Sungwoo Kim
/
HydraulicControlBoard_Learning
for learning
main.cpp@229:c13dac18dee3, 2020-12-30 (annotated)
- Committer:
- Lightvalve
- Date:
- Wed Dec 30 04:54:52 2020 +0000
- Revision:
- 229:c13dac18dee3
- Parent:
- 228:83e3a91aa1c6
- Child:
- 230:eff425844edf
201230_1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 228:83e3a91aa1c6 | 1 | //201230_1 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 11 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 12 | #include <string> |
Lightvalve | 170:42c938a40313 | 13 | #include <iostream> |
Lightvalve | 179:d5377766d7ea | 14 | #include <cmath> |
Lightvalve | 61:bc8c8270f0ab | 15 | |
Lightvalve | 61:bc8c8270f0ab | 16 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 17 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 18 | |
Lightvalve | 31:66738bfecec5 | 19 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 20 | |
jobuuu | 7:e9086c72bb22 | 21 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 22 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 23 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 24 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 25 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 26 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 27 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 28 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 29 | |
Lightvalve | 24:ef6e1092e9e6 | 30 | |
jobuuu | 7:e9086c72bb22 | 31 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 32 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 34 | |
jobuuu | 7:e9086c72bb22 | 35 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 36 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 37 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 38 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 39 | |
jobuuu | 7:e9086c72bb22 | 40 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 41 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 42 | DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 43 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 44 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 45 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 46 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 50 | |
jobuuu | 7:e9086c72bb22 | 51 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 52 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 53 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 54 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 55 | { |
Lightvalve | 11:82d8768d7351 | 56 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 57 | } |
jobuuu | 2:a1c0a37df760 | 58 | |
jobuuu | 7:e9086c72bb22 | 59 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 60 | State pos; |
jobuuu | 7:e9086c72bb22 | 61 | State vel; |
jobuuu | 7:e9086c72bb22 | 62 | State Vout; |
jobuuu | 7:e9086c72bb22 | 63 | State torq; |
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 | 228:83e3a91aa1c6 | 202 | {0.21710851788520813f,-0.05835658311843872f,0.12024858593940735f,-0.31008681654930115f,-0.0982133150100708f,-0.17835518717765808f,-0.1628284603357315f,0.0627439022064209f,-0.2620668113231659f,-0.05229143425822258f,-0.1862572282552719f,-0.3528204560279846f,0.2787628173828125f,0.2949141561985016f,-0.2396446317434311f,0.1873062551021576f}, |
Lightvalve | 228:83e3a91aa1c6 | 203 | {-0.1646273285150528f,0.15895842015743256f,-0.36603355407714844f,-0.1901821345090866f,-0.2621099054813385f,0.1840967983007431f,-0.3777896761894226f,-0.05303867906332016f,-0.0715283527970314f,0.1800564080476761f,-0.2212582379579544f,-0.03985835984349251f,0.056893475353717804f,-0.07665825635194778f,-0.1953967958688736f,0.13413189351558685f}, |
Lightvalve | 228:83e3a91aa1c6 | 204 | {-0.1751502901315689f,0.1295098513364792f,0.33912619948387146f,-0.5264424681663513f,0.0014073352795094252f,-0.10263941437005997f,0.2676515281200409f,-0.05712807551026344f,-0.14674054086208344f,0.18135717511177063f,-0.29151666164398193f,0.39914262294769287f,-0.10191211849451065f,-0.03679787740111351f,0.05209478735923767f,-0.23318035900592804f}, |
Lightvalve | 228:83e3a91aa1c6 | 205 | {0.08773957192897797f,0.059932585805654526f,0.3703531324863434f,0.1890704482793808f,-0.5685915946960449f,-0.9968946576118469f,-0.10795548558235168f,0.2569338381290436f,0.023257998749613762f,0.30387452244758606f,0.12322977185249329f,-6.214670658111572f,0.6218557357788086f,0.22927629947662354f,-0.27597576379776f,1.0344496965408325f}, |
Lightvalve | 228:83e3a91aa1c6 | 206 | {-0.341019868850708f,1.716659426689148f,-0.004794687032699585f,3.811917543411255f,-0.44779855012893677f,5.250626564025879f,0.12058994174003601f,0.06565902382135391f,0.029530562460422516f,0.13024947047233582f,0.3581587076187134f,5.495739936828613f,0.32269057631492615f,0.2027294933795929f,-0.36018112301826477f,-1.535042405128479f}, |
Lightvalve | 228:83e3a91aa1c6 | 207 | {-0.8380345106124878f,-1.3260560035705566f,0.20290347933769226f,2.5959393978118896f,1.4356293678283691f,0.30882853269577026f,0.15389427542686462f,-0.321927011013031f,0.030967984348535538f,0.13585081696510315f,-0.1967213749885559f,1.4991086721420288f,0.5693753957748413f,0.1478225290775299f,-0.38513508439064026f,0.9474997520446777f}, |
Lightvalve | 228:83e3a91aa1c6 | 208 | {-0.683259904384613f,-0.8101462721824646f,-0.2331579178571701f,0.2851295471191406f,0.5227901339530945f,0.2213594615459442f,0.05604562163352966f,-0.3566524088382721f,0.340404748916626f,0.08874274045228958f,0.17397800087928772f,0.36228781938552856f,0.3637121319770813f,0.204885333776474f,-0.14554673433303833f,1.5621423721313477f}, |
Lightvalve | 228:83e3a91aa1c6 | 209 | {0.2438136488199234f,-0.038819216191768646f,-0.24806702136993408f,0.26695358753204346f,-0.6833134293556213f,-0.45427772402763367f,-0.16704979538917542f,-0.364534467458725f,0.026426557451486588f,0.13160675764083862f,0.13139647245407104f,-0.5438024401664734f,0.2081027328968048f,0.0352388434112072f,0.04009982943534851f,0.8651177287101746f}, |
Lightvalve | 228:83e3a91aa1c6 | 210 | {0.399420827627182f,0.7111073136329651f,0.09550115466117859f,-0.13722945749759674f,-0.6188552379608154f,0.09277452528476715f,-0.06753402948379517f,-0.4231712818145752f,-0.24982194602489471f,0.34706196188926697f,-0.24380797147750854f,0.08192895352840424f,0.018970858305692673f,0.11796440184116364f,-0.2847418785095215f,0.17251382768154144f}, |
Lightvalve | 228:83e3a91aa1c6 | 211 | {0.38405391573905945f,0.42134660482406616f,0.17205187678337097f,-1.2010875940322876f,-0.6272928714752197f,-0.0024884298909455538f,-0.2786858379840851f,-0.11577512323856354f,-0.004904093686491251f,-0.41817817091941833f,0.025525355711579323f,-0.6284334659576416f,-0.0862298384308815f,-0.287846177816391f,0.3247623145580292f,-1.3453173637390137f}, |
Lightvalve | 228:83e3a91aa1c6 | 212 | {0.6584739685058594f,0.8861123919487f,0.34649983048439026f,-2.0575315952301025f,0.0029634551610797644f,-0.1881372630596161f,-0.1895401030778885f,-0.016842292621731758f,-0.39519330859184265f,0.0457906648516655f,0.35786765813827515f,-0.6493228077888489f,-1.0070158243179321f,-0.1055193692445755f,0.24870619177818298f,-2.0926122665405273f}, |
Lightvalve | 228:83e3a91aa1c6 | 213 | {-4.20821475982666f,-4.356006145477295f,-0.3757385015487671f,2.0618209838867188f,2.884111166000366f,2.543921947479248f,0.1429324448108673f,0.1709202378988266f,-0.1357613056898117f,0.2062210589647293f,-0.3532536029815674f,1.7752840518951416f,4.858647346496582f,-0.660963773727417f,0.09779238700866699f,0.7557253837585449f}, |
Lightvalve | 228:83e3a91aa1c6 | 214 | {-2.1083571910858154f,-1.7688544988632202f,0.18496140837669373f,-0.46151071786880493f,1.474288821220398f,-0.7176749110221863f,-0.22405625879764557f,-0.03395454213023186f,-0.15607798099517822f,-0.1729339212179184f,-0.06886337697505951f,-0.29444989562034607f,1.2748531103134155f,-0.20135706663131714f,-0.2075144499540329f,-3.261737823486328f}, |
Lightvalve | 228:83e3a91aa1c6 | 215 | {3.5962183475494385f,3.374176025390625f,0.38466766476631165f,-4.8142170906066895f,-4.66273307800293f,-3.462780237197876f,-0.2982172966003418f,-0.43583643436431885f,-0.10630133002996445f,-0.2060280591249466f,-0.1487589031457901f,-1.0152119398117065f,-3.2444868087768555f,0.49480560421943665f,0.04470124840736389f,-4.24110221862793f}, |
Lightvalve | 228:83e3a91aa1c6 | 216 | {1.598503828048706f,0.5136365294456482f,0.18900898098945618f,0.017271745949983597f,-1.8248393535614014f,-4.067183971405029f,0.03916636109352112f,0.09532613307237625f,0.30280715227127075f,0.07684552669525146f,-0.22735022008419037f,-0.6214115023612976f,-1.3549392223358154f,0.2816005051136017f,0.062258750200271606f,-3.0343241691589355f}, |
Lightvalve | 228:83e3a91aa1c6 | 217 | {-0.04581713676452637f,-0.8378515243530273f,-0.37685394287109375f,1.967070460319519f,0.19949127733707428f,-1.418633222579956f,-0.14507901668548584f,-0.17562240362167358f,0.20774737000465393f,-0.009641649201512337f,-0.40854886174201965f,0.4172761142253876f,-0.45967918634414673f,-0.012022500857710838f,-0.07684260606765747f,0.7026128768920898f}, |
Lightvalve | 228:83e3a91aa1c6 | 218 | {0.32617276906967163f,-0.25086039304733276f,0.15568438172340393f,0.4640309810638428f,-0.37468042969703674f,-1.229672908782959f,-0.03859376907348633f,-0.1532677412033081f,-0.03914693370461464f,0.07321617752313614f,-0.29630669951438904f,-0.5918252468109131f,-0.3932393491268158f,0.29289379715919495f,0.2742314636707306f,-0.031258534640073776f}, |
Lightvalve | 228:83e3a91aa1c6 | 219 | {-0.005290712229907513f,-0.07519976794719696f,0.19490453600883484f,0.5935949683189392f,-0.07097543030977249f,-0.3804037272930145f,-0.336474746465683f,-0.05229208618402481f,-0.3598732352256775f,-0.1231364756822586f,-0.12190809845924377f,0.367918998003006f,-0.08971880376338959f,-0.17653463780879974f,-0.2561379373073578f,0.7032476663589478f}, |
Lightvalve | 228:83e3a91aa1c6 | 220 | {-0.06372973322868347f,0.033496905118227005f,-0.2776013910770416f,0.2678217589855194f,0.0578499510884285f,-0.6571398377418518f,0.25546005368232727f,-0.4622184932231903f,-0.35577359795570374f,0.017385512590408325f,-0.3627778887748718f,-0.1795680820941925f,-0.22878967225551605f,0.158436581492424f,-0.30415377020835876f,-0.32187676429748535f}, |
Lightvalve | 228:83e3a91aa1c6 | 221 | {0.16661548614501953f,-0.004885958973318338f,0.1420871913433075f,0.045542508363723755f,-0.03160545229911804f,0.008304453454911709f,-0.13263443112373352f,-0.510770320892334f,-0.14304111897945404f,0.03424033150076866f,0.13338813185691833f,0.25419220328330994f,0.2775229215621948f,0.27265164256095886f,0.13351169228553772f,0.12091268599033356f}, |
Lightvalve | 228:83e3a91aa1c6 | 222 | {-0.0903313085436821f,-0.22801446914672852f,-0.07561364769935608f,0.37586510181427f,-0.19908323884010315f,0.0550796203315258f,0.14428457617759705f,-0.14634819328784943f,-0.3402363657951355f,-0.2975690960884094f,-0.34984755516052246f,-0.16906507313251495f,-0.308422714471817f,0.31129270792007446f,0.019461065530776978f,0.37325340509414673f}, |
Lightvalve | 228:83e3a91aa1c6 | 223 | {-0.040057551115751266f,-0.20191167294979095f,0.2631795108318329f,0.14898988604545593f,0.1371445208787918f,-0.5027453303337097f,0.27224990725517273f,-0.1382894366979599f,-0.04866792634129524f,0.08683944493532181f,0.07068000733852386f,0.2494114190340042f,-0.12455370277166367f,0.048056963831186295f,0.06011766195297241f,0.18133442103862762f}, |
Lightvalve | 65:a2d7c63419c2 | 224 | }; |
Lightvalve | 65:a2d7c63419c2 | 225 | |
Lightvalve | 169:645207e160ca | 226 | const float h2[16][16] = { |
Lightvalve | 228:83e3a91aa1c6 | 227 | {-0.26723405718803406f,3.436506986618042f,-0.06966331601142883f,-1.8851170539855957f,-0.21907491981983185f,0.291226863861084f,0.015459171496331692f,-0.1071208193898201f,-0.5817054510116577f,-0.1415480375289917f,2.841161012649536f,-0.7992897033691406f,-0.07293413579463959f,-0.4298669099807739f,-2.4861531257629395f,1.5274772644042969f}, |
Lightvalve | 228:83e3a91aa1c6 | 228 | {2.6455771923065186f,0.8134444355964661f,0.057057321071624756f,-0.12591442465782166f,-0.35503754019737244f,0.26150521636009216f,-3.3769495487213135f,-0.6518222093582153f,-0.6712901592254639f,0.2895788848400116f,1.889601707458496f,-0.6946915984153748f,0.13749389350414276f,-2.4608261585235596f,-0.49290743470191956f,-2.1129796504974365f}, |
Lightvalve | 219:3cb6bd063f56 | 229 | {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f}, |
Lightvalve | 228:83e3a91aa1c6 | 230 | {0.796710729598999f,-0.10332272946834564f,-0.2894435524940491f,1.1835746765136719f,0.08946844935417175f,-1.047329306602478f,0.8074626326560974f,0.2824513912200928f,0.012639492750167847f,0.2953031361103058f,0.5696664452552795f,-0.08588860929012299f,-0.48111507296562195f,1.6103204488754272f,0.7986408472061157f,-0.21878749132156372f}, |
Lightvalve | 228:83e3a91aa1c6 | 231 | {-1.3417195081710815f,-0.7138416767120361f,-0.25313520431518555f,-0.6614899039268494f,0.036378175020217896f,0.823881983757019f,-4.63653039932251f,-0.27306196093559265f,-0.06466124951839447f,-0.39465832710266113f,0.0016015330329537392f,-0.7870113253593445f,-0.06011026352643967f,-3.621800184249878f,2.5364484786987305f,-1.5223392248153687f}, |
Lightvalve | 228:83e3a91aa1c6 | 232 | {0.6848915219306946f,-0.39380156993865967f,-0.3519742488861084f,0.38149240612983704f,-0.3015052080154419f,0.10571412742137909f,-0.9900799989700317f,-0.23774199187755585f,-0.7109643220901489f,0.3579089343547821f,-0.21304041147232056f,-0.40623411536216736f,-0.2862647473812103f,-2.199444532394409f,-0.03355676680803299f,0.7081170082092285f}, |
Lightvalve | 219:3cb6bd063f56 | 233 | {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f}, |
Lightvalve | 228:83e3a91aa1c6 | 234 | {-0.04024162515997887f,0.37415388226509094f,0.33083590865135193f,-0.09207740426063538f,-0.14358049631118774f,-0.4130993187427521f,-0.09043094515800476f,-0.3092288076877594f,0.2600560486316681f,-0.37898191809654236f,0.2606242001056671f,-0.2890920341014862f,-0.41139593720436096f,0.344535231590271f,0.1222056895494461f,-0.016515038907527924f}, |
Lightvalve | 228:83e3a91aa1c6 | 235 | {-0.2864131033420563f,0.3310338258743286f,-0.11379697918891907f,0.10645820200443268f,0.041274964809417725f,-0.35836148262023926f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.04191019758582115f,-0.3197441101074219f,-0.37024784088134766f,-0.28181442618370056f,-0.3813771605491638f,-0.22868402302265167f}, |
Lightvalve | 228:83e3a91aa1c6 | 236 | {-0.10638687759637833f,0.18947477638721466f,-0.13502129912376404f,0.10904058068990707f,0.12987366318702698f,0.06331641227006912f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.21176552772521973f,0.39862415194511414f,0.3811538517475128f,-0.20535631477832794f,0.04266967624425888f,-0.26521480083465576f}, |
Lightvalve | 228:83e3a91aa1c6 | 237 | {-0.25592130422592163f,-0.027659105136990547f,0.0457797646522522f,-0.39426594972610474f,-0.03321319818496704f,-0.44821619987487793f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.2292342334985733f,0.3545852601528168f,-0.3647043704986572f,0.44143247604370117f,-0.3769301772117615f,-0.30688443779945374f}, |
Lightvalve | 228:83e3a91aa1c6 | 238 | {0.518974244594574f,1.4600558280944824f,0.3954955041408539f,1.4798170328140259f,0.0033026933670043945f,1.93472158908844f,0.2169281542301178f,-0.16245169937610626f,0.2089681625366211f,-0.32520344853401184f,0.0831938162446022f,-0.5508549213409424f,0.005738466512411833f,0.4115873873233795f,-0.48970356583595276f,0.2728462219238281f}, |
Lightvalve | 228:83e3a91aa1c6 | 239 | {-0.02581711858510971f,-3.642622470855713f,-0.15798500180244446f,2.601588726043701f,-0.37393757700920105f,-1.3707489967346191f,-0.0324789434671402f,-0.5317329168319702f,-0.8471572399139404f,0.2424570620059967f,-2.8096792697906494f,-0.7880776524543762f,0.20291848480701447f,0.5545087456703186f,-0.7411673665046692f,0.05684801563620567f}, |
Lightvalve | 228:83e3a91aa1c6 | 240 | {0.008935408666729927f,0.23658603429794312f,-0.2018718123435974f,0.08555340766906738f,0.07545611262321472f,-0.0010491880821064115f,0.033573225140571594f,-0.24210108816623688f,-0.24509364366531372f,0.19522181153297424f,-0.11541958153247833f,-0.6472615599632263f,-0.24549134075641632f,-0.29431283473968506f,-0.12282686680555344f,-0.25719138979911804f}, |
Lightvalve | 219:3cb6bd063f56 | 241 | {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, |
Lightvalve | 228:83e3a91aa1c6 | 242 | {-1.2283841371536255f,2.0610783100128174f,0.12081471085548401f,0.40022987127304077f,0.29976895451545715f,-0.09938766807317734f,-2.411539077758789f,0.22121109068393707f,-0.6443181037902832f,-0.02222958207130432f,1.4849238395690918f,-0.6256117820739746f,-0.358810693025589f,-0.5680041909217834f,-0.3835602104663849f,-0.5177282094955444f}, |
Lightvalve | 65:a2d7c63419c2 | 243 | }; |
Lightvalve | 65:a2d7c63419c2 | 244 | |
Lightvalve | 169:645207e160ca | 245 | const float h3[16][16] = { |
Lightvalve | 228:83e3a91aa1c6 | 246 | {-0.36079341173171997f,0.23955848813056946f,-1.1817095279693604f,-1.58957839012146f,-0.4517802894115448f,0.00593087263405323f,0.14463050663471222f,0.0036972183734178543f,-0.6693695187568665f,-0.21179355680942535f,-2.772231340408325f,-0.08654152601957321f,-1.4973424673080444f,-1.0522558689117432f,-0.02775469981133938f,-1.0456385612487793f}, |
Lightvalve | 228:83e3a91aa1c6 | 247 | {0.047732532024383545f,-0.898144006729126f,-3.1017537117004395f,-1.381134033203125f,-0.3441418707370758f,0.5184141993522644f,-0.24482108652591705f,0.06247803568840027f,0.2504468262195587f,-0.1780138611793518f,-2.9596712589263916f,-0.3128277659416199f,0.34827539324760437f,0.25014761090278625f,-0.4353446960449219f,-2.2584781646728516f}, |
Lightvalve | 219:3cb6bd063f56 | 248 | {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f}, |
Lightvalve | 228:83e3a91aa1c6 | 249 | {-0.30922991037368774f,-2.42948055267334f,1.2146846055984497f,2.071460485458374f,0.23535194993019104f,0.23716674745082855f,0.0023064776323735714f,-0.2272281050682068f,-0.6102874279022217f,-0.5878366827964783f,3.270146369934082f,-0.079141765832901f,-0.19914497435092926f,1.0818650722503662f,-0.21022048592567444f,-3.447765350341797f}, |
Lightvalve | 219:3cb6bd063f56 | 250 | {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f}, |
Lightvalve | 228:83e3a91aa1c6 | 251 | {-0.37449589371681213f,2.105287790298462f,-1.1706833839416504f,-0.07963728904724121f,0.49037525057792664f,-0.6520670652389526f,-0.24929550290107727f,0.07373787462711334f,-0.49333110451698303f,-0.2514972388744354f,0.6977552175521851f,-0.07344245910644531f,0.4499317705631256f,-0.6970130205154419f,0.24799692630767822f,-10.489715576171875f}, |
Lightvalve | 228:83e3a91aa1c6 | 252 | {0.4110594093799591f,0.03259836509823799f,-1.3994123935699463f,-0.6297501921653748f,-3.9271013736724854f,-1.6792638301849365f,0.008842500858008862f,-0.34646254777908325f,-0.030661463737487793f,-0.06259563565254211f,-2.7556934356689453f,0.1246558353304863f,0.2790711224079132f,2.5501139163970947f,-0.0001432369026588276f,-1.7808431386947632f}, |
Lightvalve | 228:83e3a91aa1c6 | 253 | {-0.40892091393470764f,0.12677159905433655f,-0.3778429329395294f,0.13786058127880096f,0.2654329240322113f,-0.23563161492347717f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.09309493750333786f,-0.19106461107730865f,0.10737434774637222f,0.005298197269439697f}, |
Lightvalve | 228:83e3a91aa1c6 | 254 | {0.10697010159492493f,0.1519632488489151f,-0.4634546637535095f,0.22168387472629547f,-0.2484942376613617f,-0.12435030937194824f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.5694200396537781f,-0.3482915461063385f,-0.2985605299472809f,-0.3215094208717346f,0.09620395302772522f,-0.06898030638694763f}, |
Lightvalve | 219:3cb6bd063f56 | 255 | {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, |
Lightvalve | 228:83e3a91aa1c6 | 256 | {0.15459725260734558f,0.6347795724868774f,-2.843824863433838f,-0.8757935166358948f,-3.682453155517578f,0.11140545457601547f,-0.22749444842338562f,-0.21671739220619202f,-0.2897385358810425f,-0.561979353427887f,0.1738443821668625f,-0.6332975029945374f,0.02973129227757454f,-0.4262983202934265f,0.45153680443763733f,2.4266700744628906f}, |
Lightvalve | 228:83e3a91aa1c6 | 257 | {-0.408692330121994f,0.07524891197681427f,0.07453340291976929f,-0.13479788601398468f,-0.012258211150765419f,-0.2789190411567688f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4356187880039215f,-0.45683375000953674f,-0.31865036487579346f,0.34510013461112976f}, |
Lightvalve | 228:83e3a91aa1c6 | 258 | {-0.2991822361946106f,0.26059526205062866f,0.02585286647081375f,-0.05932474136352539f,0.19066159427165985f,0.12553727626800537f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.1342717409133911f,-0.24822832643985748f,0.25641894340515137f,-0.16869547963142395f}, |
Lightvalve | 228:83e3a91aa1c6 | 259 | {-0.2675279378890991f,-0.038760922849178314f,0.8058972358703613f,0.568178653717041f,1.926482081413269f,1.051330804824829f,-0.6637630462646484f,-0.31893211603164673f,-0.684364914894104f,-1.2043099403381348f,1.0483613014221191f,-0.6093144416809082f,-0.6137930750846863f,-1.9366679191589355f,0.2598099410533905f,3.515615940093994f}, |
