 30:8d561f16383b | 1290 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1291 | { |
Lightvalve | 30:8d561f16383b | 1292 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1293 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1294 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1295 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1296 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1297 | } else { |
Lightvalve | 13:747daba9cf59 | 1298 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1299 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1300 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1301 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1302 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1303 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1304 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1305 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1306 | break; |
Lightvalve | 13:747daba9cf59 | 1307 | } |
Lightvalve | 13:747daba9cf59 | 1308 | } |
Lightvalve | 13:747daba9cf59 | 1309 | } |
Lightvalve | 14:8e7590227d22 | 1310 | |
Lightvalve | 13:747daba9cf59 | 1311 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1312 | } |
jobuuu | 6:df07d3491e3a | 1313 | |
Lightvalve | 57:f4819de54e7a | 1314 | |
Lightvalve | 57:f4819de54e7a | 1315 | |
Lightvalve | 57:f4819de54e7a | 1316 | |
Lightvalve | 57:f4819de54e7a | 1317 | |
jobuuu | 2:a1c0a37df760 | 1318 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1319 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1320 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1321 | |
Lightvalve | 51:b46bed7fec80 | 1322 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1323 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1324 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1325 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1326 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1327 | { |
Lightvalve | 19:23b7c1ad8683 | 1328 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1329 | |
Lightvalve | 21:e5f1a43ea6f9 | 1330 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1331 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1332 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1333 | |
Lightvalve | 57:f4819de54e7a | 1334 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1335 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1336 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1337 | } |
Lightvalve | 61:bc8c8270f0ab | 1338 | |
Lightvalve | 61:bc8c8270f0ab | 1339 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1340 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1341 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1342 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1343 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1344 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 253:0246366e0dcb | 1345 | torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1346 | |
Lightvalve | 67:c2812cf26c38 | 1347 | |
Lightvalve | 67:c2812cf26c38 | 1348 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1349 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1350 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1351 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1352 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1353 | |
Lightvalve | 17:1865016ca2e7 | 1354 | |
Lightvalve | 58:2eade98630e2 | 1355 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1356 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1357 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1358 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1359 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1360 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1361 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1362 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1363 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1364 | |
Lightvalve | 58:2eade98630e2 | 1365 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1366 | 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 | 1367 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1368 | 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 | 1369 | } |
Lightvalve | 58:2eade98630e2 | 1370 | } |
Lightvalve | 61:bc8c8270f0ab | 1371 | |
Lightvalve | 58:2eade98630e2 | 1372 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1373 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1374 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1375 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1376 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1377 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1378 | // 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 | 1379 | // |
Lightvalve | 58:2eade98630e2 | 1380 | // |
Lightvalve | 58:2eade98630e2 | 1381 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1382 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1383 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1384 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1385 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1386 | |
Lightvalve | 17:1865016ca2e7 | 1387 | |
Lightvalve | 21:e5f1a43ea6f9 | 1388 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1389 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1390 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1391 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1392 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1393 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1394 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1395 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1396 | |
Lightvalve | 57:f4819de54e7a | 1397 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1398 | } |
Lightvalve | 11:82d8768d7351 | 1399 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1400 | } |
Lightvalve | 19:23b7c1ad8683 | 1401 | |
Lightvalve | 19:23b7c1ad8683 | 1402 | |
Lightvalve | 18:b8adf1582ea3 | 1403 | int j =0; |
Lightvalve | 54:647072f5307a | 1404 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1405 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1406 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1407 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 48:889798ff9329 | 1408 | |
Lightvalve | 11:82d8768d7351 | 1409 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1410 | { |
Lightvalve | 19:23b7c1ad8683 | 1411 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1412 | |
Lightvalve | 57:f4819de54e7a | 1413 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1414 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1415 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1416 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1417 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1418 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1419 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1420 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1421 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1422 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1423 | } |
Lightvalve | 50:3c630b5eba9f | 1424 | |
Lightvalve | 50:3c630b5eba9f | 1425 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1426 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1427 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1428 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1429 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1430 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1431 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1432 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1433 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1434 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1435 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1436 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1437 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1438 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1439 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1440 | } else { |
Lightvalve | 58:2eade98630e2 | 1441 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1442 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1443 | } |
Lightvalve | 45:35fa6884d0c6 | 1444 | |
Lightvalve | 50:3c630b5eba9f | 1445 | |
Lightvalve | 57:f4819de54e7a | 1446 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1447 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1448 | |
Lightvalve | 57:f4819de54e7a | 1449 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1450 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1451 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1452 | } else { |
Lightvalve | 57:f4819de54e7a | 1453 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1454 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1455 | } |
Lightvalve | 56:6f50d9d3bfee | 1456 | |
Lightvalve | 56:6f50d9d3bfee | 1457 | |
Lightvalve | 56:6f50d9d3bfee | 1458 | |
Lightvalve | 57:f4819de54e7a | 1459 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1460 | |
Lightvalve | 57:f4819de54e7a | 1461 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1462 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1463 | break; |
Lightvalve | 13:747daba9cf59 | 1464 | } |
Lightvalve | 14:8e7590227d22 | 1465 | |
Lightvalve | 14:8e7590227d22 | 1466 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1467 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1468 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1469 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1470 | |
Lightvalve | 14:8e7590227d22 | 1471 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1472 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1473 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1474 | |
Lightvalve | 253:0246366e0dcb | 1475 | TORQUE_VREF -= 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1476 | |
Lightvalve | 30:8d561f16383b | 1477 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1478 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1479 | |
Lightvalve | 16:903b5a4433b4 | 1480 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1481 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1482 | } |
Lightvalve | 13:747daba9cf59 | 1483 | } else { |
Lightvalve | 58:2eade98630e2 | 1484 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1485 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1486 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1487 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1488 | |
Lightvalve | 170:42c938a40313 | 1489 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1490 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1491 | |
Lightvalve | 30:8d561f16383b | 1492 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1493 | |
Lightvalve | 13:747daba9cf59 | 1494 | } |
Lightvalve | 14:8e7590227d22 | 1495 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1496 | break; |
Lightvalve | 19:23b7c1ad8683 | 1497 | } |
Lightvalve | 14:8e7590227d22 | 1498 | |
