Sungwoo Kim
/
HydraulicControlBoard_Learning
for learning
main.cpp@250:ae6e0c80029d, 2021-01-08 (annotated)
- Committer:
- Lightvalve
- Date:
- Fri Jan 08 12:22:09 2021 +0000
- Revision:
- 250:ae6e0c80029d
- Parent:
- 249:21430e06f706
- Child:
- 251:4b0e0b1ff297
210108_4 500Hz num_input 13 210105 data
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 250:ae6e0c80029d | 1 | //210108_4 500Hz num_input 13 210105 data |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 11 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 12 | #include <string> |
Lightvalve | 170:42c938a40313 | 13 | #include <iostream> |
Lightvalve | 179:d5377766d7ea | 14 | #include <cmath> |
Lightvalve | 61:bc8c8270f0ab | 15 | |
Lightvalve | 61:bc8c8270f0ab | 16 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 17 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 18 | |
Lightvalve | 31:66738bfecec5 | 19 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 20 | |
jobuuu | 7:e9086c72bb22 | 21 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 22 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 23 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 24 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 25 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 26 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 27 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 28 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 29 | |
Lightvalve | 24:ef6e1092e9e6 | 30 | |
jobuuu | 7:e9086c72bb22 | 31 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 32 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 34 | |
jobuuu | 7:e9086c72bb22 | 35 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 36 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 37 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 38 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 39 | |
jobuuu | 7:e9086c72bb22 | 40 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 41 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 42 | DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 43 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 44 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 45 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 46 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 50 | |
jobuuu | 7:e9086c72bb22 | 51 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 52 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 53 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 54 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 55 | { |
Lightvalve | 11:82d8768d7351 | 56 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 57 | } |
jobuuu | 2:a1c0a37df760 | 58 | |
jobuuu | 7:e9086c72bb22 | 59 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 60 | State pos; |
jobuuu | 7:e9086c72bb22 | 61 | State vel; |
jobuuu | 7:e9086c72bb22 | 62 | State Vout; |
jobuuu | 7:e9086c72bb22 | 63 | State torq; |
Lightvalve | 207:c70c5a9f17dd | 64 | State torq_dot; |
jobuuu | 7:e9086c72bb22 | 65 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 66 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 67 | State cur; |
Lightvalve | 14:8e7590227d22 | 68 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 69 | |
Lightvalve | 14:8e7590227d22 | 70 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 71 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 72 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 73 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 74 | |
Lightvalve | 19:23b7c1ad8683 | 75 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 77 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 78 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 79 | |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 84 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 85 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 86 | |
Lightvalve | 61:bc8c8270f0ab | 87 | |
Lightvalve | 61:bc8c8270f0ab | 88 | |
Lightvalve | 61:bc8c8270f0ab | 89 | |
jobuuu | 7:e9086c72bb22 | 90 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 91 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 92 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 93 | |
Lightvalve | 12:6f2531038ea4 | 94 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 95 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 96 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 97 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 98 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 100 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 101 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 102 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 103 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 104 | }; |
Lightvalve | 12:6f2531038ea4 | 105 | |
Lightvalve | 12:6f2531038ea4 | 106 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 107 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 108 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 109 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 110 | //control mode |
Lightvalve | 12:6f2531038ea4 | 111 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 112 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 113 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 114 | |
Lightvalve | 47:fdcb8bd86fd6 | 115 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 116 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 171:bfc1fd2629d8 | 117 | MODE_RL, //5 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 121 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 122 | |
Lightvalve | 12:6f2531038ea4 | 123 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 124 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 125 | |
Lightvalve | 14:8e7590227d22 | 126 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 127 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 128 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 171:bfc1fd2629d8 | 129 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 |
Lightvalve | 13:747daba9cf59 | 130 | |
Lightvalve | 12:6f2531038ea4 | 131 | //utility |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 135 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 138 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 139 | |
Lightvalve | 12:6f2531038ea4 | 140 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 141 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 142 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 143 | MODE_SYSTEM_ID, //33 |
Lightvalve | 169:645207e160ca | 144 | MODE_FREQ_TEST, //34 |
Lightvalve | 169:645207e160ca | 145 | MODE_SEND_BUFFER, //35 |
Lightvalve | 169:645207e160ca | 146 | MODE_SEND_OVER, //36 |
Lightvalve | 169:645207e160ca | 147 | MODE_STEP_TEST, //37 |
Lightvalve | 12:6f2531038ea4 | 148 | }; |
Lightvalve | 12:6f2531038ea4 | 149 | |
Lightvalve | 65:a2d7c63419c2 | 150 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 151 | { |
Lightvalve | 169:645207e160ca | 152 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 169:645207e160ca | 153 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 154 | |
Lightvalve | 169:645207e160ca | 155 | /** Configure the main internal regulator output voltage |
Lightvalve | 169:645207e160ca | 156 | */ |
Lightvalve | 169:645207e160ca | 157 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 169:645207e160ca | 158 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 169:645207e160ca | 159 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 160 | */ |
Lightvalve | 169:645207e160ca | 161 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 169:645207e160ca | 162 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 169:645207e160ca | 163 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 169:645207e160ca | 164 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 169:645207e160ca | 165 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 169:645207e160ca | 166 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 169:645207e160ca | 167 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 169:645207e160ca | 168 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 169:645207e160ca | 169 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 169:645207e160ca | 170 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 169:645207e160ca | 171 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 172 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 173 | } |
Lightvalve | 169:645207e160ca | 174 | /** Activate the Over-Drive mode |
Lightvalve | 169:645207e160ca | 175 | */ |
Lightvalve | 169:645207e160ca | 176 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 169:645207e160ca | 177 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 178 | } |
Lightvalve | 169:645207e160ca | 179 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 180 | */ |
Lightvalve | 169:645207e160ca | 181 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 169:645207e160ca | 182 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 169:645207e160ca | 183 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 169:645207e160ca | 184 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 169:645207e160ca | 185 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 169:645207e160ca | 186 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 169:645207e160ca | 188 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 189 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 190 | } |
Lightvalve | 65:a2d7c63419c2 | 191 | } |
Lightvalve | 65:a2d7c63419c2 | 192 | |
Lightvalve | 99:7bbcb3c0fb06 | 193 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 194 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 195 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 196 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 197 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 198 | |
Lightvalve | 73:f80dc3970c99 | 199 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 200 | |
Lightvalve | 169:645207e160ca | 201 | const float h1[num_input][16] = { |
Lightvalve | 250:ae6e0c80029d | 202 | {-0.39866355061531067f,0.2293444573879242f,-0.11100786924362183f,0.07216298580169678f,-0.0835648775100708f,0.033540062606334686f,-0.4061938524246216f,0.23955833911895752f,0.3490755259990692f,0.26933974027633667f,-0.06351640820503235f,0.207467183470726f,0.39442315697669983f,0.2276526540517807f,-0.5134740471839905f,0.5904678106307983f}, |
Lightvalve | 250:ae6e0c80029d | 203 | {-0.16657677292823792f,0.42962977290153503f,-0.4106399714946747f,-0.41183462738990784f,0.4012489318847656f,0.5503614544868469f,-0.35706084966659546f,-0.27447235584259033f,-0.037397466599941254f,-0.37457555532455444f,-0.13949739933013916f,0.2667900323867798f,0.32005617022514343f,0.2346925586462021f,-0.22676488757133484f,0.12322017550468445f}, |
Lightvalve | 250:ae6e0c80029d | 204 | {0.07280445098876953f,0.3963991403579712f,-0.013116300106048584f,0.34529614448547363f,-0.3361414670944214f,-0.3295988142490387f,-0.1572970598936081f,-0.008836150169372559f,0.33483704924583435f,-0.31310921907424927f,-0.42350924015045166f,0.25746506452560425f,0.0030023895669728518f,0.2610369622707367f,0.07461864501237869f,0.44209957122802734f}, |
Lightvalve | 250:ae6e0c80029d | 205 | {0.4448436498641968f,0.2888627052307129f,0.2872076630592346f,-0.00529751181602478f,0.006092756986618042f,-0.17711935937404633f,-0.48771849274635315f,-0.07517075538635254f,-0.044362086802721024f,-0.4242141544818878f,-0.06982836127281189f,-0.1011975035071373f,-0.21675372123718262f,0.3143465518951416f,-0.21173715591430664f,-0.04153302311897278f}, |
Lightvalve | 250:ae6e0c80029d | 206 | {-0.4287453889846802f,0.2607329785823822f,-0.3261844515800476f,0.3695780038833618f,-0.24358950555324554f,-0.2814001142978668f,0.1926794946193695f,-0.11401164531707764f,0.1168813481926918f,-0.43648090958595276f,0.13137876987457275f,0.3202381730079651f,0.2084430754184723f,-0.38201281428337097f,-0.13757383823394775f,-0.08391320705413818f}, |
Lightvalve | 250:ae6e0c80029d | 207 | {-0.3423535227775574f,0.21077923476696014f,0.24148815870285034f,-0.2097240686416626f,-0.21479320526123047f,0.5728655457496643f,-0.38777387142181396f,0.06907474994659424f,0.4383533298969269f,-0.4217628240585327f,0.3647552728652954f,0.49651139974594116f,-0.3853491246700287f,-0.5150770545005798f,-0.4468844532966614f,0.32233521342277527f}, |
Lightvalve | 250:ae6e0c80029d | 208 | {0.3002285361289978f,0.1552380919456482f,-0.012929677963256836f,0.3189413547515869f,-0.08836644887924194f,-0.6167881488800049f,0.2523282468318939f,-0.12714824080467224f,0.022313950583338737f,-0.07857620716094971f,-0.41729873418807983f,-0.58347487449646f,0.2730298936367035f,-0.0274465661495924f,0.21824681758880615f,-0.29084867238998413f}, |
Lightvalve | 250:ae6e0c80029d | 209 | {0.1259613037109375f,-0.23441508412361145f,0.10734033584594727f,-0.3635467290878296f,-0.30464106798171997f,0.14283743500709534f,-0.029375730082392693f,0.27719372510910034f,-0.28064730763435364f,-0.39917129278182983f,-0.18277329206466675f,-0.09296763688325882f,0.004846292082220316f,-0.13405974209308624f,0.4389444887638092f,0.15789148211479187f}, |
Lightvalve | 250:ae6e0c80029d | 210 | {0.005006223917007446f,-0.3462418019771576f,-0.2450791299343109f,0.01850840449333191f,0.22874420881271362f,0.33832022547721863f,0.06886614114046097f,-0.21465449035167694f,-0.42899468541145325f,-0.10903891921043396f,0.3395878076553345f,-0.020150626078248024f,0.004507763776928186f,0.2425307184457779f,0.12365985661745071f,-0.09771042317152023f}, |
Lightvalve | 250:ae6e0c80029d | 211 | {0.10014444589614868f,0.16329790651798248f,0.23555999994277954f,-0.2365708351135254f,-0.3996735215187073f,0.07463482767343521f,0.5267361402511597f,-0.2916446924209595f,-0.09514585882425308f,-0.3473442494869232f,0.20145761966705322f,-0.6259415745735168f,0.24417786300182343f,-0.12993167340755463f,0.43866974115371704f,-0.06814748048782349f}, |
Lightvalve | 250:ae6e0c80029d | 212 | {0.2946211099624634f,-0.10359311103820801f,-0.2272855043411255f,0.317649245262146f,-0.27416783571243286f,0.24826355278491974f,-0.2956998944282532f,-0.2620849013328552f,0.3064926564693451f,-0.3507779836654663f,-0.2937386631965637f,-0.12392923980951309f,0.17384549975395203f,-0.14459940791130066f,0.27102044224739075f,0.4496242105960846f}, |
Lightvalve | 250:ae6e0c80029d | 213 | {-0.31753039360046387f,-0.2258649617433548f,0.00826159119606018f,-0.30263715982437134f,-0.27714890241622925f,-0.045562125742435455f,0.008304374292492867f,-0.3697577118873596f,0.2889609634876251f,0.03957808017730713f,-0.028581589460372925f,-0.47968512773513794f,-0.44307368993759155f,-0.31487640738487244f,-0.02384779043495655f,-0.010555583983659744f}, |
Lightvalve | 250:ae6e0c80029d | 214 | {0.11654168367385864f,0.15081898868083954f,-0.16779407858848572f,-0.20793133974075317f,0.30659210681915283f,0.5108351707458496f,0.05543474107980728f,-0.13101696968078613f,-0.1362874060869217f,-0.1948603391647339f,0.2586551308631897f,-0.021886078640818596f,-0.37605568766593933f,-0.4146116077899933f,0.33054018020629883f,-0.028513634577393532f}, |
Lightvalve | 65:a2d7c63419c2 | 215 | }; |
Lightvalve | 65:a2d7c63419c2 | 216 | |
Lightvalve | 169:645207e160ca | 217 | const float h2[16][16] = { |
Lightvalve | 250:ae6e0c80029d | 218 | {-0.23376603424549103f,-0.15770223736763f,0.0812692940235138f,-0.0919342041015625f,0.37955692410469055f,0.12404409050941467f,-0.32260462641716003f,0.06841030716896057f,0.33671995997428894f,-0.049556344747543335f,0.39862093329429626f,-0.3080969750881195f,-0.2706364393234253f,-0.061267584562301636f,0.27030089497566223f,0.19885870814323425f}, |
Lightvalve | 250:ae6e0c80029d | 219 | {0.30406907200813293f,0.1955106258392334f,-0.10975602269172668f,0.019508838653564453f,-0.0172116756439209f,-0.1340707391500473f,-0.25667518377304077f,0.06952804327011108f,0.36089035868644714f,-0.2501731514930725f,0.23976728320121765f,-0.32248950004577637f,-0.2235783189535141f,0.40910056233406067f,0.3605644404888153f,0.1596284806728363f}, |
Lightvalve | 250:ae6e0c80029d | 220 | {0.18558058142662048f,-0.3657093942165375f,-0.22966013848781586f,0.02441677451133728f,-0.20563195645809174f,-0.31904423236846924f,0.4094211161136627f,0.18657228350639343f,0.20084109902381897f,0.4312146008014679f,0.28730836510658264f,0.34755679965019226f,0.10600164532661438f,-0.33709007501602173f,0.2793157994747162f,0.09531155228614807f}, |
Lightvalve | 250:ae6e0c80029d | 221 | {-0.30573147535324097f,-0.34310466051101685f,-0.11595287919044495f,0.21400901675224304f,-0.09916210174560547f,0.061972588300704956f,0.3272477686405182f,0.07537910342216492f,0.2499862015247345f,-0.3867667019367218f,0.27292129397392273f,0.009001433849334717f,-0.12129661440849304f,0.27340129017829895f,-0.25732892751693726f,0.14833572506904602f}, |
Lightvalve | 250:ae6e0c80029d | 222 | {0.2688860595226288f,0.1387259066104889f,-0.22401486337184906f,0.37024661898612976f,0.3559475839138031f,0.245359867811203f,0.18571648001670837f,-0.33309197425842285f,0.29022881388664246f,-0.2551383078098297f,-0.14880135655403137f,0.3837638199329376f,0.4195556938648224f,-0.1958986520767212f,0.3869282901287079f,-0.017493516206741333f}, |
Lightvalve | 250:ae6e0c80029d | 223 | {0.36335912346839905f,-0.2562502324581146f,0.05241137742996216f,-0.3000796437263489f,-0.28382545709609985f,-0.5995994806289673f,0.20999248325824738f,-0.5174291133880615f,-0.06474489718675613f,0.39146795868873596f,0.36458149552345276f,-0.3268655836582184f,0.3023233711719513f,0.3909897208213806f,-0.30403196811676025f,0.10804423689842224f}, |
Lightvalve | 250:ae6e0c80029d | 224 | {0.11585522443056107f,0.5320093631744385f,0.07476368546485901f,0.17359605431556702f,-0.39561495184898376f,0.07975900173187256f,-0.2620644271373749f,-0.7032102346420288f,-0.715872049331665f,-0.029736846685409546f,0.06422865390777588f,0.281080037355423f,0.5050480365753174f,0.8251626491546631f,0.15520253777503967f,-0.05949559807777405f}, |
Lightvalve | 250:ae6e0c80029d | 225 | {0.034960925579071045f,-0.2237633764743805f,-0.2269844114780426f,0.008543998003005981f,-0.061728447675704956f,-0.2939370274543762f,0.2008121907711029f,-0.37062984704971313f,-0.29654285311698914f,-0.37533998489379883f,-0.2023780792951584f,-0.1471911370754242f,-0.3665081560611725f,0.2499629557132721f,0.36115071177482605f,0.2247580587863922f}, |
Lightvalve | 250:ae6e0c80029d | 226 | {3.034886598587036f,3.6116249561309814f,-0.16491663455963135f,0.2729091942310333f,-0.3878302574157715f,3.6257083415985107f,3.130079746246338f,-3.3179666996002197f,-3.0644047260284424f,-0.04020014405250549f,0.20718321204185486f,-0.3705790340900421f,2.9802372455596924f,3.463700532913208f,-0.22306673228740692f,0.3614841401576996f}, |
Lightvalve | 250:ae6e0c80029d | 227 | {-0.1256197988986969f,-0.11623844504356384f,0.03716579079627991f,-0.2110193371772766f,0.2386193573474884f,-0.21178102493286133f,-0.055604636669158936f,-0.11143404245376587f,0.21222051978111267f,-0.1837407946586609f,-0.27417534589767456f,0.4112907350063324f,-0.042728573083877563f,0.27871987223625183f,0.33974525332450867f,-0.1904361993074417f}, |
Lightvalve | 250:ae6e0c80029d | 228 | {-0.3609481453895569f,0.28748753666877747f,-0.15902554988861084f,0.09960779547691345f,0.14226266741752625f,0.03499653935432434f,-0.4210061728954315f,0.24336853623390198f,0.018461793661117554f,-0.24048498272895813f,-0.23212403059005737f,-0.19738496840000153f,-0.41367626190185547f,0.09065529704093933f,-0.3556676208972931f,-0.4087646007537842f}, |
Lightvalve | 250:ae6e0c80029d | 229 | {0.9242446422576904f,0.5765639543533325f,-0.37434661388397217f,0.010054288432002068f,0.40390732884407043f,0.9511083364486694f,0.570014238357544f,-0.9372129440307617f,-0.12589314579963684f,0.31711557507514954f,0.26869919896125793f,-0.3734472095966339f,0.8514693379402161f,0.9183444380760193f,-0.12226778268814087f,0.34041836857795715f}, |
Lightvalve | 250:ae6e0c80029d | 230 | {0.06253428012132645f,0.12849199771881104f,0.38365909457206726f,-0.0877617821097374f,0.131079763174057f,-0.15324941277503967f,0.35149407386779785f,0.40300899744033813f,0.3114223778247833f,-0.33819082379341125f,-0.2883298397064209f,0.20092079043388367f,0.4256168603897095f,-0.17543724179267883f,0.03027483820915222f,0.01573166251182556f}, |
Lightvalve | 250:ae6e0c80029d | 231 | {0.02634732984006405f,0.2968405783176422f,-0.2858319878578186f,0.07843189686536789f,0.3366161286830902f,0.04619460552930832f,-0.571478545665741f,0.41214045882225037f,0.4775676429271698f,-0.1314159333705902f,0.03576740622520447f,0.41370633244514465f,0.3167593777179718f,-0.3977631628513336f,0.3853224217891693f,0.21920552849769592f}, |
Lightvalve | 250:ae6e0c80029d | 232 | {0.09393870830535889f,-0.12669703364372253f,0.045322418212890625f,-0.3029470443725586f,-0.3055824041366577f,-0.6351923942565918f,0.29235658049583435f,0.40737760066986084f,0.5835976004600525f,0.11176732182502747f,0.39100804924964905f,-0.4183829128742218f,-0.5000371336936951f,-0.28401777148246765f,-0.29524165391921997f,-0.08791729807853699f}, |
Lightvalve | 250:ae6e0c80029d | 233 | {0.0997864305973053f,0.24672812223434448f,-0.383160799741745f,0.4243675172328949f,-0.22785264253616333f,-0.2239101082086563f,-0.16713882982730865f,-0.32511961460113525f,-0.2142861783504486f,-0.3174850344657898f,-0.2712668180465698f,-0.3208528757095337f,0.242601677775383f,0.44449692964553833f,0.30430158972740173f,0.15395590662956238f}, |
Lightvalve | 65:a2d7c63419c2 | 234 | }; |
Lightvalve | 65:a2d7c63419c2 | 235 | |
Lightvalve | 169:645207e160ca | 236 | const float h3[16][16] = { |
