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main.cpp@207:c70c5a9f17dd, 2020-12-22 (annotated)
- Committer:
- Lightvalve
- Date:
- Tue Dec 22 03:13:38 2020 +0000
- Revision:
- 207:c70c5a9f17dd
- Parent:
- 206:2e4d0c287578
- Child:
- 208:408f9f15c486
201222-6-D gain add
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 206:2e4d0c287578 | 1 | //201221_6 |
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 | 206:2e4d0c287578 | 202 | {-1.7807048559188843f,1.6689459085464478f,0.12903714179992676f,2.0055220127105713f,-1.8267242908477783f,1.2847471237182617f,1.0337109565734863f,1.8014789819717407f,-2.1881930828094482f,-1.2942607402801514f,-1.6340450048446655f,-1.9838756322860718f,-0.9214537143707275f,-1.5120413303375244f,-0.2571594715118408f,-1.0778447389602661f}, |
Lightvalve | 206:2e4d0c287578 | 203 | {-1.1523692607879639f,0.9744340777397156f,-0.3927857577800751f,0.8196455240249634f,-1.1302025318145752f,0.7565463781356812f,-0.2672702372074127f,0.8042606711387634f,-1.0011622905731201f,-0.5117377042770386f,-1.6575663089752197f,-1.3885278701782227f,0.4483588635921478f,-1.218485713005066f,-0.20967772603034973f,-1.125075340270996f}, |
Lightvalve | 206:2e4d0c287578 | 204 | {-1.2220433950424194f,1.048271894454956f,0.36391180753707886f,-0.29188844561576843f,-0.8578075766563416f,1.17359459400177f,0.293302059173584f,0.9377530217170715f,-0.8471015095710754f,-0.2110806405544281f,-0.7737365961074829f,-1.22345769405365f,0.8639165163040161f,-0.7474794387817383f,0.05590221285820007f,-1.6320104598999023f}, |
Lightvalve | 206:2e4d0c287578 | 205 | {-0.7830098867416382f,0.557135283946991f,0.39742106199264526f,-0.5443631410598755f,-0.4207443594932556f,0.6247298121452332f,0.1912810355424881f,0.8550886511802673f,-0.15828193724155426f,0.2846245765686035f,1.2633171081542969f,0.030062289908528328f,0.5917699337005615f,-0.5886715054512024f,-0.2961459457874298f,-0.5372797250747681f}, |
Lightvalve | 206:2e4d0c287578 | 206 | {1.034437656402588f,-0.5486003756523132f,-0.0051451027393341064f,-1.101850152015686f,0.9744883179664612f,-0.30943065881729126f,0.16204890608787537f,-0.8015485405921936f,1.0945266485214233f,0.7327287793159485f,2.313215732574463f,1.263038992881775f,0.03287762403488159f,0.7425644993782043f,-0.3865056037902832f,0.6784502863883972f}, |
Lightvalve | 206:2e4d0c287578 | 207 | {3.701443910598755f,-3.7397303581237793f,0.21773302555084229f,-0.7896745204925537f,3.7201805114746094f,-3.1940155029296875f,-1.4316298961639404f,-3.5664565563201904f,3.2542521953582764f,1.7260537147521973f,0.4765399098396301f,3.269768238067627f,-1.1067615747451782f,3.3516292572021484f,-0.4132833778858185f,1.683417558670044f}, |
Lightvalve | 206:2e4d0c287578 | 208 | {-0.06830067187547684f,0.04210755601525307f,-0.2501986622810364f,-4.3639726638793945f,-0.28858399391174316f,1.153104543685913f,0.006025615613907576f,-0.27903494238853455f,0.16336610913276672f,-0.17656497657299042f,6.054398536682129f,0.18550580739974976f,-0.05897205322980881f,0.5009920001029968f,-0.15618428587913513f,0.24028104543685913f}, |
Lightvalve | 206:2e4d0c287578 | 209 | {-0.24243921041488647f,-0.3259289562702179f,-0.26619744300842285f,4.218647480010986f,-1.4108608961105347f,-1.9161746501922607f,3.456289291381836f,0.06387022137641907f,2.338621139526367f,0.11661907285451889f,2.5753769874572754f,2.91559100151062f,-0.08889052271842957f,0.9202753901481628f,0.04303058981895447f,-1.99177086353302f}, |
Lightvalve | 206:2e4d0c287578 | 210 | {0.10272776335477829f,-0.0051670861430466175f,0.10248100757598877f,0.5276259183883667f,-0.09526387602090836f,-0.05263286828994751f,-9.120331764221191f,-0.9846327304840088f,-1.4346109628677368f,0.3423337936401367f,-1.4380583763122559f,-2.192056655883789f,5.739664554595947f,0.9945151805877686f,-0.30555272102355957f,-0.9550818800926208f}, |
Lightvalve | 206:2e4d0c287578 | 211 | {-0.1298130452632904f,-0.844933032989502f,0.18462657928466797f,-2.0697882175445557f,0.3367975950241089f,-0.7679920792579651f,5.008863925933838f,0.6838765144348145f,0.9928942322731018f,-0.380719393491745f,-0.3328202962875366f,-1.3550094366073608f,0.7970038056373596f,0.38919582962989807f,0.3484981060028076f,0.40652960538864136f}, |
Lightvalve | 206:2e4d0c287578 | 212 | {0.10495489835739136f,-0.15649040043354034f,0.37182438373565674f,-0.5165225863456726f,-0.030094584450125694f,0.27722814679145813f,0.7723641991615295f,0.1589910387992859f,0.10829687118530273f,0.01703939028084278f,-0.4294162094593048f,-0.8883196711540222f,-0.6225217580795288f,0.10884921252727509f,0.26688337326049805f,0.08329744637012482f}, |
Lightvalve | 206:2e4d0c287578 | 213 | {-0.20337620377540588f,-0.09397348016500473f,-0.40320003032684326f,0.049671273678541183f,0.2552013695240021f,0.11166784167289734f,-0.18708603084087372f,-0.3583597242832184f,0.03445921465754509f,0.3062646687030792f,-0.052852533757686615f,-0.04729709401726723f,-0.7603814005851746f,0.011429191567003727f,0.10493969917297363f,-0.376788467168808f}, |
Lightvalve | 206:2e4d0c287578 | 214 | {-0.02498585171997547f,0.028086746111512184f,0.19847965240478516f,0.2456793189048767f,0.05428092181682587f,0.2613365054130554f,-0.268947958946228f,-0.08100102096796036f,0.10430614650249481f,-0.1923302263021469f,-0.2395259290933609f,-0.04933980852365494f,-0.3201068937778473f,0.07187950611114502f,-0.22268100082874298f,-0.007916470989584923f}, |
Lightvalve | 206:2e4d0c287578 | 215 | {-0.014006747864186764f,-0.08647304028272629f,0.4127817749977112f,0.05004005506634712f,-0.18516305088996887f,-0.08793098479509354f,0.14798147976398468f,-0.28873950242996216f,-0.25092774629592896f,-0.0990142896771431f,-0.10142865031957626f,0.012985054403543472f,-0.5933491587638855f,-0.08747518062591553f,0.0479682981967926f,-0.011664015240967274f}, |
Lightvalve | 206:2e4d0c287578 | 216 | {-0.010867358185350895f,0.06461263447999954f,0.20282304286956787f,-0.10735680162906647f,0.10550501942634583f,-0.27693039178848267f,-0.2836221754550934f,0.0728113129734993f,-0.20681768655776978f,-0.03470535948872566f,-0.09182877838611603f,-0.08869069069623947f,-0.21124303340911865f,0.14233484864234924f,0.0668090283870697f,-0.4361487329006195f}, |
Lightvalve | 206:2e4d0c287578 | 217 | {0.014389474876224995f,-0.04808990657329559f,-0.40439701080322266f,-0.05400414019823074f,-0.10591600090265274f,-0.501040518283844f,-0.07977351546287537f,-0.16353163123130798f,-0.2610345184803009f,-0.06855349242687225f,-0.12435207515954971f,0.10868765413761139f,-0.03643392398953438f,-0.19367268681526184f,-0.08245879411697388f,-0.14660458266735077f}, |
Lightvalve | 206:2e4d0c287578 | 218 | {-0.01534365490078926f,-0.03290284425020218f,0.16706281900405884f,0.221749410033226f,-0.05399798974394798f,-1.1545442342758179f,0.09171648323535919f,-0.03219394013285637f,-0.860437273979187f,0.023272309452295303f,0.1099458560347557f,-0.08201001584529877f,-0.3159564137458801f,0.20682013034820557f,0.29427415132522583f,0.6272814273834229f}, |
Lightvalve | 65:a2d7c63419c2 | 219 | }; |
Lightvalve | 65:a2d7c63419c2 | 220 | |
Lightvalve | 169:645207e160ca | 221 | const float h2[16][16] = { |
Lightvalve | 206:2e4d0c287578 | 222 | {0.7309545874595642f,2.151273012161255f,-0.06966331601142883f,3.99920654296875f,-0.21907491981983185f,0.9820910096168518f,-0.321774959564209f,-0.1541939675807953f,-0.6056634783744812f,-0.31396952271461487f,-5.851577281951904f,-0.4920310080051422f,0.07214775681495667f,-5.805349349975586f,-1.6171064376831055f,-9.397863388061523f}, |