Lightvalve | 50:3c630b5eba9f | 1499 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1500 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1501 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1502 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1503 | // } |
Lightvalve | 50:3c630b5eba9f | 1504 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1505 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1506 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1507 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1508 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1509 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1510 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1511 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1512 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1513 | // } |
Lightvalve | 50:3c630b5eba9f | 1514 | // |
Lightvalve | 50:3c630b5eba9f | 1515 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1516 | // 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 | 1517 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1518 | // |
Lightvalve | 50:3c630b5eba9f | 1519 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1520 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1521 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1522 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1523 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1524 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1525 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1526 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1527 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1528 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1529 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1530 | // |
Lightvalve | 50:3c630b5eba9f | 1531 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1532 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1533 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1534 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1535 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1536 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1537 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1538 | // |
Lightvalve | 50:3c630b5eba9f | 1539 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1540 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1541 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1542 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1543 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1544 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1545 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1546 | // } |
Lightvalve | 50:3c630b5eba9f | 1547 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1548 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1549 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1550 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1551 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1552 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1553 | // } |
Lightvalve | 50:3c630b5eba9f | 1554 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1555 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1556 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1557 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1558 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1559 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1560 | // } |
Lightvalve | 50:3c630b5eba9f | 1561 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1562 | // |
Lightvalve | 50:3c630b5eba9f | 1563 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1564 | // |
Lightvalve | 50:3c630b5eba9f | 1565 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1566 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1567 | // |
Lightvalve | 50:3c630b5eba9f | 1568 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1569 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1570 | // } |
Lightvalve | 50:3c630b5eba9f | 1571 | // } |
Lightvalve | 50:3c630b5eba9f | 1572 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1573 | // break; |
Lightvalve | 50:3c630b5eba9f | 1574 | // } |
Lightvalve | 14:8e7590227d22 | 1575 | |
Lightvalve | 14:8e7590227d22 | 1576 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1577 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1578 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1579 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1580 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1581 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1582 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1583 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1584 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1585 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1586 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1587 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1588 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1589 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1590 | } |
Lightvalve | 29:69f3f5445d6d | 1591 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1592 | |
Lightvalve | 29:69f3f5445d6d | 1593 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1594 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1595 | } else { |
Lightvalve | 29:69f3f5445d6d | 1596 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1597 | } |
Lightvalve | 19:23b7c1ad8683 | 1598 | |
Lightvalve | 57:f4819de54e7a | 1599 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1600 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1601 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1602 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1603 | |
Lightvalve | 59:f308b1656d9c | 1604 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1605 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1606 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1607 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1608 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1609 | |
Lightvalve | 59:f308b1656d9c | 1610 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1611 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1612 | |
Lightvalve | 34:bb2ca2fc2a8e | 1613 | |
Lightvalve | 29:69f3f5445d6d | 1614 | } else { |
Lightvalve | 29:69f3f5445d6d | 1615 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1616 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1617 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1618 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1619 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1620 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1621 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1622 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1623 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1624 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1625 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1626 | |
Lightvalve | 67:c2812cf26c38 | 1627 | |
Lightvalve | 67:c2812cf26c38 | 1628 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1629 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1630 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1631 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1632 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1633 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1634 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1635 | |
Lightvalve | 169:645207e160ca | 1636 | |
Lightvalve | 29:69f3f5445d6d | 1637 | } |
Lightvalve | 29:69f3f5445d6d | 1638 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1639 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1640 | 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 | 1641 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1642 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1643 | |
Lightvalve | 29:69f3f5445d6d | 1644 | // input for position control |
Lightvalve | 169:645207e160ca | 1645 | |
Lightvalve | 67:c2812cf26c38 | 1646 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1647 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1648 | |
Lightvalve | 67:c2812cf26c38 | 1649 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1650 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1651 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1652 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1653 | |
Lightvalve | 67:c2812cf26c38 | 1654 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1655 | |
Lightvalve | 67:c2812cf26c38 | 1656 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1657 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1658 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1659 | |
Lightvalve | 67:c2812cf26c38 | 1660 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1661 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1662 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1663 | |
Lightvalve | 69:3995ffeaa786 | 1664 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1665 | 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 | 1666 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1667 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1668 | 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 | 1669 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1670 | } |
Lightvalve | 67:c2812cf26c38 | 1671 | 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 | 1672 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1673 | |
Lightvalve | 67:c2812cf26c38 | 1674 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1675 | |
Lightvalve | 67:c2812cf26c38 | 1676 | |
Lightvalve | 67:c2812cf26c38 | 1677 | |
Lightvalve | 67:c2812cf26c38 | 1678 | } else { |
Lightvalve | 67:c2812cf26c38 | 1679 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1680 | 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 | 1681 | |
Lightvalve | 67:c2812cf26c38 | 1682 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1683 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1684 | } else { |
Lightvalve | 67:c2812cf26c38 | 1685 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1686 | } |
Lightvalve | 67:c2812cf26c38 | 1687 | |
Lightvalve | 67:c2812cf26c38 | 1688 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1689 | |
Lightvalve | 67:c2812cf26c38 | 1690 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1691 | |
Lightvalve | 67:c2812cf26c38 | 1692 | } |
Lightvalve | 67:c2812cf26c38 | 1693 | |
Lightvalve | 67:c2812cf26c38 | 1694 | |
Lightvalve | 169:645207e160ca | 1695 | |
Lightvalve | 169:645207e160ca | 1696 | |
Lightvalve | 59:f308b1656d9c | 1697 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1698 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1699 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1700 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1701 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1702 | |