Lightvalve | 228:83e3a91aa1c6 | 260 | {-0.015470266342163086f,0.5485411286354065f,1.72163987159729f,-0.12105733156204224f,-0.3831140995025635f,-1.352612853050232f,-0.5277559757232666f,-0.23413920402526855f,-0.6437380909919739f,-0.8957201242446899f,-0.650761604309082f,-0.5959860682487488f,0.7570517063140869f,-0.511589527130127f,-0.24105386435985565f,-1.6552906036376953f}, |
Lightvalve | 228:83e3a91aa1c6 | 261 | {0.1863725483417511f,0.23044399917125702f,2.8924405574798584f,-0.16066978871822357f,-0.9396040439605713f,0.942517876625061f,-0.12535610795021057f,0.036833830177783966f,-0.41546201705932617f,-0.26821044087409973f,-0.645840585231781f,-0.044248316437006f,0.6587316393852234f,-1.3007421493530273f,-0.2326364666223526f,-1.1934552192687988f}, |
Lightvalve | 66:a8e6799dbce3 | 262 | }; |
Lightvalve | 65:a2d7c63419c2 | 263 | |
Lightvalve | 228:83e3a91aa1c6 | 264 | const float hout[16] = { 0.45773375034332275f,0.2386862337589264f,-0.2851997911930084f,-0.14161087572574615f,-0.17498421669006348f,0.20173802971839905f,-0.0029246758203953505f,0.057233236730098724f,0.06631378084421158f,0.12506327033042908f,0.270881712436676f,-0.1020549014210701f,-0.24224728345870972f,0.16140422224998474f,0.2347816675901413f,-0.12646318972110748f }; |
Lightvalve | 228:83e3a91aa1c6 | 265 | |
Lightvalve | 228:83e3a91aa1c6 | 266 | const float b1[16] = { 0.682098388671875f,1.3871639966964722f,-1.7145336866378784f,-1.186700701713562f,2.072877883911133f,2.73624849319458f,-0.058932315558195114f,0.8410549163818359f,0.5336584448814392f,-0.8973275423049927f,0.6093431115150452f,0.40226659178733826f,-0.4711519479751587f,-1.025956630706787f,-1.087764859199524f,4.489203453063965f }; |
Lightvalve | 228:83e3a91aa1c6 | 267 | |
Lightvalve | 228:83e3a91aa1c6 | 268 | const float b2[16] = { -0.4100606441497803f,-1.4202418327331543f,-1.4564176797866821f,-0.7459886074066162f,-0.6939148902893066f,-0.11409489065408707f,2.606159210205078f,-0.5281766057014465f,-1.3896151781082153f,-1.912178635597229f,-1.0096604824066162f,0.04112252593040466f,-0.30573347210884094f,1.7771672010421753f,0.9408959150314331f,1.509745717048645f }; |
Lightvalve | 228:83e3a91aa1c6 | 269 | |
Lightvalve | 228:83e3a91aa1c6 | 270 | const float b3[16] = { -1.963319182395935f,1.035247564315796f,-4.8930206298828125f,-0.12025665491819382f,0.3674905002117157f,1.4917001724243164f,-0.7277941703796387f,-0.9398375153541565f,0.036721598356962204f,-0.03335632383823395f,-3.3403966426849365f,-0.5037021636962891f,1.1861028671264648f,2.1023385524749756f,-1.3048676252365112f,-1.8699331283569336f }; |
Lightvalve | 228:83e3a91aa1c6 | 271 | |
Lightvalve | 228:83e3a91aa1c6 | 272 | const float bout[1] = { -0.25776052474975586f }; |
Lightvalve | 225:278b48b86f27 | 273 | |
Lightvalve | 225:278b48b86f27 | 274 | float valve_ref_pos_buffer[10] = {0.0f}; |
Lightvalve | 65:a2d7c63419c2 | 275 | |
Lightvalve | 170:42c938a40313 | 276 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 277 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 278 | |
Lightvalve | 170:42c938a40313 | 279 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 280 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 281 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 282 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 283 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 284 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 285 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 286 | |
Lightvalve | 170:42c938a40313 | 287 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 288 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 289 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 290 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 291 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 292 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 293 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 294 | |
Lightvalve | 170:42c938a40313 | 295 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 296 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 297 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 298 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 299 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 300 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 301 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 302 | |
Lightvalve | 170:42c938a40313 | 303 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 304 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 305 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 306 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 307 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 308 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 309 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 310 | |
Lightvalve | 87:471334725012 | 311 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 312 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 313 | |
Lightvalve | 179:d5377766d7ea | 314 | /////////////////////////////////////////////RL tuning |
Lightvalve | 179:d5377766d7ea | 315 | float Gradient_Limit = 0.5f; |
Lightvalve | 179:d5377766d7ea | 316 | float gradient_rate_actor = 0.001f; |
Lightvalve | 179:d5377766d7ea | 317 | float gradient_rate_critic = 0.001f; |
Lightvalve | 179:d5377766d7ea | 318 | ////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 319 | |
Lightvalve | 170:42c938a40313 | 320 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 321 | { |
Lightvalve | 173:68c7914679ec | 322 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 323 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 324 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 325 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 326 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 327 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 328 | } |
Lightvalve | 173:68c7914679ec | 329 | //ReLU |
Lightvalve | 173:68c7914679ec | 330 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 331 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 332 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 333 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 334 | } |
Lightvalve | 173:68c7914679ec | 335 | //tanh |
Lightvalve | 173:68c7914679ec | 336 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 337 | } |
Lightvalve | 173:68c7914679ec | 338 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 339 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 340 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 341 | } |
Lightvalve | 173:68c7914679ec | 342 | //ReLU |
Lightvalve | 173:68c7914679ec | 343 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 344 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 345 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 346 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 347 | } |
Lightvalve | 173:68c7914679ec | 348 | //tanh |
Lightvalve | 173:68c7914679ec | 349 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 350 | } |
Lightvalve | 170:42c938a40313 | 351 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 352 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 353 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 354 | } |
Lightvalve | 173:68c7914679ec | 355 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 356 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 357 | } |
Lightvalve | 170:42c938a40313 | 358 | return output; |
Lightvalve | 170:42c938a40313 | 359 | } |
Lightvalve | 170:42c938a40313 | 360 | |
Lightvalve | 170:42c938a40313 | 361 | |
Lightvalve | 170:42c938a40313 | 362 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 363 | { |
Lightvalve | 173:68c7914679ec | 364 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 365 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 366 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 367 | |
Lightvalve | 173:68c7914679ec | 368 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 369 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 178:1074553d2f6f | 370 | output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 371 | } |
Lightvalve | 178:1074553d2f6f | 372 | output1[index2] = output1[index2] + ba1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 373 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 374 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 375 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 376 | } |
Lightvalve | 173:68c7914679ec | 377 | } |
Lightvalve | 173:68c7914679ec | 378 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 379 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 178:1074553d2f6f | 380 | output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 381 | } |
Lightvalve | 178:1074553d2f6f | 382 | output2[index2] = output2[index2] + ba2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 383 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 384 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 385 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 386 | } |
Lightvalve | 173:68c7914679ec | 387 | } |
Lightvalve | 173:68c7914679ec | 388 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 389 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 178:1074553d2f6f | 390 | output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 391 | } |
Lightvalve | 178:1074553d2f6f | 392 | hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 393 | } |
Lightvalve | 178:1074553d2f6f | 394 | |
Lightvalve | 178:1074553d2f6f | 395 | mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus |
Lightvalve | 178:1074553d2f6f | 396 | deviation_before_SP = output[1] + ba3_temp[1]; |
Lightvalve | 173:68c7914679ec | 397 | //Softplus |
Lightvalve | 173:68c7914679ec | 398 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 399 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 179:d5377766d7ea | 400 | logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 401 | logging4 = deviation; |
Lightvalve | 173:68c7914679ec | 402 | } |
Lightvalve | 173:68c7914679ec | 403 | |
Lightvalve | 173:68c7914679ec | 404 | |
Lightvalve | 173:68c7914679ec | 405 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 406 | { |
Lightvalve | 173:68c7914679ec | 407 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 408 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 409 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 410 | |
Lightvalve | 173:68c7914679ec | 411 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 412 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 413 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 414 | } |
Lightvalve | 170:42c938a40313 | 415 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 416 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 417 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 418 | } |
Lightvalve | 170:42c938a40313 | 419 | } |
Lightvalve | 173:68c7914679ec | 420 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 421 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 422 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 423 | } |
Lightvalve | 173:68c7914679ec | 424 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 425 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 426 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 427 | } |
Lightvalve | 170:42c938a40313 | 428 | } |
Lightvalve | 170:42c938a40313 | 429 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 430 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 431 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 432 | } |
Lightvalve | 170:42c938a40313 | 433 | } |
Lightvalve | 173:68c7914679ec | 434 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 435 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 436 | //Softplus |
Lightvalve | 173:68c7914679ec | 437 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 438 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 439 | } |
Lightvalve | 170:42c938a40313 | 440 | |
Lightvalve | 170:42c938a40313 | 441 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 442 | { |
Lightvalve | 170:42c938a40313 | 443 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 444 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 445 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 446 | } |
Lightvalve | 170:42c938a40313 | 447 | |
Lightvalve | 170:42c938a40313 | 448 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 449 | { |
Lightvalve | 170:42c938a40313 | 450 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 451 | 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 | 452 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 453 | } |
Lightvalve | 170:42c938a40313 | 454 | |
Lightvalve | 173:68c7914679ec | 455 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 456 | { |
Lightvalve | 173:68c7914679ec | 457 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 458 | return x; |
Lightvalve | 173:68c7914679ec | 459 | } else { |
Lightvalve | 173:68c7914679ec | 460 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 461 | } |
Lightvalve | 173:68c7914679ec | 462 | } |
Lightvalve | 173:68c7914679ec | 463 | |
Lightvalve | 170:42c938a40313 | 464 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 465 | { |
Lightvalve | 173:68c7914679ec | 466 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 177:8e9cf31d63f4 | 467 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 468 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 469 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 470 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 471 | float d_V_d_hc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 472 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 473 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 474 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 475 | d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 476 | } |
Lightvalve | 173:68c7914679ec | 477 | } |
Lightvalve | 170:42c938a40313 | 478 | } |
Lightvalve | 177:8e9cf31d63f4 | 479 | G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); |
Lightvalve | 170:42c938a40313 | 480 | } |
Lightvalve | 170:42c938a40313 | 481 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 482 | if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 483 | else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 484 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 485 | } |
Lightvalve | 173:68c7914679ec | 486 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 487 | float d_V_d_bc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 488 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 489 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 490 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 491 | d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 492 | } |
Lightvalve | 173:68c7914679ec | 493 | } |
Lightvalve | 173:68c7914679ec | 494 | } |
Lightvalve | 177:8e9cf31d63f4 | 495 | G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); |
Lightvalve | 173:68c7914679ec | 496 | } |
Lightvalve | 173:68c7914679ec | 497 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 498 | if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 499 | else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 500 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 501 | } |
Lightvalve | 173:68c7914679ec | 502 | |
Lightvalve | 175:2f7289dbd488 | 503 | |
Lightvalve | 173:68c7914679ec | 504 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 505 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 506 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 507 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 508 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 509 | float d_V_d_hc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 510 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 511 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 512 | d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 513 | } |
Lightvalve | 173:68c7914679ec | 514 | } |
Lightvalve | 177:8e9cf31d63f4 | 515 | G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); |
Lightvalve | 173:68c7914679ec | 516 | } |
Lightvalve | 173:68c7914679ec | 517 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 518 | if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 519 | else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 520 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 521 | } |
Lightvalve | 173:68c7914679ec | 522 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 523 | float d_V_d_bc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 524 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 525 | d_V_d_bc2 = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 526 | } |
Lightvalve | 177:8e9cf31d63f4 | 527 | G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); |
Lightvalve | 173:68c7914679ec | 528 | } |
Lightvalve | 173:68c7914679ec | 529 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 530 | if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 531 | else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 532 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 533 | } |
Lightvalve | 173:68c7914679ec | 534 | |
Lightvalve | 173:68c7914679ec | 535 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 536 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 537 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 538 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 539 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 540 | float d_V_d_hc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 541 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 542 | d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 543 | } |
Lightvalve | 177:8e9cf31d63f4 | 544 | G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); |
Lightvalve | 173:68c7914679ec | 545 | } |
Lightvalve | 173:68c7914679ec | 546 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 179:d5377766d7ea | 547 | if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 548 | else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 549 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 550 | } |
Lightvalve | 173:68c7914679ec | 551 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 552 | float d_V_d_bc3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 553 | d_V_d_bc3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 554 | G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); |
Lightvalve | 173:68c7914679ec | 555 | } |
Lightvalve | 173:68c7914679ec | 556 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 179:d5377766d7ea | 557 | if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 558 | else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 559 | //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 173:68c7914679ec | 560 | } |
Lightvalve | 173:68c7914679ec | 561 | |
Lightvalve | 173:68c7914679ec | 562 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 563 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 564 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 565 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 566 | } |
Lightvalve | 179:d5377766d7ea | 567 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 568 | } |
Lightvalve | 173:68c7914679ec | 569 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 570 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 571 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 572 | } |
Lightvalve | 179:d5377766d7ea | 573 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 574 | } |
Lightvalve | 170:42c938a40313 | 575 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 576 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 577 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 578 | } |
Lightvalve | 179:d5377766d7ea | 579 | bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 170:42c938a40313 | 580 | } |
Lightvalve | 170:42c938a40313 | 581 | } |
Lightvalve | 170:42c938a40313 | 582 | |
Lightvalve | 173:68c7914679ec | 583 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 584 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 585 | { |
Lightvalve | 218:066030f7951f | 586 | |
Lightvalve | 173:68c7914679ec | 587 | |
Lightvalve | 173:68c7914679ec | 588 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 589 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 590 | |
Lightvalve | 173:68c7914679ec | 591 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 592 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 593 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 594 | float d_x_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 595 | float d_y_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 596 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 597 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 598 | } else { |