Lightvalve | 206:2e4d0c287578 | 223 | {2.0131070613861084f,-0.7731248736381531f,0.057057321071624756f,0.2953585386276245f,-0.35503754019737244f,-0.20023292303085327f,-0.8265648484230042f,-0.38386690616607666f,-0.5089491605758667f,0.24221304059028625f,-2.799264907836914f,-0.633624792098999f,0.24585041403770447f,3.1690449714660645f,0.28463271260261536f,2.2423183917999268f}, |
Lightvalve | 179:d5377766d7ea | 224 | {-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 | 206:2e4d0c287578 | 225 | {-0.48315155506134033f,-0.4596182107925415f,-0.2894435524940491f,0.0005396368214860559f,0.08946844935417175f,0.8561189770698547f,-0.20108729600906372f,0.14678244292736053f,0.13011200726032257f,0.21811752021312714f,0.3669376075267792f,-0.05784331262111664f,-0.6287853717803955f,0.02621796727180481f,0.7304993271827698f,-0.23172836005687714f}, |
Lightvalve | 206:2e4d0c287578 | 226 | {0.7272628545761108f,3.0807886123657227f,-0.25313520431518555f,2.347088098526001f,0.036378175020217896f,0.5192092657089233f,-0.7328973412513733f,-0.3538326025009155f,-0.1975555270910263f,-0.5459282398223877f,-2.4163146018981934f,-0.8545426726341248f,-0.11603832989931107f,-1.5216647386550903f,0.5095298886299133f,0.1498836874961853f}, |
Lightvalve | 206:2e4d0c287578 | 227 | {-0.37124961614608765f,-0.014504355378448963f,-0.3519742488861084f,0.03143687918782234f,-0.3015052080154419f,0.36655113101005554f,-0.8719632625579834f,-0.051551785320043564f,-0.37846317887306213f,0.3579089343547821f,0.07659144699573517f,-0.2013002187013626f,-0.3928574025630951f,0.14929711818695068f,-0.10681967437267303f,-0.5804470777511597f}, |
Lightvalve | 206:2e4d0c287578 | 228 | {-0.24781104922294617f,-2.008772373199463f,-0.3260969817638397f,0.9649527072906494f,-0.38453540205955505f,0.19253592193126678f,0.21375620365142822f,0.05278942734003067f,-0.27344658970832825f,-0.044374242424964905f,1.1179603338241577f,-0.5158692002296448f,-0.33838868141174316f,0.3787102997303009f,0.10057923197746277f,-4.920621871948242f}, |
Lightvalve | 206:2e4d0c287578 | 229 | {1.331210970878601f,0.6711344718933105f,0.33083590865135193f,-2.427623987197876f,-0.14358049631118774f,0.3254135847091675f,-0.5694573521614075f,-0.5514112710952759f,0.08220036327838898f,-0.5410969853401184f,0.5523853898048401f,-0.6491090655326843f,-0.5427494645118713f,0.6210233569145203f,1.4435174465179443f,3.0532093048095703f}, |
Lightvalve | 206:2e4d0c287578 | 230 | {0.6923806071281433f,0.14226312935352325f,-0.11379697918891907f,-0.213966503739357f,0.041274964809417725f,-0.26083076000213623f,-0.43745747208595276f,-0.03160077705979347f,-0.055766090750694275f,-0.5995153784751892f,0.6991217732429504f,-0.6461898684501648f,-0.5607666969299316f,-0.3602465093135834f,-0.4945257604122162f,-0.3155979812145233f}, |
Lightvalve | 206:2e4d0c287578 | 231 | {-0.012218165211379528f,0.41092512011528015f,-0.13502129912376404f,0.19783270359039307f,0.12987366318702698f,0.5547798275947571f,0.04467938840389252f,-0.5653203725814819f,-0.13619378209114075f,0.16938945651054382f,1.05582594871521f,0.029812706634402275f,0.11738216876983643f,-0.5045449137687683f,0.07079683244228363f,-0.23086929321289062f}, |
Lightvalve | 206:2e4d0c287578 | 232 | {-0.8900190591812134f,0.13081036508083344f,0.0457797646522522f,0.05137140303850174f,-0.03321319818496704f,-1.834595799446106f,-0.07800599187612534f,-0.20421427488327026f,-0.050184011459350586f,-0.02981780469417572f,-0.6498560905456543f,0.10084924101829529f,-0.6784595251083374f,-0.00616350956261158f,0.03268835321068764f,-2.2103617191314697f}, |
Lightvalve | 206:2e4d0c287578 | 233 | {1.1047340631484985f,-0.4461626708507538f,0.3954955041408539f,-0.18519015610218048f,0.0033026933670043945f,-0.568597137928009f,-0.6717859506607056f,-0.37041208148002625f,0.17378418147563934f,-0.532118558883667f,1.9197595119476318f,-0.5332373976707458f,0.0061597698368132114f,-1.0825083255767822f,1.2936487197875977f,-1.5592758655548096f}, |
Lightvalve | 206:2e4d0c287578 | 234 | {0.5075520277023315f,-1.9176207780838013f,-0.15798500180244446f,0.5718668699264526f,-0.37393757700920105f,0.04280955716967583f,-0.07716835290193558f,-0.38613834977149963f,-0.30612289905548096f,0.24769547581672668f,-0.07304560393095016f,-0.5915866494178772f,0.25011423230171204f,0.2782946825027466f,-0.4410281479358673f,-0.37290114164352417f}, |
Lightvalve | 206:2e4d0c287578 | 235 | {-1.362764596939087f,-0.09321783483028412f,-0.2018718123435974f,0.05907825008034706f,0.07545611262321472f,-0.21409748494625092f,-0.5371257662773132f,-0.29936912655830383f,-0.2887822687625885f,0.143598735332489f,2.3939638137817383f,-0.6236295104026794f,-0.5248929262161255f,-1.1398392915725708f,-0.633877158164978f,-1.280221700668335f}, |
Lightvalve | 179:d5377766d7ea | 236 | {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 | 206:2e4d0c287578 | 237 | {0.06504782289266586f,0.6117428541183472f,0.12081471085548401f,0.10449739545583725f,0.29976895451545715f,-0.11395322531461716f,-0.5163652896881104f,0.10284116864204407f,-0.4943521022796631f,-0.20044124126434326f,0.06053680181503296f,-0.23671367764472961f,-0.20789912343025208f,0.13695281744003296f,0.36073845624923706f,0.7399912476539612f}, |
Lightvalve | 65:a2d7c63419c2 | 238 | }; |
Lightvalve | 65:a2d7c63419c2 | 239 | |
Lightvalve | 169:645207e160ca | 240 | const float h3[16][16] = { |
Lightvalve | 206:2e4d0c287578 | 241 | {-0.36079341173171997f,-1.5740747451782227f,-0.323828786611557f,-0.5008583664894104f,0.17446325719356537f,-0.09201639890670776f,0.1418231576681137f,0.2528802454471588f,-1.6159125566482544f,-0.26451337337493896f,-0.3563109040260315f,0.23585517704486847f,0.15575222671031952f,-0.19184747338294983f,-0.7520464658737183f,0.1434362381696701f}, |
Lightvalve | 206:2e4d0c287578 | 242 | {0.047732532024383545f,-0.3546774983406067f,-1.0392972230911255f,-0.3922642469406128f,-0.21302993595600128f,0.7482725381851196f,-0.45127004384994507f,-0.04979252815246582f,1.8785374164581299f,-0.11562127619981766f,0.5300207138061523f,0.37874656915664673f,0.9194919466972351f,0.23528820276260376f,1.6635736227035522f,-0.017451908439397812f}, |
Lightvalve | 205:f3ffa0306a53 | 243 | {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 | 206:2e4d0c287578 | 244 | {-0.30922991037368774f,0.5094926357269287f,0.8742960095405579f,-0.5943590998649597f,-1.4194984436035156f,0.38033169507980347f,0.04597592353820801f,-0.08955316245555878f,-0.7320433259010315f,-0.5997412204742432f,-1.8656071424484253f,1.0169402360916138f,1.6738009452819824f,1.0390515327453613f,-0.166262686252594f,0.3006783425807953f}, |
Lightvalve | 205:f3ffa0306a53 | 245 | {-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 | 206:2e4d0c287578 | 246 | {-0.37449589371681213f,-0.6622586846351624f,-1.0194721221923828f,-0.05452714487910271f,0.44912827014923096f,0.7577368021011353f,-0.23262421786785126f,-0.0025911128614097834f,0.3207937479019165f,-0.3428647220134735f,-0.08751271665096283f,-0.8736635446548462f,0.03225252777338028f,-0.28729477524757385f,-0.20754165947437286f,-1.7328381538391113f}, |