Lightvalve | 250:ae6e0c80029d | 237 | {0.15164123475551605f,-0.34702032804489136f,0.3197037875652313f,-0.1300775408744812f,0.08257906883955002f,0.2418520748615265f,-0.3398571014404297f,-0.14531740546226501f,-0.40269115567207336f,0.1579747200012207f,-0.053041040897369385f,0.3765902817249298f,-0.3667798340320587f,0.17757460474967957f,0.19393619894981384f,-0.017566293478012085f}, |
Lightvalve | 250:ae6e0c80029d | 238 | {0.1792328953742981f,-0.0758133977651596f,0.21520020067691803f,-0.03325572609901428f,-0.5383684039115906f,-0.41009432077407837f,0.0028817951679229736f,-0.712875247001648f,-0.4370298981666565f,0.15553420782089233f,0.2140149176120758f,0.674606442451477f,-0.10252498090267181f,-0.15762627124786377f,0.34604611992836f,-0.08901709318161011f}, |
Lightvalve | 250:ae6e0c80029d | 239 | {-0.24219739437103271f,-0.4311303496360779f,-0.2648053467273712f,0.08816590905189514f,-0.1379374861717224f,-0.2567608058452606f,-0.05834171175956726f,-0.3720588684082031f,-0.28903061151504517f,0.14862564206123352f,0.11144766211509705f,-0.25408342480659485f,-0.287926584482193f,-0.06943506002426147f,-0.08349922299385071f,-0.1573108732700348f}, |
Lightvalve | 250:ae6e0c80029d | 240 | {0.2677978575229645f,0.34482407569885254f,0.3125510811805725f,-0.36193448305130005f,-0.24861842393875122f,-0.34746718406677246f,0.052640169858932495f,-0.39180219173431396f,0.05749944970011711f,0.38259220123291016f,0.1380349099636078f,0.07503975927829742f,0.4016537070274353f,0.27623435854911804f,-0.026072926819324493f,0.4126637279987335f}, |
Lightvalve | 250:ae6e0c80029d | 241 | {-0.05686333775520325f,-0.18994778394699097f,0.1951034963130951f,0.11854001879692078f,0.1709664762020111f,-0.39697086811065674f,-0.21479764580726624f,0.03973031044006348f,-0.04371479153633118f,-0.24217137694358826f,0.12636259198188782f,0.31702491641044617f,0.2821219265460968f,-0.013679057359695435f,-0.12247011065483093f,-0.2415638267993927f}, |
Lightvalve | 250:ae6e0c80029d | 242 | {0.3307996690273285f,-0.3611350655555725f,0.2719781696796417f,-0.3759070634841919f,0.333566278219223f,0.3030073940753937f,-0.2782615125179291f,-0.31132155656814575f,0.24615615606307983f,-0.2878952622413635f,0.2658475339412689f,0.29066726565361023f,0.31655073165893555f,-0.10093647241592407f,0.242709219455719f,-0.3461729884147644f}, |
Lightvalve | 250:ae6e0c80029d | 243 | {-0.7786619067192078f,0.7705880999565125f,0.13406123220920563f,0.09394630789756775f,0.46393612027168274f,-0.38328519463539124f,0.042503416538238525f,0.4432537853717804f,0.7562127709388733f,0.8194725513458252f,0.20758137106895447f,-0.9332126379013062f,0.964387834072113f,0.3497793972492218f,-0.9948191046714783f,0.07921698689460754f}, |
Lightvalve | 250:ae6e0c80029d | 244 | {-1.4498059749603271f,1.5077168941497803f,1.417440414428711f,0.42228469252586365f,1.5661025047302246f,0.25414010882377625f,0.1536337435245514f,0.7822868227958679f,0.6945287585258484f,1.5286016464233398f,0.41397419571876526f,-1.1734354496002197f,0.9537366628646851f,0.3520391881465912f,-0.8947061896324158f,-0.051639050245285034f}, |
Lightvalve | 250:ae6e0c80029d | 245 | {-1.355609655380249f,0.8838972449302673f,1.2582066059112549f,0.23666033148765564f,0.9591349363327026f,-0.31681132316589355f,-0.32871994376182556f,1.033066749572754f,0.9406602382659912f,1.3822530508041382f,0.41064736247062683f,-0.877638041973114f,1.1908857822418213f,0.01570388674736023f,-1.0715487003326416f,-0.3190888464450836f}, |
Lightvalve | 250:ae6e0c80029d | 246 | {0.35686901211738586f,0.228458434343338f,0.2712568938732147f,0.2529853880405426f,0.3662918508052826f,0.39349010586738586f,0.25153252482414246f,0.2783726155757904f,0.28922316431999207f,0.3839733898639679f,0.31362196803092957f,0.3805024325847626f,-0.4027314782142639f,-0.06604450941085815f,-0.15562167763710022f,-0.01853218674659729f}, |
Lightvalve | 250:ae6e0c80029d | 247 | {0.02971559762954712f,0.10008290410041809f,-0.09202349185943604f,-0.34877365827560425f,-0.37960970401763916f,0.20557507872581482f,0.01085612177848816f,0.10947790741920471f,-0.05034041404724121f,-0.2958219349384308f,-0.027930915355682373f,-0.03014206886291504f,0.27277418971061707f,-0.03805673122406006f,0.14320698380470276f,0.1095406711101532f}, |
Lightvalve | 250:ae6e0c80029d | 248 | {-0.3087005019187927f,0.05017688870429993f,0.12297007441520691f,0.3505266606807709f,-0.12687858939170837f,0.3846513330936432f,-0.0860929787158966f,0.32990750670433044f,-0.04760110378265381f,-0.4174031615257263f,-0.2160652130842209f,-0.1775263547897339f,-0.13651898503303528f,-0.11875951290130615f,-0.0734165608882904f,0.2554740607738495f}, |
Lightvalve | 250:ae6e0c80029d | 249 | {0.45573824644088745f,0.27617835998535156f,-0.029862266033887863f,-0.3516032099723816f,-0.328117698431015f,0.13696381449699402f,0.11205586791038513f,-0.071514792740345f,-0.04669053480029106f,0.14819775521755219f,-0.4269672632217407f,0.03593582287430763f,-0.3540164530277252f,-0.23198269307613373f,0.3632473051548004f,0.07743498682975769f}, |
Lightvalve | 250:ae6e0c80029d | 250 | {0.13902565836906433f,-0.4513693153858185f,-0.44616809487342834f,-0.12923097610473633f,-0.6093754172325134f,0.17323002219200134f,-0.2711373567581177f,-0.8406438231468201f,-0.40111854672431946f,-0.4078027606010437f,0.23837611079216003f,0.5075986385345459f,-0.45610159635543823f,0.0412866473197937f,0.6462149024009705f,0.17309555411338806f}, |
Lightvalve | 250:ae6e0c80029d | 251 | {0.16032066941261292f,0.07465770840644836f,0.05247756838798523f,-0.005473285913467407f,-0.227305069565773f,0.031090915203094482f,-0.018196970224380493f,0.21227428317070007f,0.2511860430240631f,-0.32314372062683105f,-0.058653801679611206f,-0.41826459765434265f,0.3595975935459137f,0.09194120764732361f,-0.3692541718482971f,0.12807056307792664f}, |
Lightvalve | 250:ae6e0c80029d | 252 | {0.18930241465568542f,0.40462300181388855f,-0.09339573979377747f,-0.24683929979801178f,-0.3936846852302551f,-0.17146101593971252f,0.07161977887153625f,-0.29721081256866455f,-0.3824835419654846f,-0.22785739600658417f,0.19350889325141907f,0.19995954632759094f,-0.20125877857208252f,0.04203954339027405f,0.2179628312587738f,0.273261696100235f}, |
Lightvalve | 66:a8e6799dbce3 | 253 | }; |
Lightvalve | 65:a2d7c63419c2 | 254 | |
Lightvalve | 250:ae6e0c80029d | 255 | const float hout[16] = { 0.9186931848526001f,-0.6426643133163452f,-2.100996732711792f,-0.4234980642795563f,-3.1442019939422607f,0.16659802198410034f,0.1412227749824524f,-0.5113492608070374f,-0.7385799884796143f,-1.2743288278579712f,0.36728596687316895f,0.7760918140411377f,-1.9738671779632568f,-0.15486499667167664f,0.7656890749931335f,-0.1121329665184021f }; |
Lightvalve | 250:ae6e0c80029d | 256 | |
Lightvalve | 250:ae6e0c80029d | 257 | const float b1[16] = { -1.7676769495010376f,-1.6090540885925293f,-1.354941964149475f,-0.5883668065071106f,-0.4820181131362915f,-0.19116580486297607f,1.243129849433899f,-1.0006957054138184f,-1.0012738704681396f,-0.17751635611057281f,-0.3144873380661011f,-0.5827701687812805f,-0.45533254742622375f,1.6646242141723633f,0.5947674512863159f,-0.17799901962280273f }; |
Lightvalve | 250:ae6e0c80029d | 258 | |
Lightvalve | 250:ae6e0c80029d | 259 | const float b2[16] = { 0.43402352929115295f,-0.009170545265078545f,-0.6261173486709595f,-0.49606257677078247f,-0.9477383494377136f,1.7394949197769165f,0.8847604990005493f,0.12849092483520508f,-0.3611977696418762f,-1.757647156715393f,-0.8346138596534729f,-0.6447385549545288f,0.6817746162414551f,0.6759572625160217f,-1.0967609882354736f,-1.3775783777236938f }; |
Lightvalve | 250:ae6e0c80029d | 260 | |
Lightvalve | 250:ae6e0c80029d | 261 | const float b3[16] = { -0.16810473799705505f,0.650750458240509f,-0.3732922375202179f,-0.9392088651657104f,0.7941774129867554f,-1.1039313077926636f,0.28099650144577026f,2.7149839401245117f,1.6020218133926392f,0.20373418927192688f,-1.4772030115127563f,-0.5197852849960327f,0.8460597395896912f,-0.11213985830545425f,-0.8830437660217285f,-0.5863158702850342f }; |
Lightvalve | 250:ae6e0c80029d | 262 | |
Lightvalve | 250:ae6e0c80029d | 263 | const float bout[1] = { 0.7833016514778137f }; |
Lightvalve | 225:278b48b86f27 | 264 | |
Lightvalve | 225:278b48b86f27 | 265 | float valve_ref_pos_buffer[10] = {0.0f}; |
Lightvalve | 65:a2d7c63419c2 | 266 | |
Lightvalve | 170:42c938a40313 | 267 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 268 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 269 | |
Lightvalve | 170:42c938a40313 | 270 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 271 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 272 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 273 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 274 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 275 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 276 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 277 | |
Lightvalve | 170:42c938a40313 | 278 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 279 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 280 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 281 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 282 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 283 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 284 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 285 | |
Lightvalve | 170:42c938a40313 | 286 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 287 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 288 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 289 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 290 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 291 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 292 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 293 | |
Lightvalve | 170:42c938a40313 | 294 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 295 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 296 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 297 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 298 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 299 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 300 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 301 | |
Lightvalve | 87:471334725012 | 302 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 303 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 304 | |
Lightvalve | 179:d5377766d7ea | 305 | /////////////////////////////////////////////RL tuning |
Lightvalve | 179:d5377766d7ea | 306 | float Gradient_Limit = 0.5f; |
Lightvalve | 179:d5377766d7ea | 307 | float gradient_rate_actor = 0.001f; |
Lightvalve | 179:d5377766d7ea | 308 | float gradient_rate_critic = 0.001f; |
Lightvalve | 179:d5377766d7ea | 309 | ////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 310 | |
Lightvalve | 170:42c938a40313 | 311 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 312 | { |
Lightvalve | 173:68c7914679ec | 313 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 314 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 315 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 316 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 317 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 318 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 319 | } |
Lightvalve | 173:68c7914679ec | 320 | //ReLU |
Lightvalve | 173:68c7914679ec | 321 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 322 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 323 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 324 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 325 | } |
Lightvalve | 173:68c7914679ec | 326 | //tanh |
Lightvalve | 173:68c7914679ec | 327 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 328 | } |
Lightvalve | 173:68c7914679ec | 329 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 330 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 331 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 332 | } |
Lightvalve | 173:68c7914679ec | 333 | //ReLU |
Lightvalve | 173:68c7914679ec | 334 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 335 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 336 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 337 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 338 | } |
Lightvalve | 173:68c7914679ec | 339 | //tanh |
Lightvalve | 173:68c7914679ec | 340 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 341 | } |
Lightvalve | 170:42c938a40313 | 342 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 343 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 344 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 345 | } |
Lightvalve | 173:68c7914679ec | 346 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 347 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 348 | } |
Lightvalve | 170:42c938a40313 | 349 | return output; |
Lightvalve | 170:42c938a40313 | 350 | } |
Lightvalve | 170:42c938a40313 | 351 | |
Lightvalve | 170:42c938a40313 | 352 | |
Lightvalve | 170:42c938a40313 | 353 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 354 | { |
Lightvalve | 173:68c7914679ec | 355 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 356 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 357 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 358 | |
Lightvalve | 173:68c7914679ec | 359 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 360 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 178:1074553d2f6f | 361 | output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 362 | } |
Lightvalve | 178:1074553d2f6f | 363 | output1[index2] = output1[index2] + ba1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 364 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 365 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 366 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 367 | } |
Lightvalve | 173:68c7914679ec | 368 | } |
Lightvalve | 173:68c7914679ec | 369 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 370 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 178:1074553d2f6f | 371 | output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 372 | } |
Lightvalve | 178:1074553d2f6f | 373 | output2[index2] = output2[index2] + ba2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 374 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 375 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 376 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 377 | } |
Lightvalve | 173:68c7914679ec | 378 | } |
Lightvalve | 173:68c7914679ec | 379 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 380 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 178:1074553d2f6f | 381 | output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 382 | } |
Lightvalve | 178:1074553d2f6f | 383 | hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 384 | } |
Lightvalve | 178:1074553d2f6f | 385 | |
Lightvalve | 178:1074553d2f6f | 386 | mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus |
Lightvalve | 178:1074553d2f6f | 387 | deviation_before_SP = output[1] + ba3_temp[1]; |
Lightvalve | 173:68c7914679ec | 388 | //Softplus |
Lightvalve | 173:68c7914679ec | 389 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 390 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 179:d5377766d7ea | 391 | logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 392 | logging4 = deviation; |
Lightvalve | 173:68c7914679ec | 393 | } |
Lightvalve | 173:68c7914679ec | 394 | |
Lightvalve | 173:68c7914679ec | 395 | |
Lightvalve | 173:68c7914679ec | 396 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 397 | { |
Lightvalve | 173:68c7914679ec | 398 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 399 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 400 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 401 | |
Lightvalve | 173:68c7914679ec | 402 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 403 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 404 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 405 | } |
Lightvalve | 170:42c938a40313 | 406 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 407 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 408 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 409 | } |
Lightvalve | 170:42c938a40313 | 410 | } |
Lightvalve | 173:68c7914679ec | 411 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 412 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 413 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 414 | } |
Lightvalve | 173:68c7914679ec | 415 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 416 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 417 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 418 | } |
Lightvalve | 170:42c938a40313 | 419 | } |
Lightvalve | 170:42c938a40313 | 420 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 421 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 422 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 423 | } |
Lightvalve | 170:42c938a40313 | 424 | } |
Lightvalve | 173:68c7914679ec | 425 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 426 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 427 | //Softplus |
Lightvalve | 173:68c7914679ec | 428 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 429 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 430 | } |
Lightvalve | 170:42c938a40313 | 431 | |
Lightvalve | 170:42c938a40313 | 432 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 433 | { |
Lightvalve | 170:42c938a40313 | 434 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 435 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 436 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 437 | } |
Lightvalve | 170:42c938a40313 | 438 | |
Lightvalve | 170:42c938a40313 | 439 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 440 | { |
Lightvalve | 170:42c938a40313 | 441 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 442 | 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 | 443 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 444 | } |
Lightvalve | 170:42c938a40313 | 445 | |
Lightvalve | 173:68c7914679ec | 446 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 447 | { |
Lightvalve | 173:68c7914679ec | 448 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 449 | return x; |
Lightvalve | 173:68c7914679ec | 450 | } else { |
Lightvalve | 173:68c7914679ec | 451 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 452 | } |
Lightvalve | 173:68c7914679ec | 453 | } |
Lightvalve | 173:68c7914679ec | 454 | |
Lightvalve | 170:42c938a40313 | 455 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 456 | { |
Lightvalve | 173:68c7914679ec | 457 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 177:8e9cf31d63f4 | 458 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 459 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 460 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 461 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 462 | float d_V_d_hc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 463 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 464 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 465 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 466 | d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 467 | } |
Lightvalve | 173:68c7914679ec | 468 | } |
Lightvalve | 170:42c938a40313 | 469 | } |
Lightvalve | 177:8e9cf31d63f4 | 470 | G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); |
Lightvalve | 170:42c938a40313 | 471 | } |
Lightvalve | 170:42c938a40313 | 472 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 473 | if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 474 | else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 475 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 476 | } |
Lightvalve | 173:68c7914679ec | 477 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 478 | float d_V_d_bc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 479 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 480 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 481 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 482 | d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 483 | } |
Lightvalve | 173:68c7914679ec | 484 | } |
Lightvalve | 173:68c7914679ec | 485 | } |
Lightvalve | 177:8e9cf31d63f4 | 486 | G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); |
Lightvalve | 173:68c7914679ec | 487 | } |
Lightvalve | 173:68c7914679ec | 488 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 489 | if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 490 | else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 491 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 492 | } |
Lightvalve | 173:68c7914679ec | 493 | |
Lightvalve | 175:2f7289dbd488 | 494 | |
Lightvalve | 173:68c7914679ec | 495 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 496 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 497 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 498 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 499 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 500 | float d_V_d_hc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 501 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 502 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 503 | d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 504 | } |
Lightvalve | 173:68c7914679ec | 505 | } |
Lightvalve | 177:8e9cf31d63f4 | 506 | G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); |
Lightvalve | 173:68c7914679ec | 507 | } |
Lightvalve | 173:68c7914679ec | 508 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 509 | if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 510 | else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 511 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 512 | } |