Lightvalve | 173:68c7914679ec | 599 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 600 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 601 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 602 | d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 603 | d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 604 | } |
Lightvalve | 171:bfc1fd2629d8 | 605 | } |
Lightvalve | 170:42c938a40313 | 606 | } |
Lightvalve | 170:42c938a40313 | 607 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 608 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 609 | 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 | 610 | 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 | 611 | |
Lightvalve | 173:68c7914679ec | 612 | 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 | 613 | } |
Lightvalve | 170:42c938a40313 | 614 | } |
Lightvalve | 176:589ea3edcf3c | 615 | G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 616 | if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 617 | else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 618 | //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 619 | } |
Lightvalve | 173:68c7914679ec | 620 | |
Lightvalve | 173:68c7914679ec | 621 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 622 | float d_x_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 623 | float d_y_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 624 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 625 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 626 | } else { |
Lightvalve | 173:68c7914679ec | 627 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 628 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 629 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 630 | d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 631 | d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 632 | } |
Lightvalve | 171:bfc1fd2629d8 | 633 | } |
Lightvalve | 170:42c938a40313 | 634 | } |
Lightvalve | 170:42c938a40313 | 635 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 636 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 637 | 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 | 638 | 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 | 639 | |
Lightvalve | 173:68c7914679ec | 640 | 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 | 641 | } |
Lightvalve | 170:42c938a40313 | 642 | } |
Lightvalve | 176:589ea3edcf3c | 643 | G_ba1[index2] = -G_ba1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 644 | if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 645 | else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 646 | //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 647 | } |
Lightvalve | 170:42c938a40313 | 648 | |
Lightvalve | 173:68c7914679ec | 649 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 650 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 651 | |
Lightvalve | 173:68c7914679ec | 652 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 653 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 654 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 655 | float d_x_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 656 | float d_y_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 657 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 658 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 659 | } else { |
Lightvalve | 173:68c7914679ec | 660 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 661 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 662 | d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 663 | d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 664 | } |
Lightvalve | 170:42c938a40313 | 665 | } |
Lightvalve | 173:68c7914679ec | 666 | |
Lightvalve | 170:42c938a40313 | 667 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 668 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 669 | 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 | 670 | 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 | 671 | |
Lightvalve | 173:68c7914679ec | 672 | 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 | 673 | } |
Lightvalve | 170:42c938a40313 | 674 | } |
Lightvalve | 176:589ea3edcf3c | 675 | G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 676 | if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 677 | else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 678 | //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 679 | } |
Lightvalve | 173:68c7914679ec | 680 | |
Lightvalve | 173:68c7914679ec | 681 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 682 | float d_x_d_ba2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 683 | float d_y_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 684 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 685 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 686 | } else { |
Lightvalve | 170:42c938a40313 | 687 | |
Lightvalve | 173:68c7914679ec | 688 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 689 | d_x_d_ba2 = ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 690 | d_y_d_ba2 = ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 691 | } |
Lightvalve | 173:68c7914679ec | 692 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 693 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 694 | 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 | 695 | 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 | 696 | |
Lightvalve | 173:68c7914679ec | 697 | 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 | 698 | } |
Lightvalve | 170:42c938a40313 | 699 | } |
Lightvalve | 176:589ea3edcf3c | 700 | G_ba2[index2] = -G_ba2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 701 | if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 702 | else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 703 | //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 704 | } |
Lightvalve | 173:68c7914679ec | 705 | |
Lightvalve | 173:68c7914679ec | 706 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 707 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 708 | |
Lightvalve | 173:68c7914679ec | 709 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 710 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 711 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 712 | float d_x_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 713 | float d_y_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 714 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 715 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 716 | } else { |
Lightvalve | 173:68c7914679ec | 717 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 718 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 719 | d_x_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 177:8e9cf31d63f4 | 720 | d_y_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 721 | } |
Lightvalve | 173:68c7914679ec | 722 | } |
Lightvalve | 173:68c7914679ec | 723 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 724 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 725 | 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 | 726 | 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 | 727 | |
Lightvalve | 173:68c7914679ec | 728 | 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 | 729 | } |
Lightvalve | 173:68c7914679ec | 730 | } |
Lightvalve | 176:589ea3edcf3c | 731 | G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 732 | if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 733 | else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 734 | //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 735 | } |
Lightvalve | 173:68c7914679ec | 736 | |
Lightvalve | 173:68c7914679ec | 737 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 738 | float d_x_d_ba3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 739 | float d_y_d_ba3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 740 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 741 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 742 | } else { |
Lightvalve | 173:68c7914679ec | 743 | |
Lightvalve | 177:8e9cf31d63f4 | 744 | d_x_d_ba3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 745 | d_y_d_ba3 = 1.0f; |
Lightvalve | 173:68c7914679ec | 746 | |
Lightvalve | 173:68c7914679ec | 747 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 748 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 749 | 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 | 750 | 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 | 751 | |
Lightvalve | 173:68c7914679ec | 752 | 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 | 753 | } |
Lightvalve | 173:68c7914679ec | 754 | } |
Lightvalve | 176:589ea3edcf3c | 755 | G_ba3[index2] = -G_ba3[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 756 | if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 757 | else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 758 | //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 175:2f7289dbd488 | 759 | } |
Lightvalve | 177:8e9cf31d63f4 | 760 | |
Lightvalve | 175:2f7289dbd488 | 761 | // Simultaneous Update |
Lightvalve | 175:2f7289dbd488 | 762 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 175:2f7289dbd488 | 763 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 764 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 765 | } |
Lightvalve | 179:d5377766d7ea | 766 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 175:2f7289dbd488 | 767 | } |
Lightvalve | 175:2f7289dbd488 | 768 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 769 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 770 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 771 | } |
Lightvalve | 179:d5377766d7ea | 772 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 175:2f7289dbd488 | 773 | } |
Lightvalve | 175:2f7289dbd488 | 774 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 775 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 776 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 777 | } |
Lightvalve | 179:d5377766d7ea | 778 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 779 | } |
Lightvalve | 170:42c938a40313 | 780 | } |
Lightvalve | 170:42c938a40313 | 781 | |
Lightvalve | 170:42c938a40313 | 782 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 783 | { |
Lightvalve | 170:42c938a40313 | 784 | //Box muller method |
Lightvalve | 170:42c938a40313 | 785 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 786 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 787 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 788 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 789 | do { |
Lightvalve | 170:42c938a40313 | 790 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 791 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 792 | |
Lightvalve | 170:42c938a40313 | 793 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 794 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 795 | { |
Lightvalve | 170:42c938a40313 | 796 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 797 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 798 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 799 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 800 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 801 | return result; |
Lightvalve | 170:42c938a40313 | 802 | } |
Lightvalve | 170:42c938a40313 | 803 | } else { |
Lightvalve | 170:42c938a40313 | 804 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 805 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 806 | } |
Lightvalve | 170:42c938a40313 | 807 | } |
Lightvalve | 170:42c938a40313 | 808 | |
Lightvalve | 179:d5377766d7ea | 809 | float mean_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 810 | { |
Lightvalve | 179:d5377766d7ea | 811 | float add = 0.0f; |
Lightvalve | 179:d5377766d7ea | 812 | float result; |
Lightvalve | 218:066030f7951f | 813 | |
Lightvalve | 218:066030f7951f | 814 | for (int i=0; i<size; i++) { |
Lightvalve | 179:d5377766d7ea | 815 | add += x[i]; |
Lightvalve | 179:d5377766d7ea | 816 | } |
Lightvalve | 179:d5377766d7ea | 817 | result = (float) add/size; |
Lightvalve | 179:d5377766d7ea | 818 | return result; |
Lightvalve | 179:d5377766d7ea | 819 | } |
Lightvalve | 179:d5377766d7ea | 820 | float deviation_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 821 | { |
Lightvalve | 179:d5377766d7ea | 822 | float sigma = 0.0f; |
Lightvalve | 179:d5377766d7ea | 823 | float resultDeb = 0.0f; |
Lightvalve | 218:066030f7951f | 824 | |
Lightvalve | 218:066030f7951f | 825 | for (int k=0; k<size; k++) { |
Lightvalve | 179:d5377766d7ea | 826 | sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1); |
Lightvalve | 179:d5377766d7ea | 827 | resultDeb += sqrt(sigma); |
Lightvalve | 179:d5377766d7ea | 828 | } |
Lightvalve | 179:d5377766d7ea | 829 | return resultDeb; |
Lightvalve | 218:066030f7951f | 830 | } |
Lightvalve | 218:066030f7951f | 831 | |
Lightvalve | 173:68c7914679ec | 832 | |
Lightvalve | 170:42c938a40313 | 833 | void Overwirte_Critic_Networks() |
Lightvalve | 170:42c938a40313 | 834 | { |
Lightvalve | 173:68c7914679ec | 835 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 836 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 837 | hc1[index1][index2] = hc1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 838 | } |
Lightvalve | 170:42c938a40313 | 839 | bc1[index2] = bc1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 840 | } |
Lightvalve | 173:68c7914679ec | 841 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 842 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 843 | hc2[index1][index2] = hc2_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 844 | } |
Lightvalve | 173:68c7914679ec | 845 | bc2[index2] = bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 846 | hc3[index2] = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 847 | } |
Lightvalve | 173:68c7914679ec | 848 | bc3 = bc3_temp; |
Lightvalve | 170:42c938a40313 | 849 | } |
Lightvalve | 170:42c938a40313 | 850 | void Overwirte_Actor_Networks() |
Lightvalve | 170:42c938a40313 | 851 | { |
Lightvalve | 173:68c7914679ec | 852 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 853 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 854 | ha1[index1][index2] = ha1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 855 | } |
Lightvalve | 170:42c938a40313 | 856 | ba1[index2] = ba1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 857 | } |
Lightvalve | 173:68c7914679ec | 858 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 859 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 170:42c938a40313 | 860 | ha2[index1][index2] = ha2_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 861 | } |
Lightvalve | 170:42c938a40313 | 862 | ba2[index2] = ba2_temp[index2]; |
Lightvalve | 170:42c938a40313 | 863 | } |
Lightvalve | 173:68c7914679ec | 864 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 865 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 866 | ha3[index1][index2] = ha3_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 867 | } |
Lightvalve | 173:68c7914679ec | 868 | ba3[index2] = ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 869 | } |
Lightvalve | 170:42c938a40313 | 870 | } |
Lightvalve | 170:42c938a40313 | 871 | |
Lightvalve | 170:42c938a40313 | 872 | |
GiJeongKim | 0:51c43836c1d7 | 873 | int main() |
GiJeongKim | 0:51c43836c1d7 | 874 | { |
Lightvalve | 66:a8e6799dbce3 | 875 | |
Lightvalve | 65:a2d7c63419c2 | 876 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 877 | SystemClock_Config(); |
Lightvalve | 169:645207e160ca | 878 | |
jobuuu | 6:df07d3491e3a | 879 | /********************************* |
jobuuu | 1:e04e563be5ce | 880 | *** Initialization |
jobuuu | 6:df07d3491e3a | 881 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 882 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 883 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 884 | |
GiJeongKim | 0:51c43836c1d7 | 885 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 886 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 887 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 888 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 889 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 890 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 891 | |
GiJeongKim | 0:51c43836c1d7 | 892 | // // spi init |
Lightvalve | 170:42c938a40313 | 893 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 894 | eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 895 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 896 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 897 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 898 | |
Lightvalve | 16:903b5a4433b4 | 899 | //rom |
Lightvalve | 19:23b7c1ad8683 | 900 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 901 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 902 | |
GiJeongKim | 0:51c43836c1d7 | 903 | // ADC init |
jobuuu | 5:a4319f79457b | 904 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 905 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 906 | |
GiJeongKim | 0:51c43836c1d7 | 907 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 908 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 909 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 910 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 911 | |
Lightvalve | 11:82d8768d7351 | 912 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 913 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 914 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 915 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 916 | |
Lightvalve | 50:3c630b5eba9f | 917 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 918 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 919 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 920 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 921 | |
GiJeongKim | 0:51c43836c1d7 | 922 | // CAN |
jobuuu | 2:a1c0a37df760 | 923 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 924 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 925 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 926 | |
Lightvalve | 23:59218d4a256d | 927 | //Timer priority |
Lightvalve | 23:59218d4a256d | 928 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 929 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 930 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 931 | |
Lightvalve | 23:59218d4a256d | 932 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 933 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 934 | |
GiJeongKim | 0:51c43836c1d7 | 935 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 936 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 937 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 938 | |
Lightvalve | 11:82d8768d7351 | 939 | //DAC init |
Lightvalve | 58:2eade98630e2 | 940 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 941 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 942 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 943 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 944 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 945 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 946 | } |
Lightvalve | 11:82d8768d7351 | 947 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 948 | |
Lightvalve | 19:23b7c1ad8683 | 949 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 950 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 951 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 952 | else |
Lightvalve | 38:118df027d851 | 953 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 954 | } |
Lightvalve | 169:645207e160ca | 955 | |
Lightvalve | 173:68c7914679ec | 956 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 957 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 958 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; |
Lightvalve | 170:42c938a40313 | 959 | } |
Lightvalve | 179:d5377766d7ea | 960 | bc1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 961 | } |
Lightvalve | 173:68c7914679ec | 962 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 963 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 964 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 965 | } |
Lightvalve | 179:d5377766d7ea | 966 | bc2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 179:d5377766d7ea | 967 | hc3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 968 | } |
Lightvalve | 179:d5377766d7ea | 969 | bc3_temp = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 970 | |