Lightvalve | 29:69f3f5445d6d | 1703 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1704 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1705 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1706 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1707 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1708 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1709 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1710 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1711 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1712 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1713 | } |
Lightvalve | 13:747daba9cf59 | 1714 | } |
Lightvalve | 19:23b7c1ad8683 | 1715 | |
Lightvalve | 13:747daba9cf59 | 1716 | break; |
Lightvalve | 13:747daba9cf59 | 1717 | } |
Lightvalve | 14:8e7590227d22 | 1718 | |
Lightvalve | 50:3c630b5eba9f | 1719 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1720 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1721 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1722 | // else { |
Lightvalve | 50:3c630b5eba9f | 1723 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1724 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1725 | // } |
Lightvalve | 50:3c630b5eba9f | 1726 | // } |
Lightvalve | 50:3c630b5eba9f | 1727 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1728 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1729 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1730 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1731 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1732 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1733 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1734 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1735 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1736 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1737 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1738 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1739 | // } |
Lightvalve | 50:3c630b5eba9f | 1740 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1741 | // } |
Lightvalve | 50:3c630b5eba9f | 1742 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1743 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1744 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1745 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1746 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1747 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1748 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1749 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1750 | // 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 | 1751 | // // 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 | 1752 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1753 | // } |
Lightvalve | 50:3c630b5eba9f | 1754 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1755 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1756 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1757 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1758 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1759 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1760 | // 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 | 1761 | // // 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 | 1762 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1763 | // } |
Lightvalve | 50:3c630b5eba9f | 1764 | // } |
Lightvalve | 50:3c630b5eba9f | 1765 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1766 | // |
Lightvalve | 50:3c630b5eba9f | 1767 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1768 | // |
Lightvalve | 50:3c630b5eba9f | 1769 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1770 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1771 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1772 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1773 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1774 | // } |
Lightvalve | 50:3c630b5eba9f | 1775 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1776 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1777 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1778 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1779 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1780 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1781 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1782 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1783 | // } |
Lightvalve | 50:3c630b5eba9f | 1784 | // |
Lightvalve | 50:3c630b5eba9f | 1785 | // } |
Lightvalve | 50:3c630b5eba9f | 1786 | // break; |
Lightvalve | 50:3c630b5eba9f | 1787 | // } |
Lightvalve | 50:3c630b5eba9f | 1788 | // |
Lightvalve | 50:3c630b5eba9f | 1789 | // } |
Lightvalve | 14:8e7590227d22 | 1790 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1791 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1792 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1793 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1794 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1795 | |
Lightvalve | 14:8e7590227d22 | 1796 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1797 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1798 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1799 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1800 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1801 | |
Lightvalve | 38:118df027d851 | 1802 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1803 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1804 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1805 | |
Lightvalve | 30:8d561f16383b | 1806 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1807 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1808 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1809 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1810 | |
Lightvalve | 30:8d561f16383b | 1811 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1812 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1813 | } |
Lightvalve | 13:747daba9cf59 | 1814 | } else { |
Lightvalve | 57:f4819de54e7a | 1815 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1816 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1817 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1818 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1819 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1820 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1821 | |
Lightvalve | 170:42c938a40313 | 1822 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1823 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1824 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1825 | |
Lightvalve | 30:8d561f16383b | 1826 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1827 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1828 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1829 | } |
Lightvalve | 14:8e7590227d22 | 1830 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1831 | break; |
Lightvalve | 13:747daba9cf59 | 1832 | } |
Lightvalve | 14:8e7590227d22 | 1833 | |
Lightvalve | 50:3c630b5eba9f | 1834 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1835 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1836 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1837 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1838 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1839 | // } |
Lightvalve | 50:3c630b5eba9f | 1840 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1841 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1842 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1843 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1844 | // } |
Lightvalve | 50:3c630b5eba9f | 1845 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1846 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1847 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1848 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1849 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1850 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1851 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1852 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1853 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1854 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1855 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1856 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1857 | // |
Lightvalve | 50:3c630b5eba9f | 1858 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1859 | // |
Lightvalve | 50:3c630b5eba9f | 1860 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1861 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1862 | // } |
Lightvalve | 50:3c630b5eba9f | 1863 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1864 | // break; |
Lightvalve | 50:3c630b5eba9f | 1865 | // } |
Lightvalve | 19:23b7c1ad8683 | 1866 | |
Lightvalve | 50:3c630b5eba9f | 1867 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1868 | // 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 | 1869 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1870 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1871 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1872 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1873 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1874 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1875 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1876 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1877 | // } |
Lightvalve | 50:3c630b5eba9f | 1878 | // break; |
Lightvalve | 50:3c630b5eba9f | 1879 | // } |
Lightvalve | 14:8e7590227d22 | 1880 | |
Lightvalve | 14:8e7590227d22 | 1881 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1882 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1883 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1884 | |
Lightvalve | 14:8e7590227d22 | 1885 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1886 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1887 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1888 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1889 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1890 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1891 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1892 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1893 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1894 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1895 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1896 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1897 | } else { |
Lightvalve | 13:747daba9cf59 | 1898 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1899 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1900 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1901 | } |
Lightvalve | 14:8e7590227d22 | 1902 | |
Lightvalve | 17:1865016ca2e7 | 1903 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1904 | int i; |
Lightvalve | 13:747daba9cf59 | 1905 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1906 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1907 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1908 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1909 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1910 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1911 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1912 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1913 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1914 | } |