Lightvalve | 206:2e4d0c287578 | 247 | {0.4110594093799591f,0.12106796354055405f,-0.13195820152759552f,0.37246426939964294f,0.10733360052108765f,-0.17651203274726868f,-0.08670487999916077f,-0.25336313247680664f,-0.5406959056854248f,-0.06259563565254211f,-0.1344406008720398f,0.16596482694149017f,0.33039313554763794f,-0.19485843181610107f,0.2149786353111267f,-0.36324015259742737f}, |
Lightvalve | 206:2e4d0c287578 | 248 | {-0.40892091393470764f,0.07406841963529587f,-0.3659348487854004f,0.22920988500118256f,0.3122047781944275f,0.050250452011823654f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,0.08005775511264801f,-0.32234156131744385f,-0.26005738973617554f,0.17401346564292908f,-0.023042351007461548f}, |
Lightvalve | 206:2e4d0c287578 | 249 | {0.10697010159492493f,-0.12228584289550781f,-0.5411396622657776f,0.21184906363487244f,-0.39521756768226624f,0.06677637994289398f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.17219778895378113f,-0.15024897456169128f,0.08757764101028442f,0.3412953019142151f,-0.06898030638694763f}, |
Lightvalve | 206:2e4d0c287578 | 250 | {0.2847062647342682f,0.04198870062828064f,0.2324065864086151f,0.36562982201576233f,0.1762201339006424f,0.386137455701828f,0.2430230677127838f,0.2909286320209503f,-0.5064769387245178f,0.18043199181556702f,0.46689876914024353f,-0.37689411640167236f,0.08963057398796082f,-0.01978110894560814f,0.13965728878974915f,0.09183362871408463f}, |
Lightvalve | 206:2e4d0c287578 | 251 | {0.15459725260734558f,0.32663199305534363f,-0.43264493346214294f,-0.25717872381210327f,-0.30865761637687683f,1.1349443197250366f,-0.09015364944934845f,-0.284537672996521f,1.3302375078201294f,-0.4318275451660156f,1.0774149894714355f,-0.8313512206077576f,-0.18751198053359985f,-0.5230942964553833f,1.275456428527832f,0.7793862819671631f}, |
Lightvalve | 206:2e4d0c287578 | 252 | {-0.408692330121994f,0.2269023060798645f,0.09413175284862518f,0.0553261861205101f,0.0745026022195816f,-0.1746007651090622f,0.03285527229309082f,0.38763079047203064f,-0.3476070761680603f,-0.25883403420448303f,0.12809070944786072f,0.15931619703769684f,-0.5422877073287964f,-0.23907442390918732f,-0.2036581188440323f,0.08299102634191513f}, |
Lightvalve | 206:2e4d0c287578 | 253 | {-0.2991822361946106f,0.31300684809684753f,-0.06969411671161652f,-0.05932474136352539f,0.1076110452413559f,0.1017603948712349f,-0.11253207921981812f,0.34576353430747986f,0.21113571524620056f,-0.35770976543426514f,-0.044228196144104004f,-0.2926151156425476f,0.14566898345947266f,-0.1921490579843521f,0.21915902197360992f,-0.0008085406152531505f}, |
Lightvalve | 206:2e4d0c287578 | 254 | {-0.2675279378890991f,0.7427994012832642f,0.6347403526306152f,-0.1958807110786438f,1.2644003629684448f,0.8112095594406128f,-0.34373316168785095f,-0.6245776414871216f,0.7729313373565674f,-0.863515317440033f,-4.969630718231201f,-3.0855796337127686f,0.6991016268730164f,-2.170722007751465f,1.4726535081863403f,0.4425199329853058f}, |
Lightvalve | 206:2e4d0c287578 | 255 | {-0.015470266342163086f,-0.6235769391059875f,1.1404080390930176f,-0.001713637262582779f,-0.5860978960990906f,-0.9973914623260498f,-0.134099543094635f,-0.16727054119110107f,-1.2199089527130127f,-0.5800305604934692f,0.6144692897796631f,0.8666657209396362f,-0.06915939599275589f,0.4561276137828827f,-0.6159982681274414f,-0.5167397856712341f}, |
Lightvalve | 206:2e4d0c287578 | 256 | {0.1863725483417511f,0.8390569686889648f,0.3526930809020996f,-0.5944302678108215f,-0.08186009526252747f,1.2177678346633911f,0.04860696196556091f,0.18485434353351593f,1.054297924041748f,0.3378079831600189f,-1.4593759775161743f,1.966334581375122f,-0.048501357436180115f,0.6259897947311401f,-1.0965923070907593f,-0.9554581046104431f}, |
Lightvalve | 66:a8e6799dbce3 | 257 | }; |
Lightvalve | 65:a2d7c63419c2 | 258 | |
Lightvalve | 206:2e4d0c287578 | 259 | const float hout[16] = { 0.45773375034332275f,0.15879979729652405f,-0.15007324516773224f,0.08761820942163467f,-0.1611965000629425f,0.16267047822475433f,-0.06551695615053177f,0.03275502473115921f,-0.15672892332077026f,-0.04369736090302467f,-0.10987479984760284f,-0.15064367651939392f,-0.1091320589184761f,0.20960037410259247f,0.15906164050102234f,-0.14601188898086548f }; |
Lightvalve | 206:2e4d0c287578 | 260 | |
Lightvalve | 206:2e4d0c287578 | 261 | const float b1[16] = { 0.5291942954063416f,0.8617457151412964f,-1.7145336866378784f,0.9322654604911804f,0.8106487393379211f,0.682939887046814f,0.13172881305217743f,0.8984912633895874f,-0.38992229104042053f,-0.7498130798339844f,-2.8195302486419678f,1.0033252239227295f,-1.7225804328918457f,-1.1827361583709717f,-1.087764859199524f,2.699277400970459f }; |
Lightvalve | 206:2e4d0c287578 | 262 | |
Lightvalve | 206:2e4d0c287578 | 263 | const float b2[16] = { -0.5746859908103943f,-0.9516815543174744f,-1.4564176797866821f,-0.4528921842575073f,-0.6939148902893066f,0.13526339828968048f,-0.04827849194407463f,-0.5930274128913879f,-1.3676362037658691f,-2.043384313583374f,0.7014528512954712f,0.2180779129266739f,-0.2795608341693878f,1.8895725011825562f,0.23002779483795166f,0.8182846903800964f }; |
Lightvalve | 206:2e4d0c287578 | 264 | |
Lightvalve | 206:2e4d0c287578 | 265 | const float b3[16] = { -1.963319182395935f,0.9186627268791199f,-0.7716829776763916f,-0.32962435483932495f,0.8113220930099487f,0.06901621073484421f,-0.6259682178497314f,-0.8682839870452881f,-0.9259135127067566f,0.08148693293333054f,-0.23981264233589172f,-0.9112514853477478f,-1.277915596961975f,0.45877891778945923f,-1.3907086849212646f,0.797217607498169f }; |
Lightvalve | 206:2e4d0c287578 | 266 | |
Lightvalve | 206:2e4d0c287578 | 267 | const float bout[1] = { -0.11752435564994812f }; |
Lightvalve | 65:a2d7c63419c2 | 268 | |
Lightvalve | 170:42c938a40313 | 269 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 270 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 271 | |
Lightvalve | 170:42c938a40313 | 272 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 273 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 274 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 275 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 276 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 277 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 278 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 279 | |
Lightvalve | 170:42c938a40313 | 280 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 281 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 282 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 283 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 284 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 285 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 286 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 287 | |
Lightvalve | 170:42c938a40313 | 288 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 289 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 290 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 291 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 292 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 293 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 294 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 295 | |