Lightvalve | 173:68c7914679ec | 513 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 514 | float d_V_d_bc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 515 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 516 | d_V_d_bc2 = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 517 | } |
Lightvalve | 177:8e9cf31d63f4 | 518 | G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); |
Lightvalve | 173:68c7914679ec | 519 | } |
Lightvalve | 173:68c7914679ec | 520 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 521 | if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 522 | else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 523 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 524 | } |
Lightvalve | 173:68c7914679ec | 525 | |
Lightvalve | 173:68c7914679ec | 526 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 527 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 528 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 529 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 530 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 531 | float d_V_d_hc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 532 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 533 | d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 534 | } |
Lightvalve | 177:8e9cf31d63f4 | 535 | G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); |
Lightvalve | 173:68c7914679ec | 536 | } |
Lightvalve | 173:68c7914679ec | 537 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 179:d5377766d7ea | 538 | if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 539 | else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 540 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 541 | } |
Lightvalve | 173:68c7914679ec | 542 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 543 | float d_V_d_bc3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 544 | d_V_d_bc3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 545 | G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); |
Lightvalve | 173:68c7914679ec | 546 | } |
Lightvalve | 173:68c7914679ec | 547 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 179:d5377766d7ea | 548 | if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 549 | else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 550 | //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 173:68c7914679ec | 551 | } |
Lightvalve | 173:68c7914679ec | 552 | |
Lightvalve | 173:68c7914679ec | 553 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 554 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 555 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 556 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 557 | } |
Lightvalve | 179:d5377766d7ea | 558 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 559 | } |
Lightvalve | 173:68c7914679ec | 560 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 561 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 562 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 563 | } |
Lightvalve | 179:d5377766d7ea | 564 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 565 | } |
Lightvalve | 170:42c938a40313 | 566 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 567 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 568 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 569 | } |
Lightvalve | 179:d5377766d7ea | 570 | bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 170:42c938a40313 | 571 | } |
Lightvalve | 170:42c938a40313 | 572 | } |
Lightvalve | 170:42c938a40313 | 573 | |
Lightvalve | 173:68c7914679ec | 574 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 575 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 576 | { |
Lightvalve | 218:066030f7951f | 577 | |
Lightvalve | 173:68c7914679ec | 578 | |
Lightvalve | 173:68c7914679ec | 579 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 580 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 581 | |
Lightvalve | 173:68c7914679ec | 582 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 583 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 584 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 585 | float d_x_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 586 | float d_y_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 587 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 588 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 589 | } else { |
Lightvalve | 173:68c7914679ec | 590 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 591 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 592 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 593 | d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 594 | d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 595 | } |
Lightvalve | 171:bfc1fd2629d8 | 596 | } |
Lightvalve | 170:42c938a40313 | 597 | } |
Lightvalve | 170:42c938a40313 | 598 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 599 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 600 | 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 | 601 | 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 | 602 | |
Lightvalve | 173:68c7914679ec | 603 | 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 | 604 | } |
Lightvalve | 170:42c938a40313 | 605 | } |
Lightvalve | 176:589ea3edcf3c | 606 | G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 607 | if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 608 | else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 609 | //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 610 | } |
Lightvalve | 173:68c7914679ec | 611 | |
Lightvalve | 173:68c7914679ec | 612 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 613 | float d_x_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 614 | float d_y_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 615 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 616 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 617 | } else { |
Lightvalve | 173:68c7914679ec | 618 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 619 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 620 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 621 | d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 622 | d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 623 | } |
Lightvalve | 171:bfc1fd2629d8 | 624 | } |
Lightvalve | 170:42c938a40313 | 625 | } |
Lightvalve | 170:42c938a40313 | 626 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 627 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 628 | 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 | 629 | 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 | 630 | |
Lightvalve | 173:68c7914679ec | 631 | 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 | 632 | } |
Lightvalve | 170:42c938a40313 | 633 | } |
Lightvalve | 176:589ea3edcf3c | 634 | G_ba1[index2] = -G_ba1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 635 | if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 636 | else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 637 | //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 638 | } |
Lightvalve | 170:42c938a40313 | 639 | |
Lightvalve | 173:68c7914679ec | 640 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 641 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 642 | |
Lightvalve | 173:68c7914679ec | 643 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 644 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 645 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 646 | float d_x_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 647 | float d_y_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 648 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 649 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 650 | } else { |
Lightvalve | 173:68c7914679ec | 651 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 652 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 653 | d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 654 | d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 655 | } |
Lightvalve | 170:42c938a40313 | 656 | } |
Lightvalve | 173:68c7914679ec | 657 | |
Lightvalve | 170:42c938a40313 | 658 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 659 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 660 | 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 | 661 | 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 | 662 | |
Lightvalve | 173:68c7914679ec | 663 | 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 | 664 | } |
Lightvalve | 170:42c938a40313 | 665 | } |
Lightvalve | 176:589ea3edcf3c | 666 | G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 667 | if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 668 | else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 669 | //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 670 | } |
Lightvalve | 173:68c7914679ec | 671 | |
Lightvalve | 173:68c7914679ec | 672 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 673 | float d_x_d_ba2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 674 | float d_y_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 675 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 676 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 677 | } else { |
Lightvalve | 170:42c938a40313 | 678 | |
Lightvalve | 173:68c7914679ec | 679 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 680 | d_x_d_ba2 = ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 681 | d_y_d_ba2 = ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 682 | } |
Lightvalve | 173:68c7914679ec | 683 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 684 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 685 | 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 | 686 | 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 | 687 | |
Lightvalve | 173:68c7914679ec | 688 | 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 | 689 | } |
Lightvalve | 170:42c938a40313 | 690 | } |
Lightvalve | 176:589ea3edcf3c | 691 | G_ba2[index2] = -G_ba2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 692 | if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 693 | else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 694 | //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 695 | } |
Lightvalve | 173:68c7914679ec | 696 | |
Lightvalve | 173:68c7914679ec | 697 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 698 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 699 | |
Lightvalve | 173:68c7914679ec | 700 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 701 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 702 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 703 | float d_x_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 704 | float d_y_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 705 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 706 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 707 | } else { |
Lightvalve | 173:68c7914679ec | 708 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 709 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 710 | d_x_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 177:8e9cf31d63f4 | 711 | d_y_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 712 | } |
Lightvalve | 173:68c7914679ec | 713 | } |
Lightvalve | 173:68c7914679ec | 714 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 715 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 716 | 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 | 717 | 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 | 718 | |
Lightvalve | 173:68c7914679ec | 719 | 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 | 720 | } |
Lightvalve | 173:68c7914679ec | 721 | } |
Lightvalve | 176:589ea3edcf3c | 722 | G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 723 | if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 724 | else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 725 | //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 726 | } |
Lightvalve | 173:68c7914679ec | 727 | |
Lightvalve | 173:68c7914679ec | 728 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 729 | float d_x_d_ba3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 730 | float d_y_d_ba3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 731 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 732 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 733 | } else { |
Lightvalve | 173:68c7914679ec | 734 | |
Lightvalve | 177:8e9cf31d63f4 | 735 | d_x_d_ba3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 736 | d_y_d_ba3 = 1.0f; |
Lightvalve | 173:68c7914679ec | 737 | |
Lightvalve | 173:68c7914679ec | 738 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 739 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 740 | 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 | 741 | 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 | 742 | |
Lightvalve | 173:68c7914679ec | 743 | 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 | 744 | } |
Lightvalve | 173:68c7914679ec | 745 | } |
Lightvalve | 176:589ea3edcf3c | 746 | G_ba3[index2] = -G_ba3[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 747 | if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 748 | else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 749 | //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 175:2f7289dbd488 | 750 | } |
Lightvalve | 177:8e9cf31d63f4 | 751 | |
Lightvalve | 175:2f7289dbd488 | 752 | // Simultaneous Update |
Lightvalve | 175:2f7289dbd488 | 753 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 175:2f7289dbd488 | 754 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 755 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 756 | } |
Lightvalve | 179:d5377766d7ea | 757 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 175:2f7289dbd488 | 758 | } |
Lightvalve | 175:2f7289dbd488 | 759 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 760 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 761 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 762 | } |
Lightvalve | 179:d5377766d7ea | 763 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 175:2f7289dbd488 | 764 | } |
Lightvalve | 175:2f7289dbd488 | 765 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 766 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 767 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 768 | } |
Lightvalve | 179:d5377766d7ea | 769 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 770 | } |
Lightvalve | 170:42c938a40313 | 771 | } |
Lightvalve | 170:42c938a40313 | 772 | |
Lightvalve | 170:42c938a40313 | 773 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 774 | { |
Lightvalve | 170:42c938a40313 | 775 | //Box muller method |
Lightvalve | 170:42c938a40313 | 776 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 777 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 778 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 779 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 780 | do { |
Lightvalve | 170:42c938a40313 | 781 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 782 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 783 | |
Lightvalve | 170:42c938a40313 | 784 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 785 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 786 | { |
Lightvalve | 170:42c938a40313 | 787 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 788 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 789 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 790 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 791 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 792 | return result; |
Lightvalve | 170:42c938a40313 | 793 | } |
Lightvalve | 170:42c938a40313 | 794 | } else { |
Lightvalve | 170:42c938a40313 | 795 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 796 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 797 | } |
Lightvalve | 170:42c938a40313 | 798 | } |
Lightvalve | 170:42c938a40313 | 799 | |
Lightvalve | 179:d5377766d7ea | 800 | float mean_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 801 | { |
Lightvalve | 179:d5377766d7ea | 802 | float add = 0.0f; |
Lightvalve | 179:d5377766d7ea | 803 | float result; |
Lightvalve | 218:066030f7951f | 804 | |
Lightvalve | 218:066030f7951f | 805 | for (int i=0; i<size; i++) { |
Lightvalve | 179:d5377766d7ea | 806 | add += x[i]; |
Lightvalve | 179:d5377766d7ea | 807 | } |
Lightvalve | 179:d5377766d7ea | 808 | result = (float) add/size; |
Lightvalve | 179:d5377766d7ea | 809 | return result; |
Lightvalve | 179:d5377766d7ea | 810 | } |
Lightvalve | 179:d5377766d7ea | 811 | float deviation_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 812 | { |
Lightvalve | 179:d5377766d7ea | 813 | float sigma = 0.0f; |
Lightvalve | 179:d5377766d7ea | 814 | float resultDeb = 0.0f; |
Lightvalve | 218:066030f7951f | 815 | |
Lightvalve | 218:066030f7951f | 816 | for (int k=0; k<size; k++) { |
Lightvalve | 179:d5377766d7ea | 817 | sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1); |
Lightvalve | 179:d5377766d7ea | 818 | resultDeb += sqrt(sigma); |
Lightvalve | 179:d5377766d7ea | 819 | } |
Lightvalve | 179:d5377766d7ea | 820 | return resultDeb; |
Lightvalve | 218:066030f7951f | 821 | } |
Lightvalve | 218:066030f7951f | 822 | |
Lightvalve | 173:68c7914679ec | 823 | |
Lightvalve | 170:42c938a40313 | 824 | void Overwirte_Critic_Networks() |
Lightvalve | 170:42c938a40313 | 825 | { |
Lightvalve | 173:68c7914679ec | 826 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 827 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 828 | hc1[index1][index2] = hc1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 829 | } |
Lightvalve | 170:42c938a40313 | 830 | bc1[index2] = bc1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 831 | } |
Lightvalve | 173:68c7914679ec | 832 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 833 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 834 | hc2[index1][index2] = hc2_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 835 | } |
Lightvalve | 173:68c7914679ec | 836 | bc2[index2] = bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 837 | hc3[index2] = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 838 | } |
Lightvalve | 173:68c7914679ec | 839 | bc3 = bc3_temp; |
Lightvalve | 170:42c938a40313 | 840 | } |
Lightvalve | 170:42c938a40313 | 841 | void Overwirte_Actor_Networks() |
Lightvalve | 170:42c938a40313 | 842 | { |
Lightvalve | 173:68c7914679ec | 843 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 844 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 845 | ha1[index1][index2] = ha1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 846 | } |
Lightvalve | 170:42c938a40313 | 847 | ba1[index2] = ba1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 848 | } |
Lightvalve | 173:68c7914679ec | 849 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 850 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 170:42c938a40313 | 851 | ha2[index1][index2] = ha2_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 852 | } |
Lightvalve | 170:42c938a40313 | 853 | ba2[index2] = ba2_temp[index2]; |
Lightvalve | 170:42c938a40313 | 854 | } |
Lightvalve | 173:68c7914679ec | 855 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 856 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 857 | ha3[index1][index2] = ha3_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 858 | } |
Lightvalve | 173:68c7914679ec | 859 | ba3[index2] = ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 860 | } |
Lightvalve | 170:42c938a40313 | 861 | } |
Lightvalve | 170:42c938a40313 | 862 | |
Lightvalve | 170:42c938a40313 | 863 | |
GiJeongKim | 0:51c43836c1d7 | 864 | int main() |
GiJeongKim | 0:51c43836c1d7 | 865 | { |
Lightvalve | 66:a8e6799dbce3 | 866 | |
Lightvalve | 65:a2d7c63419c2 | 867 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 868 | SystemClock_Config(); |
Lightvalve | 169:645207e160ca | 869 | |
jobuuu | 6:df07d3491e3a | 870 | /********************************* |
jobuuu | 1:e04e563be5ce | 871 | *** Initialization |
jobuuu | 6:df07d3491e3a | 872 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 873 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 874 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 875 | |
GiJeongKim | 0:51c43836c1d7 | 876 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 877 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 878 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 879 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 880 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 881 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 882 | |
GiJeongKim | 0:51c43836c1d7 | 883 | // // spi init |
Lightvalve | 170:42c938a40313 | 884 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 885 | eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 886 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 887 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 888 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 889 | |
Lightvalve | 16:903b5a4433b4 | 890 | //rom |
Lightvalve | 19:23b7c1ad8683 | 891 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 892 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 893 | |
GiJeongKim | 0:51c43836c1d7 | 894 | // ADC init |
jobuuu | 5:a4319f79457b | 895 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 896 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 897 | |