Lightvalve | 173:68c7914679ec | 971 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 972 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 973 | ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 974 | } |
Lightvalve | 179:d5377766d7ea | 975 | ba1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 976 | } |
Lightvalve | 173:68c7914679ec | 977 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 978 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 979 | ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 980 | } |
Lightvalve | 179:d5377766d7ea | 981 | ba2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 982 | } |
Lightvalve | 170:42c938a40313 | 983 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 984 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 985 | ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 986 | } |
Lightvalve | 179:d5377766d7ea | 987 | ba3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 988 | } |
Lightvalve | 171:bfc1fd2629d8 | 989 | |
Lightvalve | 170:42c938a40313 | 990 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 991 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 992 | |
jobuuu | 6:df07d3491e3a | 993 | /************************************ |
jobuuu | 1:e04e563be5ce | 994 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 995 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 996 | while(1) { |
Lightvalve | 169:645207e160ca | 997 | |
Lightvalve | 171:bfc1fd2629d8 | 998 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 999 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 1000 | // 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 | 1001 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 1002 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 1003 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 1004 | // } |
Lightvalve | 169:645207e160ca | 1005 | |
Lightvalve | 171:bfc1fd2629d8 | 1006 | |
Lightvalve | 171:bfc1fd2629d8 | 1007 | //i2c |
Lightvalve | 180:02be1711ee0b | 1008 | read_field(i2c_slave_addr1); |
Lightvalve | 180:02be1711ee0b | 1009 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 1010 | |
Lightvalve | 177:8e9cf31d63f4 | 1011 | //timer_while ++; |
Lightvalve | 169:645207e160ca | 1012 | |
Lightvalve | 170:42c938a40313 | 1013 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1014 | |
Lightvalve | 73:f80dc3970c99 | 1015 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1016 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1017 | } |
Lightvalve | 169:645207e160ca | 1018 | |
Lightvalve | 73:f80dc3970c99 | 1019 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1020 | |
Lightvalve | 162:9dd4f35e9de8 | 1021 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1022 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1023 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1024 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1025 | } |
Lightvalve | 162:9dd4f35e9de8 | 1026 | |
Lightvalve | 162:9dd4f35e9de8 | 1027 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1028 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1029 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1030 | } |
Lightvalve | 162:9dd4f35e9de8 | 1031 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1032 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1033 | |
Lightvalve | 162:9dd4f35e9de8 | 1034 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1035 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1036 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1037 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1038 | |
Lightvalve | 162:9dd4f35e9de8 | 1039 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1040 | // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 208:408f9f15c486 | 1041 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1042 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1043 | } |
Lightvalve | 208:408f9f15c486 | 1044 | // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1045 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1046 | ind = ind + 1; |
Lightvalve | 226:133f5e9bf4ce | 1047 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1048 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1049 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; |
Lightvalve | 206:2e4d0c287578 | 1050 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1051 | input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1052 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1053 | } |
Lightvalve | 169:645207e160ca | 1054 | |
Lightvalve | 112:8dcb1600cb90 | 1055 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1056 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1057 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1058 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1059 | |
Lightvalve | 112:8dcb1600cb90 | 1060 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1061 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1062 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1063 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1064 | } |
Lightvalve | 66:a8e6799dbce3 | 1065 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1066 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1067 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1068 | } |
Lightvalve | 66:a8e6799dbce3 | 1069 | } |
Lightvalve | 65:a2d7c63419c2 | 1070 | |
Lightvalve | 112:8dcb1600cb90 | 1071 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1072 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1073 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1074 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1075 | } |
Lightvalve | 66:a8e6799dbce3 | 1076 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1077 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1078 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1079 | } |
Lightvalve | 66:a8e6799dbce3 | 1080 | } |
Lightvalve | 65:a2d7c63419c2 | 1081 | |
Lightvalve | 112:8dcb1600cb90 | 1082 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1083 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1084 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1085 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1086 | } |
Lightvalve | 66:a8e6799dbce3 | 1087 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1088 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1089 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1090 | } |
Lightvalve | 65:a2d7c63419c2 | 1091 | } |
Lightvalve | 66:a8e6799dbce3 | 1092 | |
Lightvalve | 66:a8e6799dbce3 | 1093 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1094 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1095 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1096 | } |
Lightvalve | 66:a8e6799dbce3 | 1097 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1098 | |
Lightvalve | 66:a8e6799dbce3 | 1099 | } |
Lightvalve | 73:f80dc3970c99 | 1100 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1101 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1102 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1103 | |
Lightvalve | 66:a8e6799dbce3 | 1104 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1105 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1106 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1107 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1108 | } |
Lightvalve | 87:471334725012 | 1109 | |
Lightvalve | 169:645207e160ca | 1110 | |
Lightvalve | 69:3995ffeaa786 | 1111 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1112 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1113 | } else |
Lightvalve | 69:3995ffeaa786 | 1114 | LED = 1; |
Lightvalve | 169:645207e160ca | 1115 | |
Lightvalve | 65:a2d7c63419c2 | 1116 | } |
Lightvalve | 171:bfc1fd2629d8 | 1117 | |
Lightvalve | 171:bfc1fd2629d8 | 1118 | |
Lightvalve | 170:42c938a40313 | 1119 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1120 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1121 | case 0: { |
Lightvalve | 170:42c938a40313 | 1122 | break; |
Lightvalve | 170:42c938a40313 | 1123 | } |
Lightvalve | 170:42c938a40313 | 1124 | case 1: { |
Lightvalve | 170:42c938a40313 | 1125 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1126 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1127 | float loss_sum = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1128 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 170:42c938a40313 | 1129 | //Calculate Estimated V |
Lightvalve | 175:2f7289dbd488 | 1130 | //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; |
Lightvalve | 175:2f7289dbd488 | 1131 | float temp_array[2] = {state_array[n][0], state_array[n][1]}; |
Lightvalve | 175:2f7289dbd488 | 1132 | V[n] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1133 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 175:2f7289dbd488 | 1134 | hx_c_sum_array[n][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1135 | } |
Lightvalve | 173:68c7914679ec | 1136 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 175:2f7289dbd488 | 1137 | hxh_c_sum_array[n][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1138 | } |
Lightvalve | 175:2f7289dbd488 | 1139 | hxhh_c_sum_array[n] = hxhh_c_sum; |
Lightvalve | 177:8e9cf31d63f4 | 1140 | |
Lightvalve | 175:2f7289dbd488 | 1141 | 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 | 1142 | Actor_Network_Old(temp_array); |
Lightvalve | 175:2f7289dbd488 | 1143 | 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 | 1144 | r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); |
Lightvalve | 175:2f7289dbd488 | 1145 | if(n == batch_size-1) return_G[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1146 | else return_G[n] = gamma * return_G[n+1] + r[n]; |
Lightvalve | 175:2f7289dbd488 | 1147 | if(n == batch_size-1) td_target[n] = r[n]; |
Lightvalve | 175:2f7289dbd488 | 1148 | else td_target[n] = r[n] + gamma * V[n+1]; |
Lightvalve | 175:2f7289dbd488 | 1149 | delta[n] = td_target[n] - V[n]; |
Lightvalve | 175:2f7289dbd488 | 1150 | if(n == batch_size-1) advantage[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1151 | else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; |
Lightvalve | 179:d5377766d7ea | 1152 | // return_G[n] = advantage[n] + V[n]; |
Lightvalve | 175:2f7289dbd488 | 1153 | ratio[n] = pi[n]/pi_old[n]; |
Lightvalve | 179:d5377766d7ea | 1154 | } |
Lightvalve | 179:d5377766d7ea | 1155 | float mean_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1156 | float dev_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1157 | mean_advantage = mean_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1158 | dev_advantage = deviation_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1159 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 179:d5377766d7ea | 1160 | //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; |
Lightvalve | 175:2f7289dbd488 | 1161 | surr1[n] = ratio[n] * advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1162 | if (ratio[n] > 1.0f + epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1163 | surr2[n] = (1.0f + epsilon)*advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1164 | } else if( ratio[n] < 1.0f - epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1165 | surr2[n] = (1.0f - epsilon)*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1166 | } else { |
Lightvalve | 175:2f7289dbd488 | 1167 | surr2[n] = ratio[n]*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1168 | } |
Lightvalve | 175:2f7289dbd488 | 1169 | loss[n] = -min(surr1[n], surr2[n]); |
Lightvalve | 175:2f7289dbd488 | 1170 | loss_sum = loss_sum + loss[n]; |
Lightvalve | 170:42c938a40313 | 1171 | } |
Lightvalve | 170:42c938a40313 | 1172 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1173 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1174 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1175 | } |
Lightvalve | 170:42c938a40313 | 1176 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1177 | |
Lightvalve | 171:bfc1fd2629d8 | 1178 | |
Lightvalve | 170:42c938a40313 | 1179 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1180 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1181 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1182 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1183 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1184 | } |
Lightvalve | 170:42c938a40313 | 1185 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1186 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1187 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1188 | |
Lightvalve | 170:42c938a40313 | 1189 | break; |
Lightvalve | 170:42c938a40313 | 1190 | } |
Lightvalve | 170:42c938a40313 | 1191 | case 2: { |
Lightvalve | 170:42c938a40313 | 1192 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1193 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1194 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1195 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1196 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1197 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1198 | break; |
Lightvalve | 170:42c938a40313 | 1199 | } |
Lightvalve | 169:645207e160ca | 1200 | |
Lightvalve | 170:42c938a40313 | 1201 | } |
GiJeongKim | 0:51c43836c1d7 | 1202 | } |
jobuuu | 1:e04e563be5ce | 1203 | } |
jobuuu | 1:e04e563be5ce | 1204 | |
Lightvalve | 33:91b17819ec30 | 1205 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1206 | { |
Lightvalve | 14:8e7590227d22 | 1207 | |
Lightvalve | 13:747daba9cf59 | 1208 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1209 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1210 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1211 | 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 | 1212 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1213 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1214 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1215 | } else { |
Lightvalve | 57:f4819de54e7a | 1216 | 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 | 1217 | } |
Lightvalve | 14:8e7590227d22 | 1218 | } else { |
Lightvalve | 50:3c630b5eba9f | 1219 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1220 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1221 | } else { |
Lightvalve | 57:f4819de54e7a | 1222 | 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 | 1223 | } |
Lightvalve | 13:747daba9cf59 | 1224 | } |
Lightvalve | 13:747daba9cf59 | 1225 | break; |
Lightvalve | 13:747daba9cf59 | 1226 | } |
Lightvalve | 13:747daba9cf59 | 1227 | } |
Lightvalve | 14:8e7590227d22 | 1228 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1229 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1230 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1231 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1232 | } |
Lightvalve | 36:a46e63505ed8 | 1233 | |
Lightvalve | 57:f4819de54e7a | 1234 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1235 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1236 | |
Lightvalve | 13:747daba9cf59 | 1237 | } |
jobuuu | 6:df07d3491e3a | 1238 | |
jobuuu | 6:df07d3491e3a | 1239 | |
Lightvalve | 30:8d561f16383b | 1240 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1241 | { |
Lightvalve | 13:747daba9cf59 | 1242 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1243 | |
Lightvalve | 38:118df027d851 | 1244 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1245 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1246 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1247 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1248 | } |
Lightvalve | 38:118df027d851 | 1249 | |
Lightvalve | 89:a7b45368ea0f | 1250 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1251 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1252 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1253 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1254 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1255 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1256 | |
Lightvalve | 13:747daba9cf59 | 1257 | 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 | 1258 | |
Lightvalve | 18:b8adf1582ea3 | 1259 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1260 | 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 | 1261 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1262 | 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 | 1263 | } else { |
Lightvalve | 48:889798ff9329 | 1264 | 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 | 1265 | } |
Lightvalve | 13:747daba9cf59 | 1266 | break; |
Lightvalve | 13:747daba9cf59 | 1267 | } |
Lightvalve | 13:747daba9cf59 | 1268 | } |
Lightvalve | 59:f308b1656d9c | 1269 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1270 | } |
Lightvalve | 13:747daba9cf59 | 1271 | |
Lightvalve | 14:8e7590227d22 | 1272 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1273 | 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 | 1274 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1275 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1276 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1277 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1278 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1279 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1280 | 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 | 1281 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1282 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1283 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1284 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1285 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1286 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1287 | |
Lightvalve | 30:8d561f16383b | 1288 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1289 | { |
Lightvalve | 30:8d561f16383b | 1290 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1291 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1292 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1293 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1294 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1295 | } else { |
Lightvalve | 13:747daba9cf59 | 1296 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1297 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1298 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1299 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1300 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1301 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1302 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1303 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1304 | break; |
Lightvalve | 13:747daba9cf59 | 1305 | } |
Lightvalve | 13:747daba9cf59 | 1306 | } |
Lightvalve | 13:747daba9cf59 | 1307 | } |
Lightvalve | 14:8e7590227d22 | 1308 | |
Lightvalve | 13:747daba9cf59 | 1309 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1310 | } |
jobuuu | 6:df07d3491e3a | 1311 | |
Lightvalve | 57:f4819de54e7a | 1312 | |
Lightvalve | 57:f4819de54e7a | 1313 | |
Lightvalve | 57:f4819de54e7a | 1314 | |
Lightvalve | 57:f4819de54e7a | 1315 | |
jobuuu | 2:a1c0a37df760 | 1316 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1317 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1318 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1319 | |
Lightvalve | 51:b46bed7fec80 | 1320 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1321 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1322 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1323 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1324 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1325 | { |
Lightvalve | 19:23b7c1ad8683 | 1326 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1327 | |
Lightvalve | 21:e5f1a43ea6f9 | 1328 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1329 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1330 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1331 | |
Lightvalve | 57:f4819de54e7a | 1332 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1333 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1334 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1335 | } |
Lightvalve | 61:bc8c8270f0ab | 1336 | |
Lightvalve | 61:bc8c8270f0ab | 1337 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1338 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1339 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1340 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1341 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1342 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 1343 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1344 | |
Lightvalve | 67:c2812cf26c38 | 1345 | |
Lightvalve | 67:c2812cf26c38 | 1346 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1347 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1348 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1349 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1350 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1351 | |