Lightvalve | 170:42c938a40313 | 296 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 297 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 298 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 299 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 300 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 301 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 302 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 303 | |
Lightvalve | 87:471334725012 | 304 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 305 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 306 | |
Lightvalve | 179:d5377766d7ea | 307 | /////////////////////////////////////////////RL tuning |
Lightvalve | 179:d5377766d7ea | 308 | float Gradient_Limit = 0.5f; |
Lightvalve | 179:d5377766d7ea | 309 | float gradient_rate_actor = 0.001f; |
Lightvalve | 179:d5377766d7ea | 310 | float gradient_rate_critic = 0.001f; |
Lightvalve | 179:d5377766d7ea | 311 | ////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 312 | |
Lightvalve | 170:42c938a40313 | 313 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 314 | { |
Lightvalve | 173:68c7914679ec | 315 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 316 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 317 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 318 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 319 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 320 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 321 | } |
Lightvalve | 173:68c7914679ec | 322 | //ReLU |
Lightvalve | 173:68c7914679ec | 323 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 324 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 325 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 326 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 327 | } |
Lightvalve | 173:68c7914679ec | 328 | //tanh |
Lightvalve | 173:68c7914679ec | 329 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 330 | } |
Lightvalve | 173:68c7914679ec | 331 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 332 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 333 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 334 | } |
Lightvalve | 173:68c7914679ec | 335 | //ReLU |
Lightvalve | 173:68c7914679ec | 336 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 337 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 338 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 339 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 340 | } |
Lightvalve | 173:68c7914679ec | 341 | //tanh |
Lightvalve | 173:68c7914679ec | 342 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 343 | } |
Lightvalve | 170:42c938a40313 | 344 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 345 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 346 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 347 | } |
Lightvalve | 173:68c7914679ec | 348 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 349 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 350 | } |
Lightvalve | 170:42c938a40313 | 351 | return output; |
Lightvalve | 170:42c938a40313 | 352 | } |
Lightvalve | 170:42c938a40313 | 353 | |
Lightvalve | 170:42c938a40313 | 354 | |
Lightvalve | 170:42c938a40313 | 355 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 356 | { |
Lightvalve | 173:68c7914679ec | 357 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 358 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 359 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 360 | |
Lightvalve | 173:68c7914679ec | 361 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 362 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 178:1074553d2f6f | 363 | output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 364 | } |
Lightvalve | 178:1074553d2f6f | 365 | output1[index2] = output1[index2] + ba1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 366 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 367 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 368 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 369 | } |
Lightvalve | 173:68c7914679ec | 370 | } |
Lightvalve | 173:68c7914679ec | 371 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 372 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 178:1074553d2f6f | 373 | output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 374 | } |
Lightvalve | 178:1074553d2f6f | 375 | output2[index2] = output2[index2] + ba2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 376 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 377 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 378 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 379 | } |
Lightvalve | 173:68c7914679ec | 380 | } |
Lightvalve | 173:68c7914679ec | 381 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 382 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 178:1074553d2f6f | 383 | output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 384 | } |
Lightvalve | 178:1074553d2f6f | 385 | hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 386 | } |
Lightvalve | 178:1074553d2f6f | 387 | |
Lightvalve | 178:1074553d2f6f | 388 | mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus |
Lightvalve | 178:1074553d2f6f | 389 | deviation_before_SP = output[1] + ba3_temp[1]; |
Lightvalve | 173:68c7914679ec | 390 | //Softplus |
Lightvalve | 173:68c7914679ec | 391 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 392 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 179:d5377766d7ea | 393 | logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 394 | logging4 = deviation; |
Lightvalve | 173:68c7914679ec | 395 | } |
Lightvalve | 173:68c7914679ec | 396 | |
Lightvalve | 173:68c7914679ec | 397 | |
Lightvalve | 173:68c7914679ec | 398 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 399 | { |
Lightvalve | 173:68c7914679ec | 400 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 401 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 402 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 403 | |
Lightvalve | 173:68c7914679ec | 404 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 405 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 406 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 407 | } |
Lightvalve | 170:42c938a40313 | 408 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 409 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 410 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 411 | } |
Lightvalve | 170:42c938a40313 | 412 | } |
Lightvalve | 173:68c7914679ec | 413 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 414 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 415 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 416 | } |
Lightvalve | 173:68c7914679ec | 417 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 418 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 419 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 420 | } |
Lightvalve | 170:42c938a40313 | 421 | } |
Lightvalve | 170:42c938a40313 | 422 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 423 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 424 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 425 | } |
Lightvalve | 170:42c938a40313 | 426 | } |
Lightvalve | 173:68c7914679ec | 427 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 428 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 429 | //Softplus |