GiJeongKim | 0:51c43836c1d7 | 898 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 899 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 900 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 901 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 902 | |
Lightvalve | 11:82d8768d7351 | 903 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 904 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 905 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 906 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 907 | |
Lightvalve | 50:3c630b5eba9f | 908 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 909 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 910 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 911 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 912 | |
GiJeongKim | 0:51c43836c1d7 | 913 | // CAN |
jobuuu | 2:a1c0a37df760 | 914 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 915 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 916 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 917 | |
Lightvalve | 23:59218d4a256d | 918 | //Timer priority |
Lightvalve | 23:59218d4a256d | 919 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 920 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 921 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 922 | |
Lightvalve | 23:59218d4a256d | 923 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 924 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 925 | |
GiJeongKim | 0:51c43836c1d7 | 926 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 927 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 928 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 929 | |
Lightvalve | 11:82d8768d7351 | 930 | //DAC init |
Lightvalve | 58:2eade98630e2 | 931 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 932 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 933 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 934 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 935 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 936 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 937 | } |
Lightvalve | 11:82d8768d7351 | 938 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 939 | |
Lightvalve | 19:23b7c1ad8683 | 940 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 941 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 942 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 943 | else |
Lightvalve | 38:118df027d851 | 944 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 945 | } |
Lightvalve | 169:645207e160ca | 946 | |
Lightvalve | 173:68c7914679ec | 947 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 948 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 949 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; |
Lightvalve | 170:42c938a40313 | 950 | } |
Lightvalve | 179:d5377766d7ea | 951 | bc1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 952 | } |
Lightvalve | 173:68c7914679ec | 953 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 954 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 955 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 956 | } |
Lightvalve | 179:d5377766d7ea | 957 | bc2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 179:d5377766d7ea | 958 | hc3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 959 | } |
Lightvalve | 179:d5377766d7ea | 960 | bc3_temp = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 961 | |
Lightvalve | 173:68c7914679ec | 962 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 963 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 964 | ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 965 | } |
Lightvalve | 179:d5377766d7ea | 966 | ba1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 967 | } |
Lightvalve | 173:68c7914679ec | 968 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 969 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 970 | ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 971 | } |
Lightvalve | 179:d5377766d7ea | 972 | ba2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 973 | } |
Lightvalve | 170:42c938a40313 | 974 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 975 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 976 | ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 977 | } |
Lightvalve | 179:d5377766d7ea | 978 | ba3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 979 | } |
Lightvalve | 171:bfc1fd2629d8 | 980 | |
Lightvalve | 170:42c938a40313 | 981 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 982 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 983 | |
jobuuu | 6:df07d3491e3a | 984 | /************************************ |
jobuuu | 1:e04e563be5ce | 985 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 986 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 987 | while(1) { |
Lightvalve | 169:645207e160ca | 988 | |
Lightvalve | 171:bfc1fd2629d8 | 989 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 990 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 991 | // 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 | 992 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 993 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 994 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 995 | // } |
Lightvalve | 169:645207e160ca | 996 | |
Lightvalve | 171:bfc1fd2629d8 | 997 | |
Lightvalve | 171:bfc1fd2629d8 | 998 | //i2c |
Lightvalve | 180:02be1711ee0b | 999 | read_field(i2c_slave_addr1); |
Lightvalve | 180:02be1711ee0b | 1000 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 1001 | |
Lightvalve | 177:8e9cf31d63f4 | 1002 | //timer_while ++; |
Lightvalve | 169:645207e160ca | 1003 | |
Lightvalve | 170:42c938a40313 | 1004 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1005 | |
Lightvalve | 73:f80dc3970c99 | 1006 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1007 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1008 | } |
Lightvalve | 169:645207e160ca | 1009 | |
Lightvalve | 73:f80dc3970c99 | 1010 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1011 | |
Lightvalve | 162:9dd4f35e9de8 | 1012 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1013 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1014 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1015 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1016 | } |
Lightvalve | 162:9dd4f35e9de8 | 1017 | |
Lightvalve | 162:9dd4f35e9de8 | 1018 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1019 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1020 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1021 | } |
Lightvalve | 162:9dd4f35e9de8 | 1022 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1023 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1024 | |
Lightvalve | 162:9dd4f35e9de8 | 1025 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1026 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1027 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1028 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1029 | |
Lightvalve | 162:9dd4f35e9de8 | 1030 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1031 | // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 208:408f9f15c486 | 1032 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1033 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1034 | } |
Lightvalve | 208:408f9f15c486 | 1035 | // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1036 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1037 | ind = ind + 1; |
Lightvalve | 238:e4bda4d06a7d | 1038 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1039 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1040 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; |
Lightvalve | 206:2e4d0c287578 | 1041 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1042 | input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1043 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1044 | } |
Lightvalve | 169:645207e160ca | 1045 | |
Lightvalve | 112:8dcb1600cb90 | 1046 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1047 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1048 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1049 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1050 | |
Lightvalve | 112:8dcb1600cb90 | 1051 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1052 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1053 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1054 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1055 | } |
Lightvalve | 66:a8e6799dbce3 | 1056 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1057 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1058 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1059 | } |
Lightvalve | 66:a8e6799dbce3 | 1060 | } |
Lightvalve | 65:a2d7c63419c2 | 1061 | |
Lightvalve | 112:8dcb1600cb90 | 1062 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1063 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1064 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1065 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1066 | } |
Lightvalve | 66:a8e6799dbce3 | 1067 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1068 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1069 | output2[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 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1076 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1077 | } |
Lightvalve | 66:a8e6799dbce3 | 1078 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1079 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1080 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1081 | } |
Lightvalve | 65:a2d7c63419c2 | 1082 | } |
Lightvalve | 66:a8e6799dbce3 | 1083 | |
Lightvalve | 66:a8e6799dbce3 | 1084 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1085 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1086 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1087 | } |
Lightvalve | 66:a8e6799dbce3 | 1088 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1089 | |
Lightvalve | 66:a8e6799dbce3 | 1090 | } |
Lightvalve | 73:f80dc3970c99 | 1091 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1092 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1093 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1094 | |
Lightvalve | 66:a8e6799dbce3 | 1095 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1096 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1097 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1098 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1099 | } |
Lightvalve | 87:471334725012 | 1100 | |
Lightvalve | 169:645207e160ca | 1101 | |
Lightvalve | 69:3995ffeaa786 | 1102 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1103 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1104 | } else |
Lightvalve | 69:3995ffeaa786 | 1105 | LED = 1; |
Lightvalve | 169:645207e160ca | 1106 | |
Lightvalve | 65:a2d7c63419c2 | 1107 | } |
Lightvalve | 171:bfc1fd2629d8 | 1108 | |
Lightvalve | 171:bfc1fd2629d8 | 1109 | |
Lightvalve | 170:42c938a40313 | 1110 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1111 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1112 | case 0: { |
Lightvalve | 170:42c938a40313 | 1113 | break; |
Lightvalve | 170:42c938a40313 | 1114 | } |
Lightvalve | 170:42c938a40313 | 1115 | case 1: { |
Lightvalve | 170:42c938a40313 | 1116 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1117 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1118 | float loss_sum = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1119 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 170:42c938a40313 | 1120 | //Calculate Estimated V |
Lightvalve | 175:2f7289dbd488 | 1121 | //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; |
Lightvalve | 175:2f7289dbd488 | 1122 | float temp_array[2] = {state_array[n][0], state_array[n][1]}; |
Lightvalve | 175:2f7289dbd488 | 1123 | V[n] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1124 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 175:2f7289dbd488 | 1125 | hx_c_sum_array[n][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1126 | } |
Lightvalve | 173:68c7914679ec | 1127 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 175:2f7289dbd488 | 1128 | hxh_c_sum_array[n][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1129 | } |
Lightvalve | 175:2f7289dbd488 | 1130 | hxhh_c_sum_array[n] = hxhh_c_sum; |
Lightvalve | 177:8e9cf31d63f4 | 1131 | |
Lightvalve | 175:2f7289dbd488 | 1132 | 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 | 1133 | Actor_Network_Old(temp_array); |
Lightvalve | 175:2f7289dbd488 | 1134 | 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 | 1135 | r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); |
Lightvalve | 175:2f7289dbd488 | 1136 | if(n == batch_size-1) return_G[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1137 | else return_G[n] = gamma * return_G[n+1] + r[n]; |
Lightvalve | 175:2f7289dbd488 | 1138 | if(n == batch_size-1) td_target[n] = r[n]; |
Lightvalve | 175:2f7289dbd488 | 1139 | else td_target[n] = r[n] + gamma * V[n+1]; |
Lightvalve | 175:2f7289dbd488 | 1140 | delta[n] = td_target[n] - V[n]; |
Lightvalve | 175:2f7289dbd488 | 1141 | if(n == batch_size-1) advantage[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1142 | else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; |
Lightvalve | 179:d5377766d7ea | 1143 | // return_G[n] = advantage[n] + V[n]; |
Lightvalve | 175:2f7289dbd488 | 1144 | ratio[n] = pi[n]/pi_old[n]; |
Lightvalve | 179:d5377766d7ea | 1145 | } |
Lightvalve | 179:d5377766d7ea | 1146 | float mean_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1147 | float dev_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1148 | mean_advantage = mean_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1149 | dev_advantage = deviation_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1150 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 179:d5377766d7ea | 1151 | //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; |
Lightvalve | 175:2f7289dbd488 | 1152 | surr1[n] = ratio[n] * advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1153 | if (ratio[n] > 1.0f + epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1154 | surr2[n] = (1.0f + epsilon)*advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1155 | } else if( ratio[n] < 1.0f - epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1156 | surr2[n] = (1.0f - epsilon)*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1157 | } else { |
Lightvalve | 175:2f7289dbd488 | 1158 | surr2[n] = ratio[n]*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1159 | } |
Lightvalve | 175:2f7289dbd488 | 1160 | loss[n] = -min(surr1[n], surr2[n]); |
Lightvalve | 175:2f7289dbd488 | 1161 | loss_sum = loss_sum + loss[n]; |
Lightvalve | 170:42c938a40313 | 1162 | } |
Lightvalve | 170:42c938a40313 | 1163 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1164 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1165 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1166 | } |
Lightvalve | 170:42c938a40313 | 1167 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1168 | |
Lightvalve | 171:bfc1fd2629d8 | 1169 | |
Lightvalve | 170:42c938a40313 | 1170 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1171 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1172 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1173 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1174 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1175 | } |
Lightvalve | 170:42c938a40313 | 1176 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1177 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1178 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1179 | |
Lightvalve | 170:42c938a40313 | 1180 | break; |
Lightvalve | 170:42c938a40313 | 1181 | } |
Lightvalve | 170:42c938a40313 | 1182 | case 2: { |
Lightvalve | 170:42c938a40313 | 1183 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1184 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1185 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1186 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1187 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1188 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1189 | break; |
Lightvalve | 170:42c938a40313 | 1190 | } |
Lightvalve | 169:645207e160ca | 1191 | |
Lightvalve | 170:42c938a40313 | 1192 | } |
GiJeongKim | 0:51c43836c1d7 | 1193 | } |
jobuuu | 1:e04e563be5ce | 1194 | } |
jobuuu | 1:e04e563be5ce | 1195 | |
Lightvalve | 33:91b17819ec30 | 1196 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1197 | { |
Lightvalve | 14:8e7590227d22 | 1198 | |
Lightvalve | 13:747daba9cf59 | 1199 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1200 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1201 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1202 | 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 | 1203 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1204 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1205 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1206 | } else { |
Lightvalve | 57:f4819de54e7a | 1207 | 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 | 1208 | } |
Lightvalve | 14:8e7590227d22 | 1209 | } else { |
Lightvalve | 50:3c630b5eba9f | 1210 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1211 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1212 | } else { |
Lightvalve | 57:f4819de54e7a | 1213 | 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 | 1214 | } |
Lightvalve | 13:747daba9cf59 | 1215 | } |
Lightvalve | 13:747daba9cf59 | 1216 | break; |
Lightvalve | 13:747daba9cf59 | 1217 | } |
Lightvalve | 13:747daba9cf59 | 1218 | } |
Lightvalve | 14:8e7590227d22 | 1219 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1220 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1221 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1222 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1223 | } |
Lightvalve | 36:a46e63505ed8 | 1224 | |
Lightvalve | 57:f4819de54e7a | 1225 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1226 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1227 | |
Lightvalve | 13:747daba9cf59 | 1228 | } |
jobuuu | 6:df07d3491e3a | 1229 | |
jobuuu | 6:df07d3491e3a | 1230 | |
Lightvalve | 30:8d561f16383b | 1231 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1232 | { |
Lightvalve | 13:747daba9cf59 | 1233 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1234 | |
Lightvalve | 38:118df027d851 | 1235 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1236 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1237 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1238 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1239 | } |
Lightvalve | 38:118df027d851 | 1240 | |
Lightvalve | 89:a7b45368ea0f | 1241 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1242 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1243 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1244 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1245 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1246 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1247 | |
Lightvalve | 13:747daba9cf59 | 1248 | 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 | 1249 | |
Lightvalve | 18:b8adf1582ea3 | 1250 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1251 | 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 | 1252 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1253 | 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 | 1254 | } else { |
Lightvalve | 48:889798ff9329 | 1255 | 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 | 1256 | } |
Lightvalve | 13:747daba9cf59 | 1257 | break; |
Lightvalve | 13:747daba9cf59 | 1258 | } |
Lightvalve | 13:747daba9cf59 | 1259 | } |
Lightvalve | 59:f308b1656d9c | 1260 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1261 | } |
Lightvalve | 13:747daba9cf59 | 1262 | |
Lightvalve | 14:8e7590227d22 | 1263 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1264 | 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 | 1265 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1266 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1267 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1268 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1269 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1270 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1271 | 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 | 1272 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1273 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1274 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1275 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1276 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1277 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1278 | |
Lightvalve | 30:8d561f16383b | 1279 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1280 | { |
Lightvalve | 30:8d561f16383b | 1281 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1282 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1283 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1284 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1285 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1286 | } else { |
Lightvalve | 13:747daba9cf59 | 1287 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1288 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1289 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1290 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1291 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1292 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1293 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1294 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1295 | break; |