Lightvalve | 13:747daba9cf59 | 1915 | } |
Lightvalve | 170:42c938a40313 | 1916 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1917 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1918 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1919 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1920 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1921 | } |
Lightvalve | 13:747daba9cf59 | 1922 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1923 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1924 | } |
Lightvalve | 14:8e7590227d22 | 1925 | |
Lightvalve | 14:8e7590227d22 | 1926 | |
Lightvalve | 13:747daba9cf59 | 1927 | break; |
Lightvalve | 13:747daba9cf59 | 1928 | } |
Lightvalve | 14:8e7590227d22 | 1929 | |
Lightvalve | 14:8e7590227d22 | 1930 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1931 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1932 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1933 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1934 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1935 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1936 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1937 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1938 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1939 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1940 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1941 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1942 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1943 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1944 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1945 | 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 | 1946 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1947 | 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 | 1948 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1949 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1950 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1951 | 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 | 1952 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1953 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1954 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1955 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1956 | |
Lightvalve | 30:8d561f16383b | 1957 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1958 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1959 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1960 | |
Lightvalve | 30:8d561f16383b | 1961 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1962 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1963 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1964 | |
Lightvalve | 30:8d561f16383b | 1965 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1966 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1967 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1968 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1969 | |
Lightvalve | 60:64181f1d3e60 | 1970 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1971 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1972 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1973 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1974 | } else { |
Lightvalve | 13:747daba9cf59 | 1975 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1976 | } |
Lightvalve | 61:bc8c8270f0ab | 1977 | |
Lightvalve | 60:64181f1d3e60 | 1978 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1979 | |
Lightvalve | 13:747daba9cf59 | 1980 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1981 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1982 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1983 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1984 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1985 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1986 | |
Lightvalve | 13:747daba9cf59 | 1987 | } |
Lightvalve | 19:23b7c1ad8683 | 1988 | } else { |
Lightvalve | 14:8e7590227d22 | 1989 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1990 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1991 | 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 | 1992 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1993 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1994 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1995 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1996 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1997 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1998 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1999 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2000 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2001 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2002 | } |
Lightvalve | 14:8e7590227d22 | 2003 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2004 | |
Lightvalve | 30:8d561f16383b | 2005 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2006 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2007 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2008 | |
Lightvalve | 14:8e7590227d22 | 2009 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2010 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2011 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2012 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2013 | } else { |
Lightvalve | 13:747daba9cf59 | 2014 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2015 | } |
Lightvalve | 14:8e7590227d22 | 2016 | |
Lightvalve | 13:747daba9cf59 | 2017 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2018 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2019 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2020 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2021 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2022 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2023 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2024 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2025 | } |
Lightvalve | 13:747daba9cf59 | 2026 | } |
Lightvalve | 14:8e7590227d22 | 2027 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2028 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2029 | 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 | 2030 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2031 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2032 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2033 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2034 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2035 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2036 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2037 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2038 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2039 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2040 | } |
Lightvalve | 14:8e7590227d22 | 2041 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2042 | |
Lightvalve | 30:8d561f16383b | 2043 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2044 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2045 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2046 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2047 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2048 | |
Lightvalve | 14:8e7590227d22 | 2049 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2050 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2051 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2052 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2053 | } else { |
Lightvalve | 60:64181f1d3e60 | 2054 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2055 | } |
Lightvalve | 14:8e7590227d22 | 2056 | |
Lightvalve | 13:747daba9cf59 | 2057 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2058 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2059 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2060 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2061 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2062 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2063 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2064 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2065 | |
Lightvalve | 170:42c938a40313 | 2066 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2067 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2068 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2069 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2070 | |
Lightvalve | 60:64181f1d3e60 | 2071 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2072 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2073 | } |
Lightvalve | 13:747daba9cf59 | 2074 | } |
Lightvalve | 14:8e7590227d22 | 2075 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2076 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2077 | 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 | 2078 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2079 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2080 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2081 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2082 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2083 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2084 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2085 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2086 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2087 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2088 | } |
Lightvalve | 14:8e7590227d22 | 2089 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2090 | |
Lightvalve | 30:8d561f16383b | 2091 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2092 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2093 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2094 | |
Lightvalve | 14:8e7590227d22 | 2095 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2096 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2097 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2098 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2099 | } else { |
Lightvalve | 13:747daba9cf59 | 2100 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2101 | } |
Lightvalve | 13:747daba9cf59 | 2102 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2103 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2104 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2105 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2106 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2107 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2108 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2109 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2110 | } |
Lightvalve | 13:747daba9cf59 | 2111 | } |
Lightvalve | 14:8e7590227d22 | 2112 | } else { |