Lightvalve | 173:68c7914679ec | 430 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 431 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 432 | } |
Lightvalve | 170:42c938a40313 | 433 | |
Lightvalve | 170:42c938a40313 | 434 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 435 | { |
Lightvalve | 170:42c938a40313 | 436 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 437 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 438 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 439 | } |
Lightvalve | 170:42c938a40313 | 440 | |
Lightvalve | 170:42c938a40313 | 441 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 442 | { |
Lightvalve | 170:42c938a40313 | 443 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 444 | grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation)); |
Lightvalve | 170:42c938a40313 | 445 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 446 | } |
Lightvalve | 170:42c938a40313 | 447 | |
Lightvalve | 173:68c7914679ec | 448 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 449 | { |
Lightvalve | 173:68c7914679ec | 450 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 451 | return x; |
Lightvalve | 173:68c7914679ec | 452 | } else { |
Lightvalve | 173:68c7914679ec | 453 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 454 | } |
Lightvalve | 173:68c7914679ec | 455 | } |
Lightvalve | 173:68c7914679ec | 456 | |
Lightvalve | 170:42c938a40313 | 457 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 458 | { |
Lightvalve | 173:68c7914679ec | 459 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 177:8e9cf31d63f4 | 460 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 461 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 462 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 463 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 464 | float d_V_d_hc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 465 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 466 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 467 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 468 | d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 469 | } |
Lightvalve | 173:68c7914679ec | 470 | } |
Lightvalve | 170:42c938a40313 | 471 | } |
Lightvalve | 177:8e9cf31d63f4 | 472 | G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); |
Lightvalve | 170:42c938a40313 | 473 | } |
Lightvalve | 170:42c938a40313 | 474 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 475 | if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 476 | else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 477 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 478 | } |
Lightvalve | 173:68c7914679ec | 479 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 480 | float d_V_d_bc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 481 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 482 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 483 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 484 | d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 485 | } |
Lightvalve | 173:68c7914679ec | 486 | } |
Lightvalve | 173:68c7914679ec | 487 | } |
Lightvalve | 177:8e9cf31d63f4 | 488 | G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); |
Lightvalve | 173:68c7914679ec | 489 | } |
Lightvalve | 173:68c7914679ec | 490 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 491 | if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 492 | else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 493 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 494 | } |
Lightvalve | 173:68c7914679ec | 495 | |
Lightvalve | 175:2f7289dbd488 | 496 | |
Lightvalve | 173:68c7914679ec | 497 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 498 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 499 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 500 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 501 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 502 | float d_V_d_hc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 503 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 504 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 505 | d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 506 | } |
Lightvalve | 173:68c7914679ec | 507 | } |
Lightvalve | 177:8e9cf31d63f4 | 508 | G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); |
Lightvalve | 173:68c7914679ec | 509 | } |
Lightvalve | 173:68c7914679ec | 510 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 511 | if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 512 | else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 513 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 514 | } |
Lightvalve | 173:68c7914679ec | 515 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 516 | float d_V_d_bc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 517 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 518 | d_V_d_bc2 = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 519 | } |
Lightvalve | 177:8e9cf31d63f4 | 520 | G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); |
Lightvalve | 173:68c7914679ec | 521 | } |
Lightvalve | 173:68c7914679ec | 522 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 523 | if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 524 | else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 525 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 526 | } |
Lightvalve | 173:68c7914679ec | 527 | |
Lightvalve | 173:68c7914679ec | 528 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 529 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 530 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 531 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 532 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 533 | float d_V_d_hc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 534 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 535 | d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 536 | } |
Lightvalve | 177:8e9cf31d63f4 | 537 | G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); |
Lightvalve | 173:68c7914679ec | 538 | } |
Lightvalve | 173:68c7914679ec | 539 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 179:d5377766d7ea | 540 | if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 541 | else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 542 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 543 | } |
Lightvalve | 173:68c7914679ec | 544 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 545 | float d_V_d_bc3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 546 | d_V_d_bc3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 547 | G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); |
Lightvalve | 173:68c7914679ec | 548 | } |
Lightvalve | 173:68c7914679ec | 549 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 179:d5377766d7ea | 550 | if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 551 | else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 552 | //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 173:68c7914679ec | 553 | } |
Lightvalve | 173:68c7914679ec | 554 | |