Lightvalve | 13:747daba9cf59 | 1296 | } |
Lightvalve | 13:747daba9cf59 | 1297 | } |
Lightvalve | 13:747daba9cf59 | 1298 | } |
Lightvalve | 14:8e7590227d22 | 1299 | |
Lightvalve | 13:747daba9cf59 | 1300 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1301 | } |
jobuuu | 6:df07d3491e3a | 1302 | |
Lightvalve | 57:f4819de54e7a | 1303 | |
Lightvalve | 57:f4819de54e7a | 1304 | |
Lightvalve | 57:f4819de54e7a | 1305 | |
Lightvalve | 57:f4819de54e7a | 1306 | |
jobuuu | 2:a1c0a37df760 | 1307 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1308 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1309 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1310 | |
Lightvalve | 51:b46bed7fec80 | 1311 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1312 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1313 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1314 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1315 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1316 | { |
Lightvalve | 19:23b7c1ad8683 | 1317 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1318 | |
Lightvalve | 21:e5f1a43ea6f9 | 1319 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1320 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1321 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1322 | |
Lightvalve | 57:f4819de54e7a | 1323 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1324 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1325 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1326 | } |
Lightvalve | 61:bc8c8270f0ab | 1327 | |
Lightvalve | 61:bc8c8270f0ab | 1328 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1329 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1330 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1331 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1332 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1333 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 1334 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1335 | |
Lightvalve | 67:c2812cf26c38 | 1336 | |
Lightvalve | 67:c2812cf26c38 | 1337 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1338 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1339 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1340 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1341 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1342 | |
Lightvalve | 17:1865016ca2e7 | 1343 | |
Lightvalve | 58:2eade98630e2 | 1344 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1345 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1346 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1347 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1348 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1349 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1350 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1351 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1352 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1353 | |
Lightvalve | 58:2eade98630e2 | 1354 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1355 | 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 | 1356 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1357 | 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 | 1358 | } |
Lightvalve | 58:2eade98630e2 | 1359 | } |
Lightvalve | 61:bc8c8270f0ab | 1360 | |
Lightvalve | 58:2eade98630e2 | 1361 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1362 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1363 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1364 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1365 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1366 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1367 | // 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 | 1368 | // |
Lightvalve | 58:2eade98630e2 | 1369 | // |
Lightvalve | 58:2eade98630e2 | 1370 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1371 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1372 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1373 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1374 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1375 | |
Lightvalve | 17:1865016ca2e7 | 1376 | |
Lightvalve | 21:e5f1a43ea6f9 | 1377 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1378 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1379 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1380 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1381 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1382 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1383 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1384 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1385 | |
Lightvalve | 57:f4819de54e7a | 1386 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1387 | } |
Lightvalve | 11:82d8768d7351 | 1388 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1389 | } |
Lightvalve | 19:23b7c1ad8683 | 1390 | |
Lightvalve | 19:23b7c1ad8683 | 1391 | |
Lightvalve | 18:b8adf1582ea3 | 1392 | int j =0; |
Lightvalve | 54:647072f5307a | 1393 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1394 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1395 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1396 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 48:889798ff9329 | 1397 | |
Lightvalve | 11:82d8768d7351 | 1398 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1399 | { |
Lightvalve | 19:23b7c1ad8683 | 1400 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1401 | |
Lightvalve | 57:f4819de54e7a | 1402 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1403 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1404 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1405 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1406 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1407 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1408 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1409 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1410 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1411 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1412 | } |
Lightvalve | 50:3c630b5eba9f | 1413 | |
Lightvalve | 50:3c630b5eba9f | 1414 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1415 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1416 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1417 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1418 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1419 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1420 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1421 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1422 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1423 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1424 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1425 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1426 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1427 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1428 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1429 | } else { |
Lightvalve | 58:2eade98630e2 | 1430 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1431 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1432 | } |
Lightvalve | 45:35fa6884d0c6 | 1433 | |
Lightvalve | 50:3c630b5eba9f | 1434 | |
Lightvalve | 57:f4819de54e7a | 1435 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1436 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1437 | |
Lightvalve | 57:f4819de54e7a | 1438 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1439 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1440 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1441 | } else { |
Lightvalve | 57:f4819de54e7a | 1442 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1443 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1444 | } |
Lightvalve | 56:6f50d9d3bfee | 1445 | |
Lightvalve | 56:6f50d9d3bfee | 1446 | |
Lightvalve | 56:6f50d9d3bfee | 1447 | |
Lightvalve | 57:f4819de54e7a | 1448 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1449 | |
Lightvalve | 57:f4819de54e7a | 1450 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1451 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1452 | break; |
Lightvalve | 13:747daba9cf59 | 1453 | } |
Lightvalve | 14:8e7590227d22 | 1454 | |
Lightvalve | 14:8e7590227d22 | 1455 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1456 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1457 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1458 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1459 | |
Lightvalve | 14:8e7590227d22 | 1460 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1461 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1462 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1463 | |
Lightvalve | 84:c355d3e52bf1 | 1464 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1465 | |
Lightvalve | 30:8d561f16383b | 1466 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1467 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1468 | |
Lightvalve | 16:903b5a4433b4 | 1469 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1470 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1471 | } |
Lightvalve | 13:747daba9cf59 | 1472 | } else { |
Lightvalve | 58:2eade98630e2 | 1473 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1474 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1475 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1476 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1477 | |
Lightvalve | 170:42c938a40313 | 1478 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1479 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1480 | |
Lightvalve | 30:8d561f16383b | 1481 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1482 | |
Lightvalve | 13:747daba9cf59 | 1483 | } |
Lightvalve | 14:8e7590227d22 | 1484 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1485 | break; |
Lightvalve | 19:23b7c1ad8683 | 1486 | } |
Lightvalve | 14:8e7590227d22 | 1487 | |
Lightvalve | 50:3c630b5eba9f | 1488 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1489 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1490 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1491 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1492 | // } |
Lightvalve | 50:3c630b5eba9f | 1493 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1494 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1495 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1496 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1497 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1498 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1499 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1500 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1501 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1502 | // } |
Lightvalve | 50:3c630b5eba9f | 1503 | // |
Lightvalve | 50:3c630b5eba9f | 1504 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1505 | // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); |
Lightvalve | 50:3c630b5eba9f | 1506 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1507 | // |
Lightvalve | 50:3c630b5eba9f | 1508 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1509 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1510 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1511 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1512 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1513 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1514 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1515 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1516 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1517 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1518 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1519 | // |
Lightvalve | 50:3c630b5eba9f | 1520 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1521 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1522 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1523 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1524 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1525 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1526 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1527 | // |
Lightvalve | 50:3c630b5eba9f | 1528 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1529 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1530 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1531 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1532 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1533 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1534 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1535 | // } |
Lightvalve | 50:3c630b5eba9f | 1536 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1537 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1538 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1539 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1540 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1541 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1542 | // } |
Lightvalve | 50:3c630b5eba9f | 1543 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1544 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1545 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1546 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1547 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1548 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1549 | // } |
Lightvalve | 50:3c630b5eba9f | 1550 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1551 | // |
Lightvalve | 50:3c630b5eba9f | 1552 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1553 | // |
Lightvalve | 50:3c630b5eba9f | 1554 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1555 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1556 | // |
Lightvalve | 50:3c630b5eba9f | 1557 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1558 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1559 | // } |
Lightvalve | 50:3c630b5eba9f | 1560 | // } |
Lightvalve | 50:3c630b5eba9f | 1561 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1562 | // break; |
Lightvalve | 50:3c630b5eba9f | 1563 | // } |
Lightvalve | 14:8e7590227d22 | 1564 | |
Lightvalve | 14:8e7590227d22 | 1565 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1566 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1567 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1568 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1569 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1570 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1571 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1572 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1573 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1574 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1575 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1576 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1577 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1578 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1579 | } |
Lightvalve | 29:69f3f5445d6d | 1580 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1581 | |
Lightvalve | 29:69f3f5445d6d | 1582 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1583 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1584 | } else { |
Lightvalve | 29:69f3f5445d6d | 1585 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1586 | } |
Lightvalve | 19:23b7c1ad8683 | 1587 | |
Lightvalve | 57:f4819de54e7a | 1588 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1589 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1590 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1591 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1592 | |
Lightvalve | 59:f308b1656d9c | 1593 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1594 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1595 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1596 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1597 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1598 | |
Lightvalve | 59:f308b1656d9c | 1599 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1600 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1601 | |
Lightvalve | 34:bb2ca2fc2a8e | 1602 | |
Lightvalve | 29:69f3f5445d6d | 1603 | } else { |
Lightvalve | 29:69f3f5445d6d | 1604 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1605 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1606 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1607 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1608 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1609 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1610 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1611 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1612 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1613 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1614 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1615 | |
Lightvalve | 67:c2812cf26c38 | 1616 | |
Lightvalve | 67:c2812cf26c38 | 1617 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1618 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1619 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1620 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1621 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1622 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1623 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1624 | |
Lightvalve | 169:645207e160ca | 1625 | |
Lightvalve | 29:69f3f5445d6d | 1626 | } |
Lightvalve | 29:69f3f5445d6d | 1627 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1628 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1629 | pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1630 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1631 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1632 | |
Lightvalve | 29:69f3f5445d6d | 1633 | // input for position control |
Lightvalve | 169:645207e160ca | 1634 | |
Lightvalve | 67:c2812cf26c38 | 1635 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1636 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1637 | |
Lightvalve | 67:c2812cf26c38 | 1638 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1639 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1640 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1641 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1642 | |
Lightvalve | 67:c2812cf26c38 | 1643 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1644 | |
Lightvalve | 67:c2812cf26c38 | 1645 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1646 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1647 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1648 | |
Lightvalve | 67:c2812cf26c38 | 1649 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1650 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1651 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1652 | |
Lightvalve | 69:3995ffeaa786 | 1653 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1654 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s |
Lightvalve | 67:c2812cf26c38 | 1655 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1656 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1657 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 67:c2812cf26c38 | 1658 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1659 | } |
Lightvalve | 67:c2812cf26c38 | 1660 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1661 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1662 | |
Lightvalve | 67:c2812cf26c38 | 1663 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1664 | |
Lightvalve | 67:c2812cf26c38 | 1665 | |
Lightvalve | 67:c2812cf26c38 | 1666 | |
Lightvalve | 67:c2812cf26c38 | 1667 | } else { |
Lightvalve | 67:c2812cf26c38 | 1668 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1669 | VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 67:c2812cf26c38 | 1670 | |
Lightvalve | 67:c2812cf26c38 | 1671 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1672 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1673 | } else { |
Lightvalve | 67:c2812cf26c38 | 1674 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1675 | } |
Lightvalve | 67:c2812cf26c38 | 1676 | |
Lightvalve | 67:c2812cf26c38 | 1677 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1678 | |
Lightvalve | 67:c2812cf26c38 | 1679 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1680 | |
Lightvalve | 67:c2812cf26c38 | 1681 | } |
Lightvalve | 67:c2812cf26c38 | 1682 | |
Lightvalve | 67:c2812cf26c38 | 1683 | |
Lightvalve | 169:645207e160ca | 1684 | |
Lightvalve | 169:645207e160ca | 1685 | |
Lightvalve | 59:f308b1656d9c | 1686 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1687 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1688 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1689 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1690 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1691 | |