Lightvalve | 30:8d561f16383b | 2113 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2114 | 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 | 2115 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2116 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2117 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2118 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2119 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2120 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2121 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2122 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2123 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2124 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2125 | } |
Lightvalve | 14:8e7590227d22 | 2126 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2127 | |
Lightvalve | 30:8d561f16383b | 2128 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2129 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2130 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2131 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2132 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2133 | |
Lightvalve | 60:64181f1d3e60 | 2134 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2135 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2136 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2137 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2138 | } else { |
Lightvalve | 13:747daba9cf59 | 2139 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2140 | } |
Lightvalve | 14:8e7590227d22 | 2141 | |
Lightvalve | 13:747daba9cf59 | 2142 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2143 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2144 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2145 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2146 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2147 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2148 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2149 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2150 | |
Lightvalve | 170:42c938a40313 | 2151 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2152 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2153 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2154 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2155 | |
Lightvalve | 57:f4819de54e7a | 2156 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2157 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2158 | } |
Lightvalve | 13:747daba9cf59 | 2159 | } |
Lightvalve | 13:747daba9cf59 | 2160 | } |
Lightvalve | 14:8e7590227d22 | 2161 | } |
Lightvalve | 13:747daba9cf59 | 2162 | break; |
Lightvalve | 13:747daba9cf59 | 2163 | } |
Lightvalve | 14:8e7590227d22 | 2164 | |
Lightvalve | 14:8e7590227d22 | 2165 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2166 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2167 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2168 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2169 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2170 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2171 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2172 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2173 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2174 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2175 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2176 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2177 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2178 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2179 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2180 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2181 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2182 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2183 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2184 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2185 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2186 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2187 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2188 | } |
Lightvalve | 14:8e7590227d22 | 2189 | } else { |
Lightvalve | 30:8d561f16383b | 2190 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2191 | //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 | 2192 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2193 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2194 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2195 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2196 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2197 | |
Lightvalve | 14:8e7590227d22 | 2198 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2199 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2200 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2201 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2202 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2203 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2204 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2205 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2206 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2207 | } |
Lightvalve | 30:8d561f16383b | 2208 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2209 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2210 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2211 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2212 | } |
Lightvalve | 14:8e7590227d22 | 2213 | |
Lightvalve | 14:8e7590227d22 | 2214 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2215 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2216 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2217 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2218 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2219 | } |
Lightvalve | 13:747daba9cf59 | 2220 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2221 | |
Lightvalve | 13:747daba9cf59 | 2222 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2223 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2224 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2225 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2226 | } |
Lightvalve | 14:8e7590227d22 | 2227 | |
Lightvalve | 14:8e7590227d22 | 2228 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2229 | |
Lightvalve | 13:747daba9cf59 | 2230 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2231 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2232 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2233 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2234 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2235 | } |
Lightvalve | 13:747daba9cf59 | 2236 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2237 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2238 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2239 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2240 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2241 | } |
Lightvalve | 13:747daba9cf59 | 2242 | } |
Lightvalve | 13:747daba9cf59 | 2243 | break; |
Lightvalve | 13:747daba9cf59 | 2244 | } |
Lightvalve | 58:2eade98630e2 | 2245 | |
Lightvalve | 57:f4819de54e7a | 2246 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2247 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2248 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2249 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2250 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2251 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2252 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2253 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2254 | } |
Lightvalve | 57:f4819de54e7a | 2255 | break; |
Lightvalve | 57:f4819de54e7a | 2256 | } |
Lightvalve | 58:2eade98630e2 | 2257 | |
Lightvalve | 169:645207e160ca | 2258 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2259 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2260 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2261 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2262 | } else { |
Lightvalve | 169:645207e160ca | 2263 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2264 | } |
Lightvalve | 169:645207e160ca | 2265 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2266 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2267 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2268 | } else { |
Lightvalve | 169:645207e160ca | 2269 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2270 | } |
Lightvalve | 58:2eade98630e2 | 2271 | |
Lightvalve | 169:645207e160ca | 2272 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2273 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2274 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2275 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2276 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2277 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2278 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2279 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2280 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2281 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2282 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2283 | } |
Lightvalve | 169:645207e160ca | 2284 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2285 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2286 | |
Lightvalve | 169:645207e160ca | 2287 | } |
Lightvalve | 169:645207e160ca | 2288 | break; |
Lightvalve | 169:645207e160ca | 2289 | } |
Lightvalve | 169:645207e160ca | 2290 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2291 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2292 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2293 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2294 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2295 | // } |
Lightvalve | 169:645207e160ca | 2296 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2297 | // } |
Lightvalve | 169:645207e160ca | 2298 | |
Lightvalve | 169:645207e160ca | 2299 | break; |
Lightvalve | 169:645207e160ca | 2300 | } |
Lightvalve | 169:645207e160ca | 2301 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2302 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2303 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2304 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2305 | break; |
Lightvalve | 169:645207e160ca | 2306 | } |
Lightvalve | 170:42c938a40313 | 2307 | |
Lightvalve | 169:645207e160ca | 2308 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2309 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2310 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2311 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2312 | } else { |
Lightvalve | 169:645207e160ca | 2313 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2314 | } |
Lightvalve | 169:645207e160ca | 2315 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2316 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2317 | } else { |
Lightvalve | 169:645207e160ca | 2318 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2319 | } |
Lightvalve | 169:645207e160ca | 2320 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2321 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2322 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2323 | } else { |