Lightvalve | 173:68c7914679ec | 555 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 556 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 557 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 558 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 559 | } |
Lightvalve | 179:d5377766d7ea | 560 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 561 | } |
Lightvalve | 173:68c7914679ec | 562 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 563 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 564 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 565 | } |
Lightvalve | 179:d5377766d7ea | 566 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 567 | } |
Lightvalve | 170:42c938a40313 | 568 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 569 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 570 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 571 | } |
Lightvalve | 179:d5377766d7ea | 572 | bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 170:42c938a40313 | 573 | } |
Lightvalve | 170:42c938a40313 | 574 | } |
Lightvalve | 170:42c938a40313 | 575 | |
Lightvalve | 173:68c7914679ec | 576 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 577 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 578 | { |
Lightvalve | 179:d5377766d7ea | 579 | |
Lightvalve | 173:68c7914679ec | 580 | |
Lightvalve | 173:68c7914679ec | 581 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 582 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 583 | |
Lightvalve | 173:68c7914679ec | 584 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 585 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 586 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 587 | float d_x_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 588 | float d_y_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 589 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 590 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 591 | } else { |
Lightvalve | 173:68c7914679ec | 592 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 593 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 594 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 595 | d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 596 | d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 597 | } |
Lightvalve | 171:bfc1fd2629d8 | 598 | } |
Lightvalve | 170:42c938a40313 | 599 | } |
Lightvalve | 170:42c938a40313 | 600 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 601 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 602 | d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1; |
Lightvalve | 177:8e9cf31d63f4 | 603 | d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1; |
Lightvalve | 173:68c7914679ec | 604 | |
Lightvalve | 173:68c7914679ec | 605 | G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 606 | } |
Lightvalve | 170:42c938a40313 | 607 | } |
Lightvalve | 176:589ea3edcf3c | 608 | G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 609 | if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 610 | else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 611 | //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 612 | } |
Lightvalve | 173:68c7914679ec | 613 | |
Lightvalve | 173:68c7914679ec | 614 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 615 | float d_x_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 616 | float d_y_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 617 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 618 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 619 | } else { |
Lightvalve | 173:68c7914679ec | 620 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 621 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 622 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 623 | d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 624 | d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 625 | } |
Lightvalve | 171:bfc1fd2629d8 | 626 | } |
Lightvalve | 170:42c938a40313 | 627 | } |
Lightvalve | 170:42c938a40313 | 628 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 629 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 630 | d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1; |
Lightvalve | 177:8e9cf31d63f4 | 631 | d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1; |
Lightvalve | 173:68c7914679ec | 632 | |
Lightvalve | 173:68c7914679ec | 633 | G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 634 | } |
Lightvalve | 170:42c938a40313 | 635 | } |
Lightvalve | 176:589ea3edcf3c | 636 | G_ba1[index2] = -G_ba1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 637 | if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 638 | else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 639 | //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 640 | } |
Lightvalve | 170:42c938a40313 | 641 | |
Lightvalve | 173:68c7914679ec | 642 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 643 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 644 | |
Lightvalve | 173:68c7914679ec | 645 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 646 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 647 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 648 | float d_x_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 649 | float d_y_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 650 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 651 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 652 | } else { |
Lightvalve | 173:68c7914679ec | 653 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 654 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 655 | d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 656 | d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 657 | } |
Lightvalve | 170:42c938a40313 | 658 | } |
Lightvalve | 173:68c7914679ec | 659 | |
Lightvalve | 170:42c938a40313 | 660 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 661 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 662 | d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2; |
Lightvalve | 177:8e9cf31d63f4 | 663 | d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2; |
Lightvalve | 173:68c7914679ec | 664 | |
Lightvalve | 173:68c7914679ec | 665 | G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 666 | } |
Lightvalve | 170:42c938a40313 | 667 | } |
Lightvalve | 176:589ea3edcf3c | 668 | G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 669 | if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 670 | else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 671 | //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 672 | } |
Lightvalve | 173:68c7914679ec | 673 | |
Lightvalve | 173:68c7914679ec | 674 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 675 | float d_x_d_ba2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 676 | float d_y_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 677 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 678 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 679 | } else { |
Lightvalve | 170:42c938a40313 | 680 | |