Lightvalve | 29:69f3f5445d6d | 1692 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1693 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1694 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1695 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1696 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1697 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1698 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1699 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1700 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1701 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1702 | } |
Lightvalve | 13:747daba9cf59 | 1703 | } |
Lightvalve | 19:23b7c1ad8683 | 1704 | |
Lightvalve | 13:747daba9cf59 | 1705 | break; |
Lightvalve | 13:747daba9cf59 | 1706 | } |
Lightvalve | 14:8e7590227d22 | 1707 | |
Lightvalve | 50:3c630b5eba9f | 1708 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1709 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1710 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1711 | // else { |
Lightvalve | 50:3c630b5eba9f | 1712 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1713 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1714 | // } |
Lightvalve | 50:3c630b5eba9f | 1715 | // } |
Lightvalve | 50:3c630b5eba9f | 1716 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1717 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1718 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1719 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1720 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1721 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1722 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1723 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1724 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1725 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1726 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1727 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1728 | // } |
Lightvalve | 50:3c630b5eba9f | 1729 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1730 | // } |
Lightvalve | 50:3c630b5eba9f | 1731 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1732 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1733 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1734 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1735 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1736 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1737 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1738 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1739 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 |
Lightvalve | 50:3c630b5eba9f | 1740 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1741 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1742 | // } |
Lightvalve | 50:3c630b5eba9f | 1743 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1744 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1745 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1746 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1747 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1748 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1749 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); |
Lightvalve | 50:3c630b5eba9f | 1750 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1751 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1752 | // } |
Lightvalve | 50:3c630b5eba9f | 1753 | // } |
Lightvalve | 50:3c630b5eba9f | 1754 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1755 | // |
Lightvalve | 50:3c630b5eba9f | 1756 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1757 | // |
Lightvalve | 50:3c630b5eba9f | 1758 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1759 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1760 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1761 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1762 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1763 | // } |
Lightvalve | 50:3c630b5eba9f | 1764 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1765 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1766 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1767 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1768 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1769 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1770 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1771 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1772 | // } |
Lightvalve | 50:3c630b5eba9f | 1773 | // |
Lightvalve | 50:3c630b5eba9f | 1774 | // } |
Lightvalve | 50:3c630b5eba9f | 1775 | // break; |
Lightvalve | 50:3c630b5eba9f | 1776 | // } |
Lightvalve | 50:3c630b5eba9f | 1777 | // |
Lightvalve | 50:3c630b5eba9f | 1778 | // } |
Lightvalve | 14:8e7590227d22 | 1779 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1780 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1781 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1782 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1783 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1784 | |
Lightvalve | 14:8e7590227d22 | 1785 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1786 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1787 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1788 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1789 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1790 | |
Lightvalve | 38:118df027d851 | 1791 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1792 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1793 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1794 | |
Lightvalve | 30:8d561f16383b | 1795 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1796 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1797 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1798 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1799 | |
Lightvalve | 30:8d561f16383b | 1800 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1801 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1802 | } |
Lightvalve | 13:747daba9cf59 | 1803 | } else { |
Lightvalve | 57:f4819de54e7a | 1804 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1805 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1806 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1807 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1808 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1809 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1810 | |
Lightvalve | 170:42c938a40313 | 1811 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1812 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1813 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1814 | |
Lightvalve | 30:8d561f16383b | 1815 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1816 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1817 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1818 | } |
Lightvalve | 14:8e7590227d22 | 1819 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1820 | break; |
Lightvalve | 13:747daba9cf59 | 1821 | } |
Lightvalve | 14:8e7590227d22 | 1822 | |
Lightvalve | 50:3c630b5eba9f | 1823 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1824 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1825 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1826 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1827 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1828 | // } |
Lightvalve | 50:3c630b5eba9f | 1829 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1830 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1831 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1832 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1833 | // } |
Lightvalve | 50:3c630b5eba9f | 1834 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1835 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1836 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1837 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1838 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1839 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1840 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1841 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1842 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1843 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1844 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1845 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1846 | // |
Lightvalve | 50:3c630b5eba9f | 1847 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1848 | // |
Lightvalve | 50:3c630b5eba9f | 1849 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1850 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1851 | // } |
Lightvalve | 50:3c630b5eba9f | 1852 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1853 | // break; |
Lightvalve | 50:3c630b5eba9f | 1854 | // } |
Lightvalve | 19:23b7c1ad8683 | 1855 | |
Lightvalve | 50:3c630b5eba9f | 1856 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1857 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f); |
Lightvalve | 50:3c630b5eba9f | 1858 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1859 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1860 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1861 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1862 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1863 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1864 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1865 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1866 | // } |
Lightvalve | 50:3c630b5eba9f | 1867 | // break; |
Lightvalve | 50:3c630b5eba9f | 1868 | // } |
Lightvalve | 14:8e7590227d22 | 1869 | |
Lightvalve | 14:8e7590227d22 | 1870 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1871 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1872 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1873 | |
Lightvalve | 14:8e7590227d22 | 1874 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1875 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1876 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1877 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1878 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1879 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1880 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1881 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1882 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1883 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1884 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1885 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1886 | } else { |
Lightvalve | 13:747daba9cf59 | 1887 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1888 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1889 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1890 | } |
Lightvalve | 14:8e7590227d22 | 1891 | |
Lightvalve | 17:1865016ca2e7 | 1892 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1893 | int i; |
Lightvalve | 13:747daba9cf59 | 1894 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1895 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1896 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1897 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1898 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1899 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1900 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1901 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1902 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1903 | } |
Lightvalve | 13:747daba9cf59 | 1904 | } |
Lightvalve | 170:42c938a40313 | 1905 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1906 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1907 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1908 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1909 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1910 | } |
Lightvalve | 13:747daba9cf59 | 1911 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1912 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1913 | } |
Lightvalve | 14:8e7590227d22 | 1914 | |
Lightvalve | 14:8e7590227d22 | 1915 | |
Lightvalve | 13:747daba9cf59 | 1916 | break; |
Lightvalve | 13:747daba9cf59 | 1917 | } |
Lightvalve | 14:8e7590227d22 | 1918 | |
Lightvalve | 14:8e7590227d22 | 1919 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1920 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1921 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1922 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1923 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1924 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1925 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1926 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1927 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1928 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1929 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1930 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1931 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1932 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1933 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1934 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 30:8d561f16383b | 1935 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1936 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1937 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1938 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1939 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1940 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1941 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1942 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1943 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1944 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1945 | |
Lightvalve | 30:8d561f16383b | 1946 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1947 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1948 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1949 | |
Lightvalve | 30:8d561f16383b | 1950 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1951 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1952 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1953 | |
Lightvalve | 30:8d561f16383b | 1954 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1955 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1956 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1957 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1958 | |
Lightvalve | 60:64181f1d3e60 | 1959 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1960 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1961 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1962 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1963 | } else { |
Lightvalve | 13:747daba9cf59 | 1964 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1965 | } |
Lightvalve | 61:bc8c8270f0ab | 1966 | |
Lightvalve | 60:64181f1d3e60 | 1967 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1968 | |
Lightvalve | 13:747daba9cf59 | 1969 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1970 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1971 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1972 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1973 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1974 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1975 | |
Lightvalve | 13:747daba9cf59 | 1976 | } |
Lightvalve | 19:23b7c1ad8683 | 1977 | } else { |
Lightvalve | 14:8e7590227d22 | 1978 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1979 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1980 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1981 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1982 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1983 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1984 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1985 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1986 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1987 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1988 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1989 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1990 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1991 | } |
Lightvalve | 14:8e7590227d22 | 1992 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1993 | |
Lightvalve | 30:8d561f16383b | 1994 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1995 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1996 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1997 | |
Lightvalve | 14:8e7590227d22 | 1998 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1999 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2000 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2001 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2002 | } else { |
Lightvalve | 13:747daba9cf59 | 2003 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2004 | } |
Lightvalve | 14:8e7590227d22 | 2005 | |
Lightvalve | 13:747daba9cf59 | 2006 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2007 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2008 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2009 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2010 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2011 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2012 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2013 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2014 | } |
Lightvalve | 13:747daba9cf59 | 2015 | } |
Lightvalve | 14:8e7590227d22 | 2016 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2017 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2018 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2019 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2020 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2021 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2022 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2023 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2024 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2025 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2026 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2027 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2028 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2029 | } |
Lightvalve | 14:8e7590227d22 | 2030 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2031 | |
Lightvalve | 30:8d561f16383b | 2032 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2033 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2034 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2035 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2036 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2037 | |
Lightvalve | 14:8e7590227d22 | 2038 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2039 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2040 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2041 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2042 | } else { |
Lightvalve | 60:64181f1d3e60 | 2043 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2044 | } |
Lightvalve | 14:8e7590227d22 | 2045 | |
Lightvalve | 13:747daba9cf59 | 2046 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2047 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2048 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2049 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2050 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2051 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2052 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2053 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2054 | |
Lightvalve | 170:42c938a40313 | 2055 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2056 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2057 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2058 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2059 | |
Lightvalve | 60:64181f1d3e60 | 2060 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2061 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2062 | } |
Lightvalve | 13:747daba9cf59 | 2063 | } |
Lightvalve | 14:8e7590227d22 | 2064 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2065 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2066 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2067 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2068 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2069 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2070 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2071 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2072 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2073 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2074 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2075 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2076 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2077 | } |
Lightvalve | 14:8e7590227d22 | 2078 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2079 | |
Lightvalve | 30:8d561f16383b | 2080 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2081 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2082 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2083 | |
Lightvalve | 14:8e7590227d22 | 2084 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2085 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2086 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2087 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2088 | } else { |
Lightvalve | 13:747daba9cf59 | 2089 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2090 | } |