Lightvalve | 169:645207e160ca | 2324 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2325 | } |
Lightvalve | 169:645207e160ca | 2326 | |
Lightvalve | 169:645207e160ca | 2327 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2328 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2329 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2330 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2331 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2332 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2333 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2334 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2335 | } |
Lightvalve | 169:645207e160ca | 2336 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2337 | // { |
Lightvalve | 169:645207e160ca | 2338 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2339 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2340 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2341 | // } |
Lightvalve | 170:42c938a40313 | 2342 | |
Lightvalve | 169:645207e160ca | 2343 | break; |
Lightvalve | 169:645207e160ca | 2344 | } |
Lightvalve | 57:f4819de54e7a | 2345 | |
Lightvalve | 57:f4819de54e7a | 2346 | default: |
Lightvalve | 57:f4819de54e7a | 2347 | break; |
Lightvalve | 57:f4819de54e7a | 2348 | } |
Lightvalve | 57:f4819de54e7a | 2349 | |
Lightvalve | 57:f4819de54e7a | 2350 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2351 | |
Lightvalve | 57:f4819de54e7a | 2352 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2353 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2354 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2355 | break; |
Lightvalve | 57:f4819de54e7a | 2356 | } |
Lightvalve | 57:f4819de54e7a | 2357 | |
Lightvalve | 57:f4819de54e7a | 2358 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2359 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 225:278b48b86f27 | 2360 | ////For Test LIMC////////////////////////////////////////// |
Lightvalve | 233:0a37cdd59651 | 2361 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 233:0a37cdd59651 | 2362 | // for(int i=0; i<9; i++){ |
Lightvalve | 233:0a37cdd59651 | 2363 | // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1]; |
Lightvalve | 233:0a37cdd59651 | 2364 | // } |
Lightvalve | 233:0a37cdd59651 | 2365 | // valve_ref_pos_buffer[9] = valve_pos.ref; |
Lightvalve | 233:0a37cdd59651 | 2366 | // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]); |
Lightvalve | 225:278b48b86f27 | 2367 | //////////////////////////////////////////////////////////// |
Lightvalve | 252:179a8c8791dc | 2368 | |
Lightvalve | 59:f308b1656d9c | 2369 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2370 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2371 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2372 | } else { |
Lightvalve | 67:c2812cf26c38 | 2373 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2374 | } |
Lightvalve | 57:f4819de54e7a | 2375 | break; |
Lightvalve | 57:f4819de54e7a | 2376 | } |
Lightvalve | 57:f4819de54e7a | 2377 | |
Lightvalve | 57:f4819de54e7a | 2378 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2379 | |
Lightvalve | 57:f4819de54e7a | 2380 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2381 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2382 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2383 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2384 | |
Lightvalve | 67:c2812cf26c38 | 2385 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2386 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2387 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2388 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2389 | |
Lightvalve | 139:15621998925b | 2390 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2391 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2392 | |
Lightvalve | 57:f4819de54e7a | 2393 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2394 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2395 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2396 | |
Lightvalve | 57:f4819de54e7a | 2397 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2398 | |
Lightvalve | 57:f4819de54e7a | 2399 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2400 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2401 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2402 | |
Lightvalve | 57:f4819de54e7a | 2403 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2404 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2405 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2406 | |
Lightvalve | 69:3995ffeaa786 | 2407 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 252:179a8c8791dc | 2408 | 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) D_GAIN_JOINT_POSITION * wn_Pos * vel.err + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2409 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2410 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 252:179a8c8791dc | 2411 | 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) D_GAIN_JOINT_POSITION * wn_Pos * vel.err + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2412 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2413 | } |
Lightvalve | 57:f4819de54e7a | 2414 | 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 | 2415 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2416 | |
Lightvalve | 57:f4819de54e7a | 2417 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2418 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2419 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2420 | // 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 | 2421 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2422 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2423 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2424 | 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 | 2425 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2426 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2427 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2428 | } |
Lightvalve | 57:f4819de54e7a | 2429 | 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 | 2430 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2431 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2432 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2433 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2434 | |
Lightvalve | 57:f4819de54e7a | 2435 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2436 | |
Lightvalve | 67:c2812cf26c38 | 2437 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2438 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2439 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2440 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2441 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2442 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2443 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2444 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2445 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2446 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2447 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2448 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2449 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2450 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2451 | } |
Lightvalve | 67:c2812cf26c38 | 2452 | } |
Lightvalve | 57:f4819de54e7a | 2453 | |
Lightvalve | 57:f4819de54e7a | 2454 | } else { |
Lightvalve | 57:f4819de54e7a | 2455 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2456 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2457 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2458 | |
Lightvalve | 209:ebc69d6ee6f1 | 2459 | 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 | 2460 | |
Lightvalve | 72:3436ce769b1e | 2461 | 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 | 2462 | |
Lightvalve | 72:3436ce769b1e | 2463 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2464 | |
Lightvalve | 169:645207e160ca | 2465 | |
Lightvalve | 72:3436ce769b1e | 2466 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2467 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2468 | } else { |
Lightvalve | 72:3436ce769b1e | 2469 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2470 | } |
Lightvalve | 57:f4819de54e7a | 2471 | |
Lightvalve | 57:f4819de54e7a | 2472 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2473 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2474 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2475 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2476 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2477 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2478 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2479 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2480 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2481 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2482 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2483 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2484 | } |
Lightvalve | 57:f4819de54e7a | 2485 | } |
Lightvalve | 61:bc8c8270f0ab | 2486 | |
Lightvalve | 57:f4819de54e7a | 2487 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2488 | |
Lightvalve | 67:c2812cf26c38 | 2489 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2490 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2491 | |
Lightvalve | 57:f4819de54e7a | 2492 | } |
Lightvalve | 169:645207e160ca | 2493 | |
Lightvalve | 72:3436ce769b1e | 2494 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2495 | |
Lightvalve | 133:22ab22818e01 | 2496 | |
Lightvalve | 57:f4819de54e7a | 2497 | break; |
Lightvalve | 57:f4819de54e7a | 2498 | } |
Lightvalve | 58:2eade98630e2 | 2499 | |
Lightvalve | 57:f4819de54e7a | 2500 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2501 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2502 | break; |
Lightvalve | 57:f4819de54e7a | 2503 | } |
Lightvalve | 169:645207e160ca | 2504 | |
Lightvalve | 138:a843f32ced33 | 2505 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2506 | |
Lightvalve | 169:645207e160ca | 2507 | |
Lightvalve | 139:15621998925b | 2508 | 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 | 2509 | 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 | 2510 | |
Lightvalve | 170:42c938a40313 | 2511 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2512 | |
Lightvalve | 218:066030f7951f | 2513 | //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 | 2514 | float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 169:645207e160ca | 2515 | |
Lightvalve | 138:a843f32ced33 | 2516 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2517 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2518 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2519 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2520 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2521 | } else { |
Lightvalve | 138:a843f32ced33 | 2522 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2523 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2524 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2525 | } else { |