Lightvalve | 173:68c7914679ec | 681 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 682 | d_x_d_ba2 = ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 683 | d_y_d_ba2 = ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 684 | } |
Lightvalve | 173:68c7914679ec | 685 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 686 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 687 | d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2; |
Lightvalve | 177:8e9cf31d63f4 | 688 | d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2; |
Lightvalve | 173:68c7914679ec | 689 | |
Lightvalve | 173:68c7914679ec | 690 | G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 691 | } |
Lightvalve | 170:42c938a40313 | 692 | } |
Lightvalve | 176:589ea3edcf3c | 693 | G_ba2[index2] = -G_ba2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 694 | if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 695 | else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 696 | //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 697 | } |
Lightvalve | 173:68c7914679ec | 698 | |
Lightvalve | 173:68c7914679ec | 699 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 700 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 701 | |
Lightvalve | 173:68c7914679ec | 702 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 703 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 704 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 705 | float d_x_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 706 | float d_y_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 707 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 708 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 709 | } else { |
Lightvalve | 173:68c7914679ec | 710 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 711 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 712 | d_x_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 177:8e9cf31d63f4 | 713 | d_y_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 714 | } |
Lightvalve | 173:68c7914679ec | 715 | } |
Lightvalve | 173:68c7914679ec | 716 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 717 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 718 | d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3; |
Lightvalve | 177:8e9cf31d63f4 | 719 | d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3; |
Lightvalve | 173:68c7914679ec | 720 | |
Lightvalve | 173:68c7914679ec | 721 | G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 173:68c7914679ec | 722 | } |
Lightvalve | 173:68c7914679ec | 723 | } |
Lightvalve | 176:589ea3edcf3c | 724 | G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 725 | if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 726 | else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 727 | //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 728 | } |
Lightvalve | 173:68c7914679ec | 729 | |
Lightvalve | 173:68c7914679ec | 730 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 731 | float d_x_d_ba3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 732 | float d_y_d_ba3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 733 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 734 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 735 | } else { |
Lightvalve | 173:68c7914679ec | 736 | |
Lightvalve | 177:8e9cf31d63f4 | 737 | d_x_d_ba3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 738 | d_y_d_ba3 = 1.0f; |
Lightvalve | 173:68c7914679ec | 739 | |
Lightvalve | 173:68c7914679ec | 740 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 741 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 742 | d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3; |
Lightvalve | 177:8e9cf31d63f4 | 743 | d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3; |
Lightvalve | 173:68c7914679ec | 744 | |
Lightvalve | 173:68c7914679ec | 745 | G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 173:68c7914679ec | 746 | } |
Lightvalve | 173:68c7914679ec | 747 | } |
Lightvalve | 176:589ea3edcf3c | 748 | G_ba3[index2] = -G_ba3[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 749 | if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 750 | else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 751 | //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 175:2f7289dbd488 | 752 | } |
Lightvalve | 177:8e9cf31d63f4 | 753 | |
Lightvalve | 175:2f7289dbd488 | 754 | // Simultaneous Update |
Lightvalve | 175:2f7289dbd488 | 755 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 175:2f7289dbd488 | 756 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 757 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 758 | } |
Lightvalve | 179:d5377766d7ea | 759 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 175:2f7289dbd488 | 760 | } |
Lightvalve | 175:2f7289dbd488 | 761 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 762 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 763 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 764 | } |
Lightvalve | 179:d5377766d7ea | 765 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 175:2f7289dbd488 | 766 | } |
Lightvalve | 175:2f7289dbd488 | 767 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 768 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 769 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 770 | } |
Lightvalve | 179:d5377766d7ea | 771 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 772 | } |
Lightvalve | 170:42c938a40313 | 773 | } |
Lightvalve | 170:42c938a40313 | 774 | |
Lightvalve | 170:42c938a40313 | 775 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 776 | { |
Lightvalve | 170:42c938a40313 | 777 | //Box muller method |
Lightvalve | 170:42c938a40313 | 778 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 779 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 780 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 781 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 782 | do { |
Lightvalve | 170:42c938a40313 | 783 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 784 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 785 | |
Lightvalve | 170:42c938a40313 | 786 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 787 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 788 | { |
Lightvalve | 170:42c938a40313 | 789 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 790 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 791 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 792 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 793 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 794 | return result; |
Lightvalve | 170:42c938a40313 | 795 | } |
Lightvalve | 170:42c938a40313 | 796 | } else { |
Lightvalve | 170:42c938a40313 | 797 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 798 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 799 | } |
Lightvalve | 170:42c938a40313 | 800 | } |
Lightvalve | 170:42c938a40313 | 801 | |
Lightvalve | 179:d5377766d7ea | 802 | float mean_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 803 | { |
Lightvalve | 179:d5377766d7ea | 804 | float add = 0.0f; |
Lightvalve | 179:d5377766d7ea | 805 | float result; |
Lightvalve | 179:d5377766d7ea | 806 | |
Lightvalve | 179:d5377766d7ea | 807 | for (int i=0; i<size; i++) |
Lightvalve | 179:d5377766d7ea | 808 | { |