Lightvalve | 17:1865016ca2e7 | 1352 | |
Lightvalve | 58:2eade98630e2 | 1353 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1354 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1355 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1356 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1357 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1358 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1359 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1360 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1361 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1362 | |
Lightvalve | 58:2eade98630e2 | 1363 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1364 | 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 | 1365 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1366 | 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 | 1367 | } |
Lightvalve | 58:2eade98630e2 | 1368 | } |
Lightvalve | 61:bc8c8270f0ab | 1369 | |
Lightvalve | 58:2eade98630e2 | 1370 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1371 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1372 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1373 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1374 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1375 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1376 | // 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 | 1377 | // |
Lightvalve | 58:2eade98630e2 | 1378 | // |
Lightvalve | 58:2eade98630e2 | 1379 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1380 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1381 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1382 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1383 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1384 | |
Lightvalve | 17:1865016ca2e7 | 1385 | |
Lightvalve | 21:e5f1a43ea6f9 | 1386 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1387 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1388 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1389 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1390 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1391 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1392 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1393 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1394 | |
Lightvalve | 57:f4819de54e7a | 1395 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1396 | } |
Lightvalve | 11:82d8768d7351 | 1397 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1398 | } |
Lightvalve | 19:23b7c1ad8683 | 1399 | |
Lightvalve | 19:23b7c1ad8683 | 1400 | |
Lightvalve | 18:b8adf1582ea3 | 1401 | int j =0; |
Lightvalve | 54:647072f5307a | 1402 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1403 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1404 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1405 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1406 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 1407 | |
Lightvalve | 11:82d8768d7351 | 1408 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1409 | { |
Lightvalve | 19:23b7c1ad8683 | 1410 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1411 | |
Lightvalve | 57:f4819de54e7a | 1412 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1413 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1414 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1415 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1416 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1417 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1418 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1419 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1420 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1421 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1422 | } |
Lightvalve | 50:3c630b5eba9f | 1423 | |
Lightvalve | 50:3c630b5eba9f | 1424 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1425 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1426 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1427 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1428 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1429 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1430 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1431 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1432 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1433 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1434 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1435 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1436 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1437 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1438 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1439 | } else { |
Lightvalve | 58:2eade98630e2 | 1440 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1441 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1442 | } |
Lightvalve | 45:35fa6884d0c6 | 1443 | |
Lightvalve | 50:3c630b5eba9f | 1444 | |
Lightvalve | 57:f4819de54e7a | 1445 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1446 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1447 | |
Lightvalve | 57:f4819de54e7a | 1448 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1449 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1450 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1451 | } else { |
Lightvalve | 57:f4819de54e7a | 1452 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1453 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1454 | } |
Lightvalve | 56:6f50d9d3bfee | 1455 | |
Lightvalve | 56:6f50d9d3bfee | 1456 | |
Lightvalve | 56:6f50d9d3bfee | 1457 | |
Lightvalve | 57:f4819de54e7a | 1458 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1459 | |
Lightvalve | 57:f4819de54e7a | 1460 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1461 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1462 | break; |
Lightvalve | 13:747daba9cf59 | 1463 | } |
Lightvalve | 14:8e7590227d22 | 1464 | |
Lightvalve | 14:8e7590227d22 | 1465 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1466 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1467 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1468 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1469 | |
Lightvalve | 14:8e7590227d22 | 1470 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1471 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1472 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1473 | |
Lightvalve | 84:c355d3e52bf1 | 1474 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1475 | |
Lightvalve | 30:8d561f16383b | 1476 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1477 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1478 | |
Lightvalve | 16:903b5a4433b4 | 1479 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1480 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1481 | } |
Lightvalve | 13:747daba9cf59 | 1482 | } else { |
Lightvalve | 58:2eade98630e2 | 1483 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1484 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1485 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1486 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1487 | |
Lightvalve | 170:42c938a40313 | 1488 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1489 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1490 | |
Lightvalve | 30:8d561f16383b | 1491 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1492 | |
Lightvalve | 13:747daba9cf59 | 1493 | } |
Lightvalve | 14:8e7590227d22 | 1494 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1495 | break; |
Lightvalve | 19:23b7c1ad8683 | 1496 | } |
Lightvalve | 14:8e7590227d22 | 1497 | |
Lightvalve | 50:3c630b5eba9f | 1498 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1499 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1500 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1501 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1502 | // } |
Lightvalve | 50:3c630b5eba9f | 1503 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1504 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1505 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1506 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1507 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1508 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1509 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1510 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1511 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1512 | // } |
Lightvalve | 50:3c630b5eba9f | 1513 | // |
Lightvalve | 50:3c630b5eba9f | 1514 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1515 | // 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 | 1516 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1517 | // |
Lightvalve | 50:3c630b5eba9f | 1518 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1519 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1520 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1521 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1522 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1523 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1524 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1525 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1526 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1527 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1528 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1529 | // |
Lightvalve | 50:3c630b5eba9f | 1530 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1531 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1532 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1533 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1534 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1535 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1536 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1537 | // |
Lightvalve | 50:3c630b5eba9f | 1538 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1539 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1540 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1541 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1542 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1543 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1544 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1545 | // } |
Lightvalve | 50:3c630b5eba9f | 1546 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1547 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1548 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1549 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1550 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1551 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1552 | // } |
Lightvalve | 50:3c630b5eba9f | 1553 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1554 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1555 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1556 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1557 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1558 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1559 | // } |
Lightvalve | 50:3c630b5eba9f | 1560 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1561 | // |
Lightvalve | 50:3c630b5eba9f | 1562 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1563 | // |
Lightvalve | 50:3c630b5eba9f | 1564 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1565 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1566 | // |
Lightvalve | 50:3c630b5eba9f | 1567 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1568 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1569 | // } |
Lightvalve | 50:3c630b5eba9f | 1570 | // } |
Lightvalve | 50:3c630b5eba9f | 1571 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1572 | // break; |
Lightvalve | 50:3c630b5eba9f | 1573 | // } |
Lightvalve | 14:8e7590227d22 | 1574 | |
Lightvalve | 14:8e7590227d22 | 1575 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1576 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1577 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1578 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1579 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1580 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1581 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1582 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1583 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1584 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1585 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1586 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1587 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1588 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1589 | } |
Lightvalve | 29:69f3f5445d6d | 1590 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1591 | |
Lightvalve | 29:69f3f5445d6d | 1592 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1593 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1594 | } else { |
Lightvalve | 29:69f3f5445d6d | 1595 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1596 | } |
Lightvalve | 19:23b7c1ad8683 | 1597 | |
Lightvalve | 57:f4819de54e7a | 1598 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1599 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1600 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1601 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1602 | |
Lightvalve | 59:f308b1656d9c | 1603 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1604 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1605 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1606 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1607 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1608 | |
Lightvalve | 59:f308b1656d9c | 1609 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1610 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1611 | |
Lightvalve | 34:bb2ca2fc2a8e | 1612 | |
Lightvalve | 29:69f3f5445d6d | 1613 | } else { |
Lightvalve | 29:69f3f5445d6d | 1614 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1615 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1616 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1617 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1618 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1619 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1620 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1621 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1622 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1623 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1624 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1625 | |
Lightvalve | 67:c2812cf26c38 | 1626 | |
Lightvalve | 67:c2812cf26c38 | 1627 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1628 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1629 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1630 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1631 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1632 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1633 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1634 | |
Lightvalve | 169:645207e160ca | 1635 | |
Lightvalve | 29:69f3f5445d6d | 1636 | } |
Lightvalve | 29:69f3f5445d6d | 1637 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1638 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1639 | 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 | 1640 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1641 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1642 | |
Lightvalve | 29:69f3f5445d6d | 1643 | // input for position control |
Lightvalve | 169:645207e160ca | 1644 | |
Lightvalve | 67:c2812cf26c38 | 1645 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1646 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1647 | |
Lightvalve | 67:c2812cf26c38 | 1648 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1649 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1650 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1651 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1652 | |
Lightvalve | 67:c2812cf26c38 | 1653 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1654 | |
Lightvalve | 67:c2812cf26c38 | 1655 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1656 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1657 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1658 | |
Lightvalve | 67:c2812cf26c38 | 1659 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1660 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1661 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1662 | |
Lightvalve | 69:3995ffeaa786 | 1663 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1664 | 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 | 1665 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1666 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1667 | 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 | 1668 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1669 | } |
Lightvalve | 67:c2812cf26c38 | 1670 | 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 | 1671 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1672 | |
Lightvalve | 67:c2812cf26c38 | 1673 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1674 | |
Lightvalve | 67:c2812cf26c38 | 1675 | |
Lightvalve | 67:c2812cf26c38 | 1676 | |
Lightvalve | 67:c2812cf26c38 | 1677 | } else { |
Lightvalve | 67:c2812cf26c38 | 1678 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1679 | 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 | 1680 | |
Lightvalve | 67:c2812cf26c38 | 1681 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1682 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1683 | } else { |
Lightvalve | 67:c2812cf26c38 | 1684 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1685 | } |
Lightvalve | 67:c2812cf26c38 | 1686 | |
Lightvalve | 67:c2812cf26c38 | 1687 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1688 | |
Lightvalve | 67:c2812cf26c38 | 1689 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1690 | |
Lightvalve | 67:c2812cf26c38 | 1691 | } |
Lightvalve | 67:c2812cf26c38 | 1692 | |
Lightvalve | 67:c2812cf26c38 | 1693 | |
Lightvalve | 169:645207e160ca | 1694 | |
Lightvalve | 169:645207e160ca | 1695 | |
Lightvalve | 59:f308b1656d9c | 1696 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1697 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1698 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1699 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1700 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1701 | |
Lightvalve | 29:69f3f5445d6d | 1702 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1703 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1704 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1705 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1706 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1707 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1708 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1709 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1710 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1711 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1712 | } |
Lightvalve | 13:747daba9cf59 | 1713 | } |
Lightvalve | 19:23b7c1ad8683 | 1714 | |
Lightvalve | 13:747daba9cf59 | 1715 | break; |
Lightvalve | 13:747daba9cf59 | 1716 | } |
Lightvalve | 14:8e7590227d22 | 1717 | |
Lightvalve | 50:3c630b5eba9f | 1718 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1719 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1720 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1721 | // else { |
Lightvalve | 50:3c630b5eba9f | 1722 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1723 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1724 | // } |
Lightvalve | 50:3c630b5eba9f | 1725 | // } |
Lightvalve | 50:3c630b5eba9f | 1726 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1727 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1728 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1729 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1730 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1731 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1732 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1733 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1734 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1735 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1736 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1737 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1738 | // } |