Lightvalve | 13:747daba9cf59 | 2091 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2092 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2093 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2094 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2095 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2096 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2097 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2098 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2099 | } |
Lightvalve | 13:747daba9cf59 | 2100 | } |
Lightvalve | 14:8e7590227d22 | 2101 | } else { |
Lightvalve | 30:8d561f16383b | 2102 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2103 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2104 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2105 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2106 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2107 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2108 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2109 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2110 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2111 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2112 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2113 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2114 | } |
Lightvalve | 14:8e7590227d22 | 2115 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2116 | |
Lightvalve | 30:8d561f16383b | 2117 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2118 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2119 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2120 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2121 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2122 | |
Lightvalve | 60:64181f1d3e60 | 2123 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2124 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2125 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2126 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2127 | } else { |
Lightvalve | 13:747daba9cf59 | 2128 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2129 | } |
Lightvalve | 14:8e7590227d22 | 2130 | |
Lightvalve | 13:747daba9cf59 | 2131 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2132 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2133 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2134 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2135 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2136 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2137 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2138 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2139 | |
Lightvalve | 170:42c938a40313 | 2140 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2141 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2142 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2143 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2144 | |
Lightvalve | 57:f4819de54e7a | 2145 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2146 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2147 | } |
Lightvalve | 13:747daba9cf59 | 2148 | } |
Lightvalve | 13:747daba9cf59 | 2149 | } |
Lightvalve | 14:8e7590227d22 | 2150 | } |
Lightvalve | 13:747daba9cf59 | 2151 | break; |
Lightvalve | 13:747daba9cf59 | 2152 | } |
Lightvalve | 14:8e7590227d22 | 2153 | |
Lightvalve | 14:8e7590227d22 | 2154 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2155 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2156 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2157 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2158 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2159 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2160 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2161 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2162 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2163 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2164 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2165 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2166 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2167 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2168 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2169 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2170 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2171 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2172 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2173 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2174 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2175 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2176 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2177 | } |
Lightvalve | 14:8e7590227d22 | 2178 | } else { |
Lightvalve | 30:8d561f16383b | 2179 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2180 | //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 2181 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2182 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2183 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2184 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2185 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2186 | |
Lightvalve | 14:8e7590227d22 | 2187 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2188 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2189 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2190 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2191 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2192 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2193 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2194 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2195 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2196 | } |
Lightvalve | 30:8d561f16383b | 2197 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2198 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2199 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2200 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2201 | } |
Lightvalve | 14:8e7590227d22 | 2202 | |
Lightvalve | 14:8e7590227d22 | 2203 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2204 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2205 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2206 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2207 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2208 | } |
Lightvalve | 13:747daba9cf59 | 2209 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2210 | |
Lightvalve | 13:747daba9cf59 | 2211 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2212 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2213 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2214 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2215 | } |
Lightvalve | 14:8e7590227d22 | 2216 | |
Lightvalve | 14:8e7590227d22 | 2217 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2218 | |
Lightvalve | 13:747daba9cf59 | 2219 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2220 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2221 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2222 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2223 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2224 | } |
Lightvalve | 13:747daba9cf59 | 2225 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2226 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2227 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2228 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2229 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2230 | } |
Lightvalve | 13:747daba9cf59 | 2231 | } |
Lightvalve | 13:747daba9cf59 | 2232 | break; |
Lightvalve | 13:747daba9cf59 | 2233 | } |
Lightvalve | 58:2eade98630e2 | 2234 | |
Lightvalve | 57:f4819de54e7a | 2235 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2236 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2237 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2238 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2239 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2240 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2241 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2242 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2243 | } |
Lightvalve | 57:f4819de54e7a | 2244 | break; |
Lightvalve | 57:f4819de54e7a | 2245 | } |
Lightvalve | 58:2eade98630e2 | 2246 | |
Lightvalve | 169:645207e160ca | 2247 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2248 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2249 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2250 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2251 | } else { |
Lightvalve | 169:645207e160ca | 2252 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2253 | } |
Lightvalve | 169:645207e160ca | 2254 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2255 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2256 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2257 | } else { |
Lightvalve | 169:645207e160ca | 2258 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2259 | } |
Lightvalve | 58:2eade98630e2 | 2260 | |
Lightvalve | 169:645207e160ca | 2261 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2262 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2263 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2264 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2265 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2266 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2267 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2268 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2269 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2270 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2271 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2272 | } |
Lightvalve | 169:645207e160ca | 2273 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2274 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2275 | |
Lightvalve | 169:645207e160ca | 2276 | } |
Lightvalve | 169:645207e160ca | 2277 | break; |
Lightvalve | 169:645207e160ca | 2278 | } |
Lightvalve | 169:645207e160ca | 2279 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2280 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2281 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2282 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2283 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2284 | // } |
Lightvalve | 169:645207e160ca | 2285 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2286 | // } |
Lightvalve | 169:645207e160ca | 2287 | |
Lightvalve | 169:645207e160ca | 2288 | break; |
Lightvalve | 169:645207e160ca | 2289 | } |
Lightvalve | 169:645207e160ca | 2290 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2291 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2292 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2293 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2294 | break; |
Lightvalve | 169:645207e160ca | 2295 | } |
Lightvalve | 170:42c938a40313 | 2296 | |
Lightvalve | 169:645207e160ca | 2297 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2298 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2299 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2300 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2301 | } else { |
Lightvalve | 169:645207e160ca | 2302 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2303 | } |
Lightvalve | 169:645207e160ca | 2304 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2305 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2306 | } else { |
Lightvalve | 169:645207e160ca | 2307 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2308 | } |
Lightvalve | 169:645207e160ca | 2309 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2310 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2311 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2312 | } else { |
Lightvalve | 169:645207e160ca | 2313 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2314 | } |
Lightvalve | 169:645207e160ca | 2315 | |
Lightvalve | 169:645207e160ca | 2316 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2317 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2318 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2319 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2320 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2321 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2322 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2323 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2324 | } |
Lightvalve | 169:645207e160ca | 2325 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2326 | // { |
Lightvalve | 169:645207e160ca | 2327 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2328 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2329 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2330 | // } |
Lightvalve | 170:42c938a40313 | 2331 | |
Lightvalve | 169:645207e160ca | 2332 | break; |
Lightvalve | 169:645207e160ca | 2333 | } |
Lightvalve | 57:f4819de54e7a | 2334 | |
Lightvalve | 57:f4819de54e7a | 2335 | default: |
Lightvalve | 57:f4819de54e7a | 2336 | break; |
Lightvalve | 57:f4819de54e7a | 2337 | } |
Lightvalve | 57:f4819de54e7a | 2338 | |
Lightvalve | 57:f4819de54e7a | 2339 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2340 | |
Lightvalve | 57:f4819de54e7a | 2341 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2342 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2343 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2344 | break; |
Lightvalve | 57:f4819de54e7a | 2345 | } |
Lightvalve | 57:f4819de54e7a | 2346 | |
Lightvalve | 57:f4819de54e7a | 2347 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2348 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 225:278b48b86f27 | 2349 | ////For Test LIMC////////////////////////////////////////// |
Lightvalve | 233:0a37cdd59651 | 2350 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 233:0a37cdd59651 | 2351 | // for(int i=0; i<9; i++){ |
Lightvalve | 233:0a37cdd59651 | 2352 | // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1]; |
Lightvalve | 233:0a37cdd59651 | 2353 | // } |
Lightvalve | 233:0a37cdd59651 | 2354 | // valve_ref_pos_buffer[9] = valve_pos.ref; |
Lightvalve | 233:0a37cdd59651 | 2355 | // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]); |
Lightvalve | 225:278b48b86f27 | 2356 | //////////////////////////////////////////////////////////// |
Lightvalve | 225:278b48b86f27 | 2357 | |
Lightvalve | 59:f308b1656d9c | 2358 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2359 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2360 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2361 | } else { |
Lightvalve | 67:c2812cf26c38 | 2362 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2363 | } |
Lightvalve | 57:f4819de54e7a | 2364 | break; |
Lightvalve | 57:f4819de54e7a | 2365 | } |
Lightvalve | 57:f4819de54e7a | 2366 | |
Lightvalve | 57:f4819de54e7a | 2367 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2368 | |
Lightvalve | 57:f4819de54e7a | 2369 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2370 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2371 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2372 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2373 | |
Lightvalve | 67:c2812cf26c38 | 2374 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2375 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2376 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2377 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2378 | |
Lightvalve | 139:15621998925b | 2379 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2380 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2381 | |
Lightvalve | 57:f4819de54e7a | 2382 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2383 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2384 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2385 | |
Lightvalve | 57:f4819de54e7a | 2386 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2387 | |
Lightvalve | 57:f4819de54e7a | 2388 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2389 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2390 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2391 | |
Lightvalve | 57:f4819de54e7a | 2392 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2393 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2394 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2395 | |
Lightvalve | 69:3995ffeaa786 | 2396 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2397 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2398 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2399 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2400 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2401 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2402 | } |
Lightvalve | 57:f4819de54e7a | 2403 | 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 | 2404 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2405 | |
Lightvalve | 57:f4819de54e7a | 2406 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2407 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2408 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2409 | // 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 | 2410 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2411 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2412 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2413 | 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 | 2414 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2415 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2416 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2417 | } |
Lightvalve | 57:f4819de54e7a | 2418 | 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 | 2419 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2420 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2421 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2422 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2423 | |
Lightvalve | 57:f4819de54e7a | 2424 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2425 | |
Lightvalve | 67:c2812cf26c38 | 2426 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2427 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2428 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2429 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2430 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2431 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2432 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2433 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2434 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2435 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2436 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2437 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2438 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2439 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2440 | } |
Lightvalve | 67:c2812cf26c38 | 2441 | } |
Lightvalve | 57:f4819de54e7a | 2442 | |
Lightvalve | 57:f4819de54e7a | 2443 | } else { |
Lightvalve | 57:f4819de54e7a | 2444 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2445 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2446 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2447 | |
Lightvalve | 209:ebc69d6ee6f1 | 2448 | 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 | 2449 | |
Lightvalve | 72:3436ce769b1e | 2450 | 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 | 2451 | |
Lightvalve | 72:3436ce769b1e | 2452 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2453 | |
Lightvalve | 169:645207e160ca | 2454 | |
Lightvalve | 72:3436ce769b1e | 2455 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2456 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2457 | } else { |
Lightvalve | 72:3436ce769b1e | 2458 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2459 | } |
Lightvalve | 57:f4819de54e7a | 2460 | |
Lightvalve | 57:f4819de54e7a | 2461 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2462 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2463 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2464 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2465 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2466 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2467 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2468 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2469 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2470 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2471 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2472 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2473 | } |
Lightvalve | 57:f4819de54e7a | 2474 | } |
Lightvalve | 61:bc8c8270f0ab | 2475 | |
Lightvalve | 57:f4819de54e7a | 2476 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2477 | |
Lightvalve | 67:c2812cf26c38 | 2478 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2479 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2480 | |
Lightvalve | 57:f4819de54e7a | 2481 | } |
Lightvalve | 169:645207e160ca | 2482 | |
Lightvalve | 72:3436ce769b1e | 2483 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2484 | |
Lightvalve | 133:22ab22818e01 | 2485 | |
Lightvalve | 57:f4819de54e7a | 2486 | break; |
Lightvalve | 57:f4819de54e7a | 2487 | } |
Lightvalve | 58:2eade98630e2 | 2488 | |
Lightvalve | 57:f4819de54e7a | 2489 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2490 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2491 | break; |