Lightvalve | 138:a843f32ced33 | 2526 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2527 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2528 | } |
Lightvalve | 138:a843f32ced33 | 2529 | } |
Lightvalve | 138:a843f32ced33 | 2530 | float tau = 0.01f; |
Lightvalve | 247:87a44e8b3392 | 2531 | //float K_valve = 0.0004f; |
Lightvalve | 247:87a44e8b3392 | 2532 | float K_valve = 0.0002f; |
Lightvalve | 169:645207e160ca | 2533 | |
Lightvalve | 138:a843f32ced33 | 2534 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2535 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2536 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2537 | } else { |
Lightvalve | 138:a843f32ced33 | 2538 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2539 | } |
Lightvalve | 138:a843f32ced33 | 2540 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2541 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2542 | |
Lightvalve | 139:15621998925b | 2543 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2544 | |
Lightvalve | 138:a843f32ced33 | 2545 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2546 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2547 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2548 | |
Lightvalve | 138:a843f32ced33 | 2549 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2550 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2551 | |
Lightvalve | 212:ec41f1449ef9 | 2552 | float k3 = 2000.0f; //2000 //20000 |
Lightvalve | 142:43026242815a | 2553 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2554 | float rho3 = 3.2f; |
Lightvalve | 212:ec41f1449ef9 | 2555 | float rho4 = 10000000.0f; //25000000.0f; |
Lightvalve | 218:066030f7951f | 2556 | float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2557 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2558 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2559 | |
Lightvalve | 139:15621998925b | 2560 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2561 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2562 | } else { |
Lightvalve | 139:15621998925b | 2563 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2564 | } |
Lightvalve | 169:645207e160ca | 2565 | |
Lightvalve | 138:a843f32ced33 | 2566 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2567 | x_4_des_old = x_4_des; |
Lightvalve | 212:ec41f1449ef9 | 2568 | float V_input = 0.0f; |
Lightvalve | 139:15621998925b | 2569 | 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 | 2570 | // //V_out LPF |
Lightvalve | 212:ec41f1449ef9 | 2571 | // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz |
Lightvalve | 212:ec41f1449ef9 | 2572 | // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out); |
Lightvalve | 212:ec41f1449ef9 | 2573 | |
Lightvalve | 218:066030f7951f | 2574 | // float rho_gamma = 5000.0f;//5000 for change //50000 for not change |
Lightvalve | 218:066030f7951f | 2575 | // 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 | 2576 | // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2577 | // |
Lightvalve | 218:066030f7951f | 2578 | // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f; |
Lightvalve | 218:066030f7951f | 2579 | // else if(gamma_hat < 100.0f) gamma_hat = 100.0f; |
Lightvalve | 218:066030f7951f | 2580 | |
Lightvalve | 218:066030f7951f | 2581 | float rho_a = 0.00001f; |
Lightvalve | 218:066030f7951f | 2582 | float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err); |
Lightvalve | 218:066030f7951f | 2583 | a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2584 | |
Lightvalve | 218:066030f7951f | 2585 | if(a_hat > -3000000.0f) a_hat = -3000000.0f; |
Lightvalve | 218:066030f7951f | 2586 | else if(a_hat < -30000000.0f) a_hat = -30000000.0f; |
Lightvalve | 218:066030f7951f | 2587 | |
Lightvalve | 169:645207e160ca | 2588 | break; |
Lightvalve | 138:a843f32ced33 | 2589 | } |
Lightvalve | 171:bfc1fd2629d8 | 2590 | |
Lightvalve | 170:42c938a40313 | 2591 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2592 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2593 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2594 | |
Lightvalve | 170:42c938a40313 | 2595 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2596 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2597 | |
Lightvalve | 170:42c938a40313 | 2598 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2599 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2600 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2601 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2602 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2603 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2604 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2605 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2606 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2607 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2608 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2609 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2610 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2611 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2612 | } |
Lightvalve | 173:68c7914679ec | 2613 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2614 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2615 | } |
Lightvalve | 173:68c7914679ec | 2616 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2617 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2618 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2619 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2620 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2621 | |
Lightvalve | 179:d5377766d7ea | 2622 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2623 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2624 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2625 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2626 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2627 | } |
Lightvalve | 171:bfc1fd2629d8 | 2628 | |
Lightvalve | 170:42c938a40313 | 2629 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2630 | |
Lightvalve | 170:42c938a40313 | 2631 | |
Lightvalve | 170:42c938a40313 | 2632 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2633 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2634 | batch++; |
Lightvalve | 170:42c938a40313 | 2635 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2636 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2637 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2638 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2639 | } |
Lightvalve | 170:42c938a40313 | 2640 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2641 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2642 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2643 | |
Lightvalve | 170:42c938a40313 | 2644 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2645 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2646 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2647 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2648 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2649 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2650 | } |
Lightvalve | 170:42c938a40313 | 2651 | } |
Lightvalve | 170:42c938a40313 | 2652 | } |
Lightvalve | 170:42c938a40313 | 2653 | |
Lightvalve | 170:42c938a40313 | 2654 | else { |
Lightvalve | 170:42c938a40313 | 2655 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2656 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2657 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2658 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2659 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2660 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2661 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2662 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2663 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2664 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2665 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2666 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2667 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2668 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2669 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2670 | } |
Lightvalve | 170:42c938a40313 | 2671 | |
Lightvalve | 170:42c938a40313 | 2672 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2673 | } |
Lightvalve | 170:42c938a40313 | 2674 | |
Lightvalve | 170:42c938a40313 | 2675 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2676 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2677 | |
Lightvalve | 170:42c938a40313 | 2678 | break; |
Lightvalve | 170:42c938a40313 | 2679 | } |
Lightvalve | 14:8e7590227d22 | 2680 | |
Lightvalve | 12:6f2531038ea4 | 2681 | default: |
Lightvalve | 12:6f2531038ea4 | 2682 | break; |
Lightvalve | 12:6f2531038ea4 | 2683 | } |
Lightvalve | 14:8e7590227d22 | 2684 | |
Lightvalve | 57:f4819de54e7a | 2685 | |
Lightvalve | 57:f4819de54e7a | 2686 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2687 | |
Lightvalve | 57:f4819de54e7a | 2688 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2689 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2690 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2691 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2692 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2693 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2694 | |
Lightvalve | 252:179a8c8791dc | 2695 | if (I_REF_fil > 0) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS/1000.0f; // unit: mA |
Lightvalve | 252:179a8c8791dc | 2696 | else if (I_REF_fil < 0) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS/1000.0f; // unit: mA |
Lightvalve | 252:179a8c8791dc | 2697 | else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0/1000.0f; // unit: mA |
Lightvalve | 252:179a8c8791dc | 2698 | |
Lightvalve | 252:179a8c8791dc | 2699 | I_ERR = I_REF_fil_DZ - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2700 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2701 | |
Lightvalve | 57:f4819de54e7a | 2702 | |
Lightvalve | 57:f4819de54e7a | 2703 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2704 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2705 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2706 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2707 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2708 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2709 | |
Lightvalve | 57:f4819de54e7a | 2710 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2711 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2712 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2713 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2714 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2715 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2716 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2717 | } |
Lightvalve | 57:f4819de54e7a | 2718 | |
Lightvalve | 57:f4819de54e7a | 2719 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2720 | |