Lightvalve | 50:3c630b5eba9f | 1739 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1740 | // } |
Lightvalve | 50:3c630b5eba9f | 1741 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1742 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1743 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1744 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1745 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1746 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1747 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1748 | // } else if (pos.sen >= (pos_minus_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 / 10000.0 * (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 | 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 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1754 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1755 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1756 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1757 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1758 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1759 | // 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 | 1760 | // // 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 | 1761 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1762 | // } |
Lightvalve | 50:3c630b5eba9f | 1763 | // } |
Lightvalve | 50:3c630b5eba9f | 1764 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1765 | // |
Lightvalve | 50:3c630b5eba9f | 1766 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1767 | // |
Lightvalve | 50:3c630b5eba9f | 1768 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1769 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1770 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1771 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1772 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1773 | // } |
Lightvalve | 50:3c630b5eba9f | 1774 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1775 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1776 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1777 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1778 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1779 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1780 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1781 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1782 | // } |
Lightvalve | 50:3c630b5eba9f | 1783 | // |
Lightvalve | 50:3c630b5eba9f | 1784 | // } |
Lightvalve | 50:3c630b5eba9f | 1785 | // break; |
Lightvalve | 50:3c630b5eba9f | 1786 | // } |
Lightvalve | 50:3c630b5eba9f | 1787 | // |
Lightvalve | 50:3c630b5eba9f | 1788 | // } |
Lightvalve | 14:8e7590227d22 | 1789 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1790 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1791 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1792 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1793 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1794 | |
Lightvalve | 14:8e7590227d22 | 1795 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1796 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1797 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1798 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1799 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1800 | |
Lightvalve | 38:118df027d851 | 1801 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1802 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1803 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1804 | |
Lightvalve | 30:8d561f16383b | 1805 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1806 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1807 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1808 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1809 | |
Lightvalve | 30:8d561f16383b | 1810 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1811 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1812 | } |
Lightvalve | 13:747daba9cf59 | 1813 | } else { |
Lightvalve | 57:f4819de54e7a | 1814 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1815 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1816 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1817 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1818 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1819 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1820 | |
Lightvalve | 170:42c938a40313 | 1821 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1822 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1823 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1824 | |
Lightvalve | 30:8d561f16383b | 1825 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1826 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1827 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1828 | } |
Lightvalve | 14:8e7590227d22 | 1829 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1830 | break; |
Lightvalve | 13:747daba9cf59 | 1831 | } |
Lightvalve | 14:8e7590227d22 | 1832 | |
Lightvalve | 50:3c630b5eba9f | 1833 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1834 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1835 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1836 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1837 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1838 | // } |
Lightvalve | 50:3c630b5eba9f | 1839 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1840 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1841 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1842 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1843 | // } |
Lightvalve | 50:3c630b5eba9f | 1844 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1845 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1846 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1847 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1848 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1849 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1850 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1851 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1852 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1853 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1854 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1855 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1856 | // |
Lightvalve | 50:3c630b5eba9f | 1857 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1858 | // |
Lightvalve | 50:3c630b5eba9f | 1859 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1860 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1861 | // } |
Lightvalve | 50:3c630b5eba9f | 1862 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1863 | // break; |
Lightvalve | 50:3c630b5eba9f | 1864 | // } |
Lightvalve | 19:23b7c1ad8683 | 1865 | |
Lightvalve | 50:3c630b5eba9f | 1866 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1867 | // 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 | 1868 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1869 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1870 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1871 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1872 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1873 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1874 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1875 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1876 | // } |
Lightvalve | 50:3c630b5eba9f | 1877 | // break; |
Lightvalve | 50:3c630b5eba9f | 1878 | // } |
Lightvalve | 14:8e7590227d22 | 1879 | |
Lightvalve | 14:8e7590227d22 | 1880 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1881 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1882 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1883 | |
Lightvalve | 14:8e7590227d22 | 1884 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1885 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1886 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1887 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1888 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1889 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1890 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1891 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1892 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1893 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1894 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1895 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1896 | } else { |
Lightvalve | 13:747daba9cf59 | 1897 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1898 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1899 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1900 | } |
Lightvalve | 14:8e7590227d22 | 1901 | |
Lightvalve | 17:1865016ca2e7 | 1902 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1903 | int i; |
Lightvalve | 13:747daba9cf59 | 1904 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1905 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1906 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1907 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1908 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1909 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1910 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1911 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1912 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1913 | } |
Lightvalve | 13:747daba9cf59 | 1914 | } |
Lightvalve | 170:42c938a40313 | 1915 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1916 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1917 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1918 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1919 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1920 | } |
Lightvalve | 13:747daba9cf59 | 1921 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1922 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1923 | } |
Lightvalve | 14:8e7590227d22 | 1924 | |
Lightvalve | 14:8e7590227d22 | 1925 | |
Lightvalve | 13:747daba9cf59 | 1926 | break; |
Lightvalve | 13:747daba9cf59 | 1927 | } |
Lightvalve | 14:8e7590227d22 | 1928 | |
Lightvalve | 14:8e7590227d22 | 1929 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1930 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1931 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1932 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1933 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1934 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1935 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1936 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1937 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1938 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1939 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1940 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1941 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1942 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1943 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1944 | 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 | 1945 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1946 | 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 | 1947 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1948 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1949 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1950 | 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 | 1951 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1952 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1953 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1954 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1955 | |
Lightvalve | 30:8d561f16383b | 1956 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1957 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1958 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1959 | |
Lightvalve | 30:8d561f16383b | 1960 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1961 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1962 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1963 | |
Lightvalve | 30:8d561f16383b | 1964 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1965 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1966 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1967 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1968 | |
Lightvalve | 60:64181f1d3e60 | 1969 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1970 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1971 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1972 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1973 | } else { |
Lightvalve | 13:747daba9cf59 | 1974 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1975 | } |
Lightvalve | 61:bc8c8270f0ab | 1976 | |
Lightvalve | 60:64181f1d3e60 | 1977 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1978 | |
Lightvalve | 13:747daba9cf59 | 1979 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1980 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1981 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1982 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1983 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1984 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1985 | |
Lightvalve | 13:747daba9cf59 | 1986 | } |
Lightvalve | 19:23b7c1ad8683 | 1987 | } else { |
Lightvalve | 14:8e7590227d22 | 1988 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1989 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1990 | 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 | 1991 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1992 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1993 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1994 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1995 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1996 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1997 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1998 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1999 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2000 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2001 | } |
Lightvalve | 14:8e7590227d22 | 2002 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2003 | |
Lightvalve | 30:8d561f16383b | 2004 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2005 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2006 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2007 | |
Lightvalve | 14:8e7590227d22 | 2008 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2009 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2010 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2011 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2012 | } else { |
Lightvalve | 13:747daba9cf59 | 2013 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2014 | } |
Lightvalve | 14:8e7590227d22 | 2015 | |
Lightvalve | 13:747daba9cf59 | 2016 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2017 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2018 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2019 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2020 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2021 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2022 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2023 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2024 | } |
Lightvalve | 13:747daba9cf59 | 2025 | } |
Lightvalve | 14:8e7590227d22 | 2026 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2027 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2028 | 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 | 2029 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2030 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2031 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2032 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2033 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2034 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2035 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2036 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2037 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2038 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2039 | } |
Lightvalve | 14:8e7590227d22 | 2040 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2041 | |
Lightvalve | 30:8d561f16383b | 2042 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2043 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2044 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2045 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2046 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2047 | |
Lightvalve | 14:8e7590227d22 | 2048 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2049 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2050 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2051 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2052 | } else { |
Lightvalve | 60:64181f1d3e60 | 2053 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2054 | } |
Lightvalve | 14:8e7590227d22 | 2055 | |
Lightvalve | 13:747daba9cf59 | 2056 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2057 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2058 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2059 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2060 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2061 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2062 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2063 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2064 | |
Lightvalve | 170:42c938a40313 | 2065 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2066 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2067 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2068 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2069 | |
Lightvalve | 60:64181f1d3e60 | 2070 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2071 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2072 | } |
Lightvalve | 13:747daba9cf59 | 2073 | } |
Lightvalve | 14:8e7590227d22 | 2074 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2075 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2076 | 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 | 2077 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2078 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2079 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2080 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2081 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2082 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2083 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2084 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2085 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2086 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2087 | } |
Lightvalve | 14:8e7590227d22 | 2088 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2089 | |
Lightvalve | 30:8d561f16383b | 2090 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2091 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2092 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2093 | |
Lightvalve | 14:8e7590227d22 | 2094 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2095 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2096 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2097 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2098 | } else { |
Lightvalve | 13:747daba9cf59 | 2099 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2100 | } |
Lightvalve | 13:747daba9cf59 | 2101 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2102 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2103 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2104 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2105 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2106 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2107 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2108 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2109 | } |
Lightvalve | 13:747daba9cf59 | 2110 | } |
Lightvalve | 14:8e7590227d22 | 2111 | } else { |
Lightvalve | 30:8d561f16383b | 2112 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2113 | 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 | 2114 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2115 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2116 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2117 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2118 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2119 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2120 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2121 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2122 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2123 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2124 | } |