Lightvalve | 57:f4819de54e7a | 2492 | } |
Lightvalve | 169:645207e160ca | 2493 | |
Lightvalve | 138:a843f32ced33 | 2494 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2495 | |
Lightvalve | 169:645207e160ca | 2496 | |
Lightvalve | 139:15621998925b | 2497 | 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 | 2498 | 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 | 2499 | |
Lightvalve | 170:42c938a40313 | 2500 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2501 | |
Lightvalve | 218:066030f7951f | 2502 | //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 | 2503 | float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 169:645207e160ca | 2504 | |
Lightvalve | 138:a843f32ced33 | 2505 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2506 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2507 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2508 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2509 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2510 | } else { |
Lightvalve | 138:a843f32ced33 | 2511 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2512 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2513 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2514 | } else { |
Lightvalve | 138:a843f32ced33 | 2515 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2516 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2517 | } |
Lightvalve | 138:a843f32ced33 | 2518 | } |
Lightvalve | 138:a843f32ced33 | 2519 | float tau = 0.01f; |
Lightvalve | 247:87a44e8b3392 | 2520 | //float K_valve = 0.0004f; |
Lightvalve | 247:87a44e8b3392 | 2521 | float K_valve = 0.0002f; |
Lightvalve | 169:645207e160ca | 2522 | |
Lightvalve | 138:a843f32ced33 | 2523 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2524 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2525 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2526 | } else { |
Lightvalve | 138:a843f32ced33 | 2527 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2528 | } |
Lightvalve | 138:a843f32ced33 | 2529 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2530 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2531 | |
Lightvalve | 139:15621998925b | 2532 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2533 | |
Lightvalve | 138:a843f32ced33 | 2534 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2535 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2536 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2537 | |
Lightvalve | 138:a843f32ced33 | 2538 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2539 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2540 | |
Lightvalve | 212:ec41f1449ef9 | 2541 | float k3 = 2000.0f; //2000 //20000 |
Lightvalve | 142:43026242815a | 2542 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2543 | float rho3 = 3.2f; |
Lightvalve | 212:ec41f1449ef9 | 2544 | float rho4 = 10000000.0f; //25000000.0f; |
Lightvalve | 218:066030f7951f | 2545 | float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2546 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2547 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2548 | |
Lightvalve | 139:15621998925b | 2549 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2550 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2551 | } else { |
Lightvalve | 139:15621998925b | 2552 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2553 | } |
Lightvalve | 169:645207e160ca | 2554 | |
Lightvalve | 138:a843f32ced33 | 2555 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2556 | x_4_des_old = x_4_des; |
Lightvalve | 212:ec41f1449ef9 | 2557 | float V_input = 0.0f; |
Lightvalve | 139:15621998925b | 2558 | 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 | 2559 | // //V_out LPF |
Lightvalve | 212:ec41f1449ef9 | 2560 | // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz |
Lightvalve | 212:ec41f1449ef9 | 2561 | // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out); |
Lightvalve | 212:ec41f1449ef9 | 2562 | |
Lightvalve | 218:066030f7951f | 2563 | // float rho_gamma = 5000.0f;//5000 for change //50000 for not change |
Lightvalve | 218:066030f7951f | 2564 | // 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 | 2565 | // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2566 | // |
Lightvalve | 218:066030f7951f | 2567 | // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f; |
Lightvalve | 218:066030f7951f | 2568 | // else if(gamma_hat < 100.0f) gamma_hat = 100.0f; |
Lightvalve | 218:066030f7951f | 2569 | |
Lightvalve | 218:066030f7951f | 2570 | float rho_a = 0.00001f; |
Lightvalve | 218:066030f7951f | 2571 | float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err); |
Lightvalve | 218:066030f7951f | 2572 | a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2573 | |
Lightvalve | 218:066030f7951f | 2574 | if(a_hat > -3000000.0f) a_hat = -3000000.0f; |
Lightvalve | 218:066030f7951f | 2575 | else if(a_hat < -30000000.0f) a_hat = -30000000.0f; |
Lightvalve | 218:066030f7951f | 2576 | |
Lightvalve | 169:645207e160ca | 2577 | break; |
Lightvalve | 138:a843f32ced33 | 2578 | } |
Lightvalve | 171:bfc1fd2629d8 | 2579 | |
Lightvalve | 170:42c938a40313 | 2580 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2581 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2582 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2583 | |
Lightvalve | 170:42c938a40313 | 2584 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2585 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2586 | |
Lightvalve | 170:42c938a40313 | 2587 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2588 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2589 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2590 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2591 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2592 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2593 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2594 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2595 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2596 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2597 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2598 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2599 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2600 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2601 | } |
Lightvalve | 173:68c7914679ec | 2602 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2603 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2604 | } |
Lightvalve | 173:68c7914679ec | 2605 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2606 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2607 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2608 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2609 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2610 | |
Lightvalve | 179:d5377766d7ea | 2611 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2612 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2613 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2614 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2615 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2616 | } |
Lightvalve | 171:bfc1fd2629d8 | 2617 | |
Lightvalve | 170:42c938a40313 | 2618 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2619 | |
Lightvalve | 170:42c938a40313 | 2620 | |
Lightvalve | 170:42c938a40313 | 2621 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2622 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2623 | batch++; |
Lightvalve | 170:42c938a40313 | 2624 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2625 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2626 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2627 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2628 | } |
Lightvalve | 170:42c938a40313 | 2629 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2630 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2631 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2632 | |
Lightvalve | 170:42c938a40313 | 2633 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2634 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2635 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2636 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2637 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2638 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2639 | } |
Lightvalve | 170:42c938a40313 | 2640 | } |
Lightvalve | 170:42c938a40313 | 2641 | } |
Lightvalve | 170:42c938a40313 | 2642 | |
Lightvalve | 170:42c938a40313 | 2643 | else { |
Lightvalve | 170:42c938a40313 | 2644 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2645 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2646 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2647 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2648 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2649 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2650 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2651 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2652 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2653 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2654 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2655 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2656 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2657 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2658 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2659 | } |
Lightvalve | 170:42c938a40313 | 2660 | |
Lightvalve | 170:42c938a40313 | 2661 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2662 | } |
Lightvalve | 170:42c938a40313 | 2663 | |
Lightvalve | 170:42c938a40313 | 2664 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2665 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2666 | |
Lightvalve | 170:42c938a40313 | 2667 | break; |
Lightvalve | 170:42c938a40313 | 2668 | } |
Lightvalve | 14:8e7590227d22 | 2669 | |
Lightvalve | 12:6f2531038ea4 | 2670 | default: |
Lightvalve | 12:6f2531038ea4 | 2671 | break; |
Lightvalve | 12:6f2531038ea4 | 2672 | } |
Lightvalve | 14:8e7590227d22 | 2673 | |
Lightvalve | 57:f4819de54e7a | 2674 | |
Lightvalve | 57:f4819de54e7a | 2675 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2676 | |
Lightvalve | 57:f4819de54e7a | 2677 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2678 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2679 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2680 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2681 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2682 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2683 | |
Lightvalve | 57:f4819de54e7a | 2684 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2685 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2686 | |
Lightvalve | 57:f4819de54e7a | 2687 | |
Lightvalve | 57:f4819de54e7a | 2688 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2689 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2690 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2691 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2692 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2693 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2694 | |
Lightvalve | 57:f4819de54e7a | 2695 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2696 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2697 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2698 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2699 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2700 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2701 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2702 | } |
Lightvalve | 57:f4819de54e7a | 2703 | |
Lightvalve | 57:f4819de54e7a | 2704 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2705 | |
Lightvalve | 67:c2812cf26c38 | 2706 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2707 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2708 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2709 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2710 | // 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 | 2711 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2712 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2713 | |
Lightvalve | 57:f4819de54e7a | 2714 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2715 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2716 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2717 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2718 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2719 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2720 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2721 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2722 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2723 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2724 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2725 | } |
Lightvalve | 57:f4819de54e7a | 2726 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2727 | } else { |
Lightvalve | 57:f4819de54e7a | 2728 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2729 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2730 | } |
Lightvalve | 57:f4819de54e7a | 2731 | |
Lightvalve | 57:f4819de54e7a | 2732 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2733 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2734 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2735 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2736 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2737 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2738 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2739 | |
Lightvalve | 57:f4819de54e7a | 2740 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2741 | |
Lightvalve | 57:f4819de54e7a | 2742 | } else { |
Lightvalve | 57:f4819de54e7a | 2743 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2744 | } |
Lightvalve | 57:f4819de54e7a | 2745 | |
Lightvalve | 57:f4819de54e7a | 2746 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2747 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2748 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2749 | |
Lightvalve | 57:f4819de54e7a | 2750 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2751 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2752 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2753 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2754 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2755 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2756 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2757 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2758 | |
Lightvalve | 89:a7b45368ea0f | 2759 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2760 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2761 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2762 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2763 | |
Lightvalve | 135:79885a39c161 | 2764 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2765 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2766 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2767 | } |
Lightvalve | 169:645207e160ca | 2768 | |
Lightvalve | 67:c2812cf26c38 | 2769 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2770 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2771 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2772 | |
jobuuu | 7:e9086c72bb22 | 2773 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2774 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2775 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2776 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2777 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2778 | } |
Lightvalve | 169:645207e160ca | 2779 | |
Lightvalve | 49:e7bcfc244d40 | 2780 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2781 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2782 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2783 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2784 | } |
Lightvalve | 49:e7bcfc244d40 | 2785 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2786 | |
Lightvalve | 19:23b7c1ad8683 | 2787 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2788 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2789 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2790 | |
Lightvalve | 30:8d561f16383b | 2791 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2792 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2793 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2794 | } else { |
jobuuu | 2:a1c0a37df760 | 2795 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2796 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2797 | } |
Lightvalve | 13:747daba9cf59 | 2798 | |
jobuuu | 1:e04e563be5ce | 2799 | //pwm |
Lightvalve | 30:8d561f16383b | 2800 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2801 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2802 | |
Lightvalve | 61:bc8c8270f0ab | 2803 | |
Lightvalve | 233:0a37cdd59651 | 2804 | |
Lightvalve | 233:0a37cdd59651 | 2805 | /* |
Lightvalve | 237:aa3863117889 | 2806 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 233:0a37cdd59651 | 2807 | |
Lightvalve | 54:647072f5307a | 2808 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2809 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2810 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2811 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2812 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2813 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2814 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 2815 | } |
Lightvalve | 57:f4819de54e7a | 2816 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2817 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2818 | CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); |
Lightvalve | 54:647072f5307a | 2819 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2820 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 2821 | } |
Lightvalve | 52:8ea76864368a | 2822 | } |
Lightvalve | 52:8ea76864368a | 2823 | } |
Lightvalve | 233:0a37cdd59651 | 2824 | |
Lightvalve | 56:6f50d9d3bfee | 2825 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 179:d5377766d7ea | 2826 | CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 54:647072f5307a | 2827 | } |
Lightvalve | 58:2eade98630e2 | 2828 | |
Lightvalve | 58:2eade98630e2 | 2829 | |
Lightvalve | 171:bfc1fd2629d8 | 2830 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2831 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2832 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2833 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2834 | } else { |
Lightvalve | 131:d08121ac87ba | 2835 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2836 | } |
Lightvalve | 169:645207e160ca | 2837 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2838 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2839 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2840 | } else { |
Lightvalve | 169:645207e160ca | 2841 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2842 | } |
Lightvalve | 169:645207e160ca | 2843 | |
Lightvalve | 169:645207e160ca | 2844 | |
Lightvalve | 169:645207e160ca | 2845 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2846 | } |
Lightvalve | 58:2eade98630e2 | 2847 | |
Lightvalve | 57:f4819de54e7a | 2848 | //If it doesn't rest, below can can not work. |
Lightvalve | 233:0a37cdd59651 | 2849 | for (int can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2850 | ; |
Lightvalve | 57:f4819de54e7a | 2851 | } |
Lightvalve | 58:2eade98630e2 | 2852 | |
Lightvalve | 169:645207e160ca | 2853 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2854 | //PWM |
Lightvalve | 209:ebc69d6ee6f1 | 2855 | CAN_TX_PWM((int16_t) (torq.ref)); //1500 |
Lightvalve | 209:ebc69d6ee6f1 | 2856 | // CAN_TX_PWM((int16_t) (f_future[1])); //1500 |
Lightvalve | 54:647072f5307a | 2857 | } |
Lightvalve | 179:d5377766d7ea | 2858 | |
Lightvalve | 56:6f50d9d3bfee | 2859 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2860 | //valve position |
Lightvalve | 212:ec41f1449ef9 | 2861 | //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600 |
Lightvalve | 218:066030f7951f | 2862 | CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600 |
Lightvalve | 54:647072f5307a | 2863 | } |
Lightvalve | 237:aa3863117889 | 2864 | |
Lightvalve | 233:0a37cdd59651 | 2865 | |
Lightvalve | 20:806196fda269 | 2866 | |
Lightvalve | 54:647072f5307a | 2867 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 237:aa3863117889 | 2868 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 237:aa3863117889 | 2869 | CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 237:aa3863117889 | 2870 | } |
Lightvalve | 237:aa3863117889 | 2871 | if (flag_delay_test == 1){ |
Lightvalve | 237:aa3863117889 | 2872 | CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 237:aa3863117889 | 2873 | } |
Lightvalve | 52:8ea76864368a | 2874 | |
Lightvalve | 54:647072f5307a | 2875 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2876 | } |
Lightvalve | 54:647072f5307a | 2877 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 237:aa3863117889 | 2878 | |
Lightvalve | 237:aa3863117889 | 2879 | */ |
Lightvalve | 237:aa3863117889 | 2880 | |
Lightvalve | 20:806196fda269 | 2881 | } |
Lightvalve | 52:8ea76864368a | 2882 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2883 | |
Lightvalve | 58:2eade98630e2 | 2884 | } |