Lightvalve | 67:c2812cf26c38 | 2721 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2722 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2723 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2724 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2725 | // 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 | 2726 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2727 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2728 | |
Lightvalve | 57:f4819de54e7a | 2729 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2730 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2731 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2732 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2733 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2734 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2735 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2736 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2737 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2738 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2739 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2740 | } |
Lightvalve | 57:f4819de54e7a | 2741 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2742 | } else { |
Lightvalve | 57:f4819de54e7a | 2743 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2744 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2745 | } |
Lightvalve | 57:f4819de54e7a | 2746 | |
Lightvalve | 57:f4819de54e7a | 2747 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2748 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2749 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2750 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 252:179a8c8791dc | 2751 | // FLAG_VALVE_DEADZONE = 1; |
Lightvalve | 57:f4819de54e7a | 2752 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 252:179a8c8791dc | 2753 | // if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 252:179a8c8791dc | 2754 | // else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 252:179a8c8791dc | 2755 | // else VALVE_PWM_RAW = VALVE_PWM_RAW + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f * mV_PER_pulse; // unit: mV |
Lightvalve | 252:179a8c8791dc | 2756 | |
Lightvalve | 252:179a8c8791dc | 2757 | //VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 252:179a8c8791dc | 2758 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2759 | |
Lightvalve | 57:f4819de54e7a | 2760 | } else { |
Lightvalve | 57:f4819de54e7a | 2761 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2762 | } |
Lightvalve | 57:f4819de54e7a | 2763 | |
Lightvalve | 57:f4819de54e7a | 2764 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2765 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2766 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2767 | |
Lightvalve | 57:f4819de54e7a | 2768 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2769 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2770 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2771 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2772 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2773 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2774 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2775 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2776 | |
Lightvalve | 89:a7b45368ea0f | 2777 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2778 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2779 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2780 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2781 | |
Lightvalve | 135:79885a39c161 | 2782 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2783 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2784 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2785 | } |
Lightvalve | 169:645207e160ca | 2786 | |
Lightvalve | 67:c2812cf26c38 | 2787 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2788 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2789 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2790 | |
jobuuu | 7:e9086c72bb22 | 2791 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2792 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2793 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2794 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2795 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2796 | } |
Lightvalve | 169:645207e160ca | 2797 | |
Lightvalve | 49:e7bcfc244d40 | 2798 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2799 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2800 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2801 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2802 | } |
Lightvalve | 49:e7bcfc244d40 | 2803 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2804 | |
Lightvalve | 19:23b7c1ad8683 | 2805 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2806 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2807 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2808 | |
Lightvalve | 30:8d561f16383b | 2809 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2810 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2811 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2812 | } else { |
jobuuu | 2:a1c0a37df760 | 2813 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2814 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2815 | } |
Lightvalve | 13:747daba9cf59 | 2816 | |
jobuuu | 1:e04e563be5ce | 2817 | //pwm |
Lightvalve | 30:8d561f16383b | 2818 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2819 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2820 | |
Lightvalve | 61:bc8c8270f0ab | 2821 | |
Lightvalve | 252:179a8c8791dc | 2822 | // if (TMR2_COUNT_CAN_TX % 5 == 0) { |
Lightvalve | 252:179a8c8791dc | 2823 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/1000.0f) == 0) { |
Lightvalve | 252:179a8c8791dc | 2824 | // CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 252:179a8c8791dc | 2825 | // } |
Lightvalve | 252:179a8c8791dc | 2826 | // TMR2_COUNT_CAN_TX++; |
Lightvalve | 252:179a8c8791dc | 2827 | |
Lightvalve | 233:0a37cdd59651 | 2828 | |
Lightvalve | 252:179a8c8791dc | 2829 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 252:179a8c8791dc | 2830 | // |
Lightvalve | 252:179a8c8791dc | 2831 | // // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 252:179a8c8791dc | 2832 | // if (flag_data_request[0] == 0) { |
Lightvalve | 252:179a8c8791dc | 2833 | // if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 252:179a8c8791dc | 2834 | // if (SENSING_MODE == 0) { |
Lightvalve | 252:179a8c8791dc | 2835 | // CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 252:179a8c8791dc | 2836 | // } else if (SENSING_MODE == 1) { |
Lightvalve | 252:179a8c8791dc | 2837 | // 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 | 252:179a8c8791dc | 2838 | // } |
Lightvalve | 252:179a8c8791dc | 2839 | // } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 252:179a8c8791dc | 2840 | // if (SENSING_MODE == 0) { |
Lightvalve | 252:179a8c8791dc | 2841 | // 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 | 252:179a8c8791dc | 2842 | // } else if (SENSING_MODE == 1) { |
Lightvalve | 252:179a8c8791dc | 2843 | // 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 | 252:179a8c8791dc | 2844 | // } |
Lightvalve | 252:179a8c8791dc | 2845 | // } |
Lightvalve | 252:179a8c8791dc | 2846 | // } |
Lightvalve | 252:179a8c8791dc | 2847 | // |
Lightvalve | 252:179a8c8791dc | 2848 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 252:179a8c8791dc | 2849 | // CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 252:179a8c8791dc | 2850 | // } |
Lightvalve | 252:179a8c8791dc | 2851 | // |
Lightvalve | 252:179a8c8791dc | 2852 | // |
Lightvalve | 252:179a8c8791dc | 2853 | // if (flag_data_request[2] == HIGH) { |
Lightvalve | 252:179a8c8791dc | 2854 | // double t_value = 0.0f; |
Lightvalve | 252:179a8c8791dc | 2855 | // if(value>=(float) VALVE_CENTER) { |
Lightvalve | 252:179a8c8791dc | 2856 | // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 252:179a8c8791dc | 2857 | // } else { |
Lightvalve | 252:179a8c8791dc | 2858 | // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 252:179a8c8791dc | 2859 | // } |
Lightvalve | 252:179a8c8791dc | 2860 | // double t_value_ref = 0.0f; |
Lightvalve | 252:179a8c8791dc | 2861 | // if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 252:179a8c8791dc | 2862 | // t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 252:179a8c8791dc | 2863 | // } else { |
Lightvalve | 252:179a8c8791dc | 2864 | // t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 252:179a8c8791dc | 2865 | // } |
Lightvalve | 252:179a8c8791dc | 2866 | // |
Lightvalve | 252:179a8c8791dc | 2867 | // |
Lightvalve | 252:179a8c8791dc | 2868 | // CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 252:179a8c8791dc | 2869 | // } |
Lightvalve | 252:179a8c8791dc | 2870 | // |
Lightvalve | 252:179a8c8791dc | 2871 | // //If it doesn't rest, below can can not work. |
Lightvalve | 252:179a8c8791dc | 2872 | // for (int can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 252:179a8c8791dc | 2873 | // ; |
Lightvalve | 252:179a8c8791dc | 2874 | // } |
Lightvalve | 252:179a8c8791dc | 2875 | // |
Lightvalve | 252:179a8c8791dc | 2876 | // if (flag_data_request[3] == HIGH) { |
Lightvalve | 252:179a8c8791dc | 2877 | // //PWM |
Lightvalve | 252:179a8c8791dc | 2878 | // CAN_TX_PWM((int16_t) (torq.ref)); //1500 |
Lightvalve | 252:179a8c8791dc | 2879 | // // CAN_TX_PWM((int16_t) (f_future[1])); //1500 |
Lightvalve | 252:179a8c8791dc | 2880 | // } |
Lightvalve | 252:179a8c8791dc | 2881 | // |
Lightvalve | 252:179a8c8791dc | 2882 | // if (flag_data_request[4] == HIGH) { |
Lightvalve | 252:179a8c8791dc | 2883 | // //valve position |
Lightvalve | 252:179a8c8791dc | 2884 | // //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 | 252:179a8c8791dc | 2885 | // CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600 |
Lightvalve | 252:179a8c8791dc | 2886 | // } |
Lightvalve | 252:179a8c8791dc | 2887 | // |
Lightvalve | 252:179a8c8791dc | 2888 | // |
Lightvalve | 252:179a8c8791dc | 2889 | // |
Lightvalve | 252:179a8c8791dc | 2890 | // // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 252:179a8c8791dc | 2891 | //// if (flag_data_request[1] == HIGH) { |
Lightvalve | 252:179a8c8791dc | 2892 | //// CAN_TX_SOMETHING((int) (0), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 252:179a8c8791dc | 2893 | //// } |
Lightvalve | 252:179a8c8791dc | 2894 | //// if (flag_delay_test == 1){ |
Lightvalve | 252:179a8c8791dc | 2895 | //// CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 252:179a8c8791dc | 2896 | //// } |
Lightvalve | 252:179a8c8791dc | 2897 | //// |
Lightvalve | 252:179a8c8791dc | 2898 | //// TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 252:179a8c8791dc | 2899 | // } |
Lightvalve | 252:179a8c8791dc | 2900 | // TMR2_COUNT_CAN_TX++; |
Lightvalve | 252:179a8c8791dc | 2901 | |
Lightvalve | 252:179a8c8791dc | 2902 | |
Lightvalve | 237:aa3863117889 | 2903 | |
Lightvalve | 20:806196fda269 | 2904 | } |
Lightvalve | 52:8ea76864368a | 2905 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2906 | |
Lightvalve | 58:2eade98630e2 | 2907 | } |