Lightvalve | 14:8e7590227d22 | 2125 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2126 | |
Lightvalve | 30:8d561f16383b | 2127 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2128 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2129 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2130 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2131 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2132 | |
Lightvalve | 60:64181f1d3e60 | 2133 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2134 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2135 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2136 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2137 | } else { |
Lightvalve | 13:747daba9cf59 | 2138 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2139 | } |
Lightvalve | 14:8e7590227d22 | 2140 | |
Lightvalve | 13:747daba9cf59 | 2141 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2142 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2143 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2144 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2145 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2146 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2147 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2148 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2149 | |
Lightvalve | 170:42c938a40313 | 2150 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2151 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2152 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2153 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2154 | |
Lightvalve | 57:f4819de54e7a | 2155 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2156 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2157 | } |
Lightvalve | 13:747daba9cf59 | 2158 | } |
Lightvalve | 13:747daba9cf59 | 2159 | } |
Lightvalve | 14:8e7590227d22 | 2160 | } |
Lightvalve | 13:747daba9cf59 | 2161 | break; |
Lightvalve | 13:747daba9cf59 | 2162 | } |
Lightvalve | 14:8e7590227d22 | 2163 | |
Lightvalve | 14:8e7590227d22 | 2164 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2165 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2166 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2167 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2168 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2169 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2170 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2171 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2172 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2173 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2174 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2175 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2176 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2177 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2178 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2179 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2180 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2181 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2182 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2183 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2184 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2185 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2186 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2187 | } |
Lightvalve | 14:8e7590227d22 | 2188 | } else { |
Lightvalve | 30:8d561f16383b | 2189 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2190 | //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 | 2191 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2192 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2193 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2194 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2195 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2196 | |
Lightvalve | 14:8e7590227d22 | 2197 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2198 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2199 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2200 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2201 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2202 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2203 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2204 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2205 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2206 | } |
Lightvalve | 30:8d561f16383b | 2207 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2208 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2209 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2210 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2211 | } |
Lightvalve | 14:8e7590227d22 | 2212 | |
Lightvalve | 14:8e7590227d22 | 2213 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2214 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2215 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2216 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2217 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2218 | } |
Lightvalve | 13:747daba9cf59 | 2219 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2220 | |
Lightvalve | 13:747daba9cf59 | 2221 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2222 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2223 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2224 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2225 | } |
Lightvalve | 14:8e7590227d22 | 2226 | |
Lightvalve | 14:8e7590227d22 | 2227 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2228 | |
Lightvalve | 13:747daba9cf59 | 2229 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2230 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2231 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2232 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2233 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2234 | } |
Lightvalve | 13:747daba9cf59 | 2235 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2236 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2237 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2238 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2239 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2240 | } |
Lightvalve | 13:747daba9cf59 | 2241 | } |
Lightvalve | 13:747daba9cf59 | 2242 | break; |
Lightvalve | 13:747daba9cf59 | 2243 | } |
Lightvalve | 58:2eade98630e2 | 2244 | |
Lightvalve | 57:f4819de54e7a | 2245 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2246 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2247 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2248 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2249 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2250 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2251 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2252 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2253 | } |
Lightvalve | 57:f4819de54e7a | 2254 | break; |
Lightvalve | 57:f4819de54e7a | 2255 | } |
Lightvalve | 58:2eade98630e2 | 2256 | |
Lightvalve | 169:645207e160ca | 2257 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2258 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2259 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2260 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2261 | } else { |
Lightvalve | 169:645207e160ca | 2262 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2263 | } |
Lightvalve | 169:645207e160ca | 2264 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2265 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2266 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2267 | } else { |
Lightvalve | 169:645207e160ca | 2268 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2269 | } |
Lightvalve | 58:2eade98630e2 | 2270 | |
Lightvalve | 169:645207e160ca | 2271 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2272 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2273 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2274 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2275 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2276 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2277 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2278 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2279 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2280 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2281 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2282 | } |
Lightvalve | 169:645207e160ca | 2283 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2284 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2285 | |
Lightvalve | 169:645207e160ca | 2286 | } |
Lightvalve | 169:645207e160ca | 2287 | break; |
Lightvalve | 169:645207e160ca | 2288 | } |
Lightvalve | 169:645207e160ca | 2289 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2290 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2291 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2292 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2293 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2294 | // } |
Lightvalve | 169:645207e160ca | 2295 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2296 | // } |
Lightvalve | 169:645207e160ca | 2297 | |
Lightvalve | 169:645207e160ca | 2298 | break; |
Lightvalve | 169:645207e160ca | 2299 | } |
Lightvalve | 169:645207e160ca | 2300 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2301 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2302 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2303 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2304 | break; |
Lightvalve | 169:645207e160ca | 2305 | } |
Lightvalve | 170:42c938a40313 | 2306 | |
Lightvalve | 169:645207e160ca | 2307 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2308 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2309 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2310 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2311 | } else { |
Lightvalve | 169:645207e160ca | 2312 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2313 | } |
Lightvalve | 169:645207e160ca | 2314 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2315 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2316 | } else { |
Lightvalve | 169:645207e160ca | 2317 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2318 | } |
Lightvalve | 169:645207e160ca | 2319 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2320 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2321 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2322 | } else { |
Lightvalve | 169:645207e160ca | 2323 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2324 | } |
Lightvalve | 169:645207e160ca | 2325 | |
Lightvalve | 169:645207e160ca | 2326 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2327 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2328 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2329 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2330 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2331 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2332 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2333 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2334 | } |
Lightvalve | 169:645207e160ca | 2335 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2336 | // { |
Lightvalve | 169:645207e160ca | 2337 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2338 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2339 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2340 | // } |
Lightvalve | 170:42c938a40313 | 2341 | |
Lightvalve | 169:645207e160ca | 2342 | break; |
Lightvalve | 169:645207e160ca | 2343 | } |
Lightvalve | 57:f4819de54e7a | 2344 | |
Lightvalve | 57:f4819de54e7a | 2345 | default: |
Lightvalve | 57:f4819de54e7a | 2346 | break; |
Lightvalve | 57:f4819de54e7a | 2347 | } |
Lightvalve | 57:f4819de54e7a | 2348 | |
Lightvalve | 57:f4819de54e7a | 2349 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2350 | |
Lightvalve | 57:f4819de54e7a | 2351 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2352 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2353 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2354 | break; |
Lightvalve | 57:f4819de54e7a | 2355 | } |
Lightvalve | 57:f4819de54e7a | 2356 | |
Lightvalve | 57:f4819de54e7a | 2357 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2358 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 225:278b48b86f27 | 2359 | ////For Test LIMC////////////////////////////////////////// |
Lightvalve | 229:c13dac18dee3 | 2360 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 229:c13dac18dee3 | 2361 | // for(int i=0; i<9; i++){ |
Lightvalve | 229:c13dac18dee3 | 2362 | // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1]; |
Lightvalve | 229:c13dac18dee3 | 2363 | // } |
Lightvalve | 229:c13dac18dee3 | 2364 | // valve_ref_pos_buffer[9] = valve_pos.ref; |
Lightvalve | 229:c13dac18dee3 | 2365 | // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]); |
Lightvalve | 225:278b48b86f27 | 2366 | //////////////////////////////////////////////////////////// |
Lightvalve | 225:278b48b86f27 | 2367 | |
Lightvalve | 59:f308b1656d9c | 2368 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2369 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2370 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2371 | } else { |
Lightvalve | 67:c2812cf26c38 | 2372 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2373 | } |
Lightvalve | 57:f4819de54e7a | 2374 | break; |
Lightvalve | 57:f4819de54e7a | 2375 | } |
Lightvalve | 57:f4819de54e7a | 2376 | |
Lightvalve | 57:f4819de54e7a | 2377 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2378 | |
Lightvalve | 57:f4819de54e7a | 2379 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2380 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2381 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2382 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2383 | |
Lightvalve | 67:c2812cf26c38 | 2384 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2385 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2386 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2387 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2388 | |
Lightvalve | 139:15621998925b | 2389 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2390 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2391 | |
Lightvalve | 57:f4819de54e7a | 2392 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2393 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2394 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2395 | |
Lightvalve | 57:f4819de54e7a | 2396 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2397 | |
Lightvalve | 57:f4819de54e7a | 2398 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2399 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2400 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2401 | |
Lightvalve | 57:f4819de54e7a | 2402 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2403 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2404 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2405 | |
Lightvalve | 69:3995ffeaa786 | 2406 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2407 | 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 | 2408 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2409 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2410 | 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 | 2411 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2412 | } |
Lightvalve | 57:f4819de54e7a | 2413 | 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 | 2414 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2415 | |
Lightvalve | 57:f4819de54e7a | 2416 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2417 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2418 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2419 | // 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 | 2420 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2421 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2422 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2423 | 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 | 2424 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2425 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2426 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2427 | } |
Lightvalve | 57:f4819de54e7a | 2428 | 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 | 2429 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2430 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2431 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2432 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2433 | |
Lightvalve | 57:f4819de54e7a | 2434 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2435 | |
Lightvalve | 67:c2812cf26c38 | 2436 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2437 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2438 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2439 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2440 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2441 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2442 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2443 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2444 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2445 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2446 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2447 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2448 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2449 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2450 | } |
Lightvalve | 67:c2812cf26c38 | 2451 | } |
Lightvalve | 57:f4819de54e7a | 2452 | |
Lightvalve | 57:f4819de54e7a | 2453 | } else { |
Lightvalve | 57:f4819de54e7a | 2454 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2455 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2456 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2457 | |
Lightvalve | 209:ebc69d6ee6f1 | 2458 | 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 | 2459 | |
Lightvalve | 72:3436ce769b1e | 2460 | 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 | 2461 | |
Lightvalve | 72:3436ce769b1e | 2462 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2463 | |
Lightvalve | 169:645207e160ca | 2464 | |
Lightvalve | 72:3436ce769b1e | 2465 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2466 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2467 | } else { |
Lightvalve | 72:3436ce769b1e | 2468 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2469 | } |
Lightvalve | 57:f4819de54e7a | 2470 | |
Lightvalve | 57:f4819de54e7a | 2471 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2472 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2473 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2474 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2475 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2476 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2477 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2478 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2479 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2480 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2481 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2482 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2483 | } |
Lightvalve | 57:f4819de54e7a | 2484 | } |
Lightvalve | 61:bc8c8270f0ab | 2485 | |
Lightvalve | 57:f4819de54e7a | 2486 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2487 | |
Lightvalve | 67:c2812cf26c38 | 2488 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2489 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2490 | |
Lightvalve | 57:f4819de54e7a | 2491 | } |
Lightvalve | 169:645207e160ca | 2492 | |
Lightvalve | 72:3436ce769b1e | 2493 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2494 | |
Lightvalve | 133:22ab22818e01 | 2495 | |
Lightvalve | 57:f4819de54e7a | 2496 | break; |
Lightvalve | 57:f4819de54e7a | 2497 | } |
Lightvalve | 58:2eade98630e2 | 2498 | |
Lightvalve | 57:f4819de54e7a | 2499 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2500 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2501 | break; |
Lightvalve | 57:f4819de54e7a | 2502 | } |
Lightvalve | 169:645207e160ca | 2503 | |
Lightvalve | 138:a843f32ced33 | 2504 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2505 | |
Lightvalve | 169:645207e160ca | 2506 | |
Lightvalve | 139:15621998925b | 2507 | 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 | 2508 | 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 | 2509 | |
Lightvalve | 170:42c938a40313 | 2510 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2511 | |
Lightvalve | 218:066030f7951f | 2512 | //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 | 2513 | float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 169:645207e160ca | 2514 | |
Lightvalve | 138:a843f32ced33 | 2515 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2516 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2517 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2518 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2519 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2520 | } else { |
Lightvalve | 138:a843f32ced33 | 2521 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2522 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2523 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2524 | } else { |
Lightvalve | 138:a843f32ced33 | 2525 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2526 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2527 | } |
Lightvalve | 138:a843f32ced33 | 2528 | } |
Lightvalve | 138:a843f32ced33 | 2529 | float tau = 0.01f; |
Lightvalve | 142:43026242815a | 2530 | float K_valve = 0.0004f; |
Lightvalve | 169:645207e160ca | 2531 | |
Lightvalve | 138:a843f32ced33 | 2532 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2533 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2534 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2535 | } else { |
Lightvalve | 138:a843f32ced33 | 2536 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2537 | } |
Lightvalve | 138:a843f32ced33 | 2538 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2539 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2540 | |
Lightvalve | 139:15621998925b | 2541 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2542 | |
Lightvalve | 138:a843f32ced33 | 2543 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2544 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2545 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2546 | |
Lightvalve | 138:a843f32ced33 | 2547 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2548 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2549 | |
Lightvalve | 212:ec41f1449ef9 | 2550 | float k3 = 2000.0f; //2000 //20000 |
Lightvalve | 142:43026242815a | 2551 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2552 | float rho3 = 3.2f; |
Lightvalve | 212:ec41f1449ef9 | 2553 | float rho4 = 10000000.0f; //25000000.0f; |
Lightvalve | 218:066030f7951f | 2554 | float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2555 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2556 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2557 | |
Lightvalve | 139:15621998925b | 2558 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2559 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2560 | } else { |
Lightvalve | 139:15621998925b | 2561 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2562 | } |
Lightvalve | 169:645207e160ca | 2563 | |
Lightvalve | 138:a843f32ced33 | 2564 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2565 | x_4_des_old = x_4_des; |
Lightvalve | 212:ec41f1449ef9 | 2566 | float V_input = 0.0f; |
Lightvalve | 139:15621998925b | 2567 | 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 | 2568 | // //V_out LPF |
Lightvalve | 212:ec41f1449ef9 | 2569 | // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz |
Lightvalve | 212:ec41f1449ef9 | 2570 | // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out); |
Lightvalve | 212:ec41f1449ef9 | 2571 | |
Lightvalve | 218:066030f7951f | 2572 | // float rho_gamma = 5000.0f;//5000 for change //50000 for not change |
Lightvalve | 218:066030f7951f | 2573 | // 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 | 2574 | // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2575 | // |
Lightvalve | 218:066030f7951f | 2576 | // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f; |
Lightvalve | 218:066030f7951f | 2577 | // else if(gamma_hat < 100.0f) gamma_hat = 100.0f; |
Lightvalve | 218:066030f7951f | 2578 | |
Lightvalve | 218:066030f7951f | 2579 | float rho_a = 0.00001f; |
Lightvalve | 218:066030f7951f | 2580 | float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err); |
Lightvalve | 218:066030f7951f | 2581 | a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2582 | |
Lightvalve | 218:066030f7951f | 2583 | if(a_hat > -3000000.0f) a_hat = -3000000.0f; |
Lightvalve | 218:066030f7951f | 2584 | else if(a_hat < -30000000.0f) a_hat = -30000000.0f; |
Lightvalve | 218:066030f7951f | 2585 | |
Lightvalve | 169:645207e160ca | 2586 | break; |
Lightvalve | 138:a843f32ced33 | 2587 | } |
Lightvalve | 171:bfc1fd2629d8 | 2588 | |
Lightvalve | 170:42c938a40313 | 2589 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2590 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2591 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2592 | |
Lightvalve | 170:42c938a40313 | 2593 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2594 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2595 | |
Lightvalve | 170:42c938a40313 | 2596 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2597 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2598 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2599 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2600 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2601 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2602 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2603 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2604 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2605 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2606 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2607 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2608 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2609 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2610 | } |
Lightvalve | 173:68c7914679ec | 2611 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2612 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2613 | } |
Lightvalve | 173:68c7914679ec | 2614 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2615 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2616 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2617 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2618 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2619 | |
Lightvalve | 179:d5377766d7ea | 2620 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2621 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2622 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2623 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2624 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2625 | } |
Lightvalve | 171:bfc1fd2629d8 | 2626 | |
Lightvalve | 170:42c938a40313 | 2627 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2628 | |
Lightvalve | 170:42c938a40313 | 2629 | |
Lightvalve | 170:42c938a40313 | 2630 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2631 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2632 | batch++; |
Lightvalve | 170:42c938a40313 | 2633 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2634 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2635 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2636 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2637 | } |
Lightvalve | 170:42c938a40313 | 2638 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2639 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2640 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2641 | |
Lightvalve | 170:42c938a40313 | 2642 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2643 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2644 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2645 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2646 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2647 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2648 | } |
Lightvalve | 170:42c938a40313 | 2649 | } |
Lightvalve | 170:42c938a40313 | 2650 | } |
Lightvalve | 170:42c938a40313 | 2651 | |
Lightvalve | 170:42c938a40313 | 2652 | else { |
Lightvalve | 170:42c938a40313 | 2653 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2654 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2655 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2656 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2657 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2658 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2659 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2660 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2661 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2662 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2663 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2664 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2665 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2666 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2667 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2668 | } |
Lightvalve | 170:42c938a40313 | 2669 | |
Lightvalve | 170:42c938a40313 | 2670 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2671 | } |
Lightvalve | 170:42c938a40313 | 2672 | |
Lightvalve | 170:42c938a40313 | 2673 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2674 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2675 | |
Lightvalve | 170:42c938a40313 | 2676 | break; |
Lightvalve | 170:42c938a40313 | 2677 | } |
Lightvalve | 14:8e7590227d22 | 2678 | |
Lightvalve | 12:6f2531038ea4 | 2679 | default: |
Lightvalve | 12:6f2531038ea4 | 2680 | break; |
Lightvalve | 12:6f2531038ea4 | 2681 | } |
Lightvalve | 14:8e7590227d22 | 2682 | |
Lightvalve | 57:f4819de54e7a | 2683 | |
Lightvalve | 57:f4819de54e7a | 2684 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2685 | |
Lightvalve | 57:f4819de54e7a | 2686 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2687 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2688 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2689 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2690 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2691 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2692 | |
Lightvalve | 57:f4819de54e7a | 2693 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2694 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2695 | |
Lightvalve | 57:f4819de54e7a | 2696 | |
Lightvalve | 57:f4819de54e7a | 2697 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2698 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2699 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2700 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2701 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2702 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2703 | |
Lightvalve | 57:f4819de54e7a | 2704 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2705 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2706 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2707 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2708 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2709 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2710 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2711 | } |
Lightvalve | 57:f4819de54e7a | 2712 | |
Lightvalve | 57:f4819de54e7a | 2713 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2714 | |
Lightvalve | 67:c2812cf26c38 | 2715 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2716 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2717 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2718 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2719 | // 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 | 2720 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2721 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2722 | |
Lightvalve | 57:f4819de54e7a | 2723 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2724 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2725 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2726 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2727 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2728 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2729 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2730 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2731 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2732 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2733 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2734 | } |
Lightvalve | 57:f4819de54e7a | 2735 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2736 | } else { |
Lightvalve | 57:f4819de54e7a | 2737 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2738 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2739 | } |
Lightvalve | 57:f4819de54e7a | 2740 | |
Lightvalve | 57:f4819de54e7a | 2741 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2742 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2743 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2744 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2745 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2746 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2747 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2748 | |
Lightvalve | 57:f4819de54e7a | 2749 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2750 | |
Lightvalve | 57:f4819de54e7a | 2751 | } else { |
Lightvalve | 57:f4819de54e7a | 2752 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2753 | } |
Lightvalve | 57:f4819de54e7a | 2754 | |
Lightvalve | 57:f4819de54e7a | 2755 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2756 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2757 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2758 | |
Lightvalve | 57:f4819de54e7a | 2759 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2760 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2761 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2762 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2763 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2764 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2765 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2766 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2767 | |
Lightvalve | 89:a7b45368ea0f | 2768 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2769 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2770 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2771 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2772 | |
Lightvalve | 135:79885a39c161 | 2773 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2774 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2775 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2776 | } |
Lightvalve | 169:645207e160ca | 2777 | |
Lightvalve | 67:c2812cf26c38 | 2778 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2779 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2780 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2781 | |
jobuuu | 7:e9086c72bb22 | 2782 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2783 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2784 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2785 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2786 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2787 | } |
Lightvalve | 169:645207e160ca | 2788 | |
Lightvalve | 49:e7bcfc244d40 | 2789 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2790 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2791 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2792 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2793 | } |
Lightvalve | 49:e7bcfc244d40 | 2794 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2795 | |
Lightvalve | 19:23b7c1ad8683 | 2796 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2797 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2798 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2799 | |
Lightvalve | 30:8d561f16383b | 2800 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2801 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2802 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2803 | } else { |
jobuuu | 2:a1c0a37df760 | 2804 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2805 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2806 | } |
Lightvalve | 13:747daba9cf59 | 2807 | |
jobuuu | 1:e04e563be5ce | 2808 | //pwm |
Lightvalve | 30:8d561f16383b | 2809 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2810 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2811 | |
Lightvalve | 61:bc8c8270f0ab | 2812 | |
Lightvalve | 57:f4819de54e7a | 2813 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 2814 | |
Lightvalve | 54:647072f5307a | 2815 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2816 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2817 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2818 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2819 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2820 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2821 | 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 | 2822 | } |
Lightvalve | 57:f4819de54e7a | 2823 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2824 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2825 | 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 | 2826 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2827 | 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 | 2828 | } |
Lightvalve | 52:8ea76864368a | 2829 | } |
Lightvalve | 52:8ea76864368a | 2830 | } |
Lightvalve | 56:6f50d9d3bfee | 2831 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 179:d5377766d7ea | 2832 | CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 54:647072f5307a | 2833 | } |
Lightvalve | 58:2eade98630e2 | 2834 | |
Lightvalve | 58:2eade98630e2 | 2835 | |
Lightvalve | 171:bfc1fd2629d8 | 2836 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2837 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2838 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2839 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2840 | } else { |
Lightvalve | 131:d08121ac87ba | 2841 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2842 | } |
Lightvalve | 169:645207e160ca | 2843 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2844 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2845 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2846 | } else { |
Lightvalve | 169:645207e160ca | 2847 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2848 | } |
Lightvalve | 169:645207e160ca | 2849 | |
Lightvalve | 169:645207e160ca | 2850 | |
Lightvalve | 169:645207e160ca | 2851 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2852 | } |
Lightvalve | 58:2eade98630e2 | 2853 | |
Lightvalve | 57:f4819de54e7a | 2854 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 2855 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2856 | ; |
Lightvalve | 57:f4819de54e7a | 2857 | } |
Lightvalve | 58:2eade98630e2 | 2858 | |
Lightvalve | 169:645207e160ca | 2859 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2860 | //PWM |
Lightvalve | 209:ebc69d6ee6f1 | 2861 | CAN_TX_PWM((int16_t) (torq.ref)); //1500 |
Lightvalve | 209:ebc69d6ee6f1 | 2862 | // CAN_TX_PWM((int16_t) (f_future[1])); //1500 |
Lightvalve | 54:647072f5307a | 2863 | } |
Lightvalve | 179:d5377766d7ea | 2864 | |
Lightvalve | 56:6f50d9d3bfee | 2865 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2866 | //valve position |
Lightvalve | 212:ec41f1449ef9 | 2867 | //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 | 2868 | CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600 |
Lightvalve | 54:647072f5307a | 2869 | } |
Lightvalve | 20:806196fda269 | 2870 | |
Lightvalve | 54:647072f5307a | 2871 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 2872 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 2873 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 2874 | // } |
Lightvalve | 54:647072f5307a | 2875 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 2876 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 2877 | //} |
Lightvalve | 52:8ea76864368a | 2878 | |
Lightvalve | 54:647072f5307a | 2879 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2880 | } |
Lightvalve | 54:647072f5307a | 2881 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 2882 | |
Lightvalve | 20:806196fda269 | 2883 | } |
Lightvalve | 52:8ea76864368a | 2884 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2885 | |
Lightvalve | 58:2eade98630e2 | 2886 | } |