Lightvalve | 179:d5377766d7ea | 809 | add += x[i]; |
Lightvalve | 179:d5377766d7ea | 810 | } |
Lightvalve | 179:d5377766d7ea | 811 | result = (float) add/size; |
Lightvalve | 179:d5377766d7ea | 812 | return result; |
Lightvalve | 179:d5377766d7ea | 813 | } |
Lightvalve | 179:d5377766d7ea | 814 | float deviation_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 815 | { |
Lightvalve | 179:d5377766d7ea | 816 | float sigma = 0.0f; |
Lightvalve | 179:d5377766d7ea | 817 | float resultDeb = 0.0f; |
Lightvalve | 179:d5377766d7ea | 818 | |
Lightvalve | 179:d5377766d7ea | 819 | for (int k=0; k<size; k++) |
Lightvalve | 179:d5377766d7ea | 820 | { |
Lightvalve | 179:d5377766d7ea | 821 | sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1); |
Lightvalve | 179:d5377766d7ea | 822 | resultDeb += sqrt(sigma); |
Lightvalve | 179:d5377766d7ea | 823 | } |
Lightvalve | 179:d5377766d7ea | 824 | return resultDeb; |
Lightvalve | 179:d5377766d7ea | 825 | } |
Lightvalve | 179:d5377766d7ea | 826 | |
Lightvalve | 173:68c7914679ec | 827 | |
Lightvalve | 170:42c938a40313 | 828 | void Overwirte_Critic_Networks() |
Lightvalve | 170:42c938a40313 | 829 | { |
Lightvalve | 173:68c7914679ec | 830 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 831 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 832 | hc1[index1][index2] = hc1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 833 | } |
Lightvalve | 170:42c938a40313 | 834 | bc1[index2] = bc1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 835 | } |
Lightvalve | 173:68c7914679ec | 836 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 837 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 838 | hc2[index1][index2] = hc2_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 839 | } |
Lightvalve | 173:68c7914679ec | 840 | bc2[index2] = bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 841 | hc3[index2] = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 842 | } |
Lightvalve | 173:68c7914679ec | 843 | bc3 = bc3_temp; |
Lightvalve | 170:42c938a40313 | 844 | } |
Lightvalve | 170:42c938a40313 | 845 | void Overwirte_Actor_Networks() |
Lightvalve | 170:42c938a40313 | 846 | { |
Lightvalve | 173:68c7914679ec | 847 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 848 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 849 | ha1[index1][index2] = ha1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 850 | } |
Lightvalve | 170:42c938a40313 | 851 | ba1[index2] = ba1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 852 | } |
Lightvalve | 173:68c7914679ec | 853 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 854 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 170:42c938a40313 | 855 | ha2[index1][index2] = ha2_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 856 | } |
Lightvalve | 170:42c938a40313 | 857 | ba2[index2] = ba2_temp[index2]; |
Lightvalve | 170:42c938a40313 | 858 | } |
Lightvalve | 173:68c7914679ec | 859 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 860 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 861 | ha3[index1][index2] = ha3_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 862 | } |
Lightvalve | 173:68c7914679ec | 863 | ba3[index2] = ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 864 | } |
Lightvalve | 170:42c938a40313 | 865 | } |
Lightvalve | 170:42c938a40313 | 866 | |
Lightvalve | 170:42c938a40313 | 867 | |
GiJeongKim | 0:51c43836c1d7 | 868 | int main() |
GiJeongKim | 0:51c43836c1d7 | 869 | { |
Lightvalve | 66:a8e6799dbce3 | 870 | |
Lightvalve | 65:a2d7c63419c2 | 871 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 872 | SystemClock_Config(); |
Lightvalve | 169:645207e160ca | 873 | |
jobuuu | 6:df07d3491e3a | 874 | /********************************* |
jobuuu | 1:e04e563be5ce | 875 | *** Initialization |
jobuuu | 6:df07d3491e3a | 876 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 877 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 878 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 879 | |
GiJeongKim | 0:51c43836c1d7 | 880 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 881 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 882 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 883 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 884 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 885 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 886 | |
GiJeongKim | 0:51c43836c1d7 | 887 | // // spi init |
Lightvalve | 170:42c938a40313 | 888 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 889 | eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 890 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 891 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 892 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 893 | |
Lightvalve | 16:903b5a4433b4 | 894 | //rom |
Lightvalve | 19:23b7c1ad8683 | 895 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 896 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 897 | |
GiJeongKim | 0:51c43836c1d7 | 898 | // ADC init |
jobuuu | 5:a4319f79457b | 899 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 900 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 901 | |
GiJeongKim | 0:51c43836c1d7 | 902 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 903 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 904 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 905 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 906 | |
Lightvalve | 11:82d8768d7351 | 907 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 908 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 909 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 910 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 911 | |
Lightvalve | 50:3c630b5eba9f | 912 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 913 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 914 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 915 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 916 | |
GiJeongKim | 0:51c43836c1d7 | 917 | // CAN |
jobuuu | 2:a1c0a37df760 | 918 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 919 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 920 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 921 | |
Lightvalve | 23:59218d4a256d | 922 | //Timer priority |
Lightvalve | 23:59218d4a256d | 923 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 924 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 925 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 926 | |
Lightvalve | 23:59218d4a256d | 927 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 928 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 929 | |
GiJeongKim | 0:51c43836c1d7 | 930 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 931 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 932 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 933 | |
Lightvalve | 11:82d8768d7351 | 934 | //DAC init |
Lightvalve | 58:2eade98630e2 | 935 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 936 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 937 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 938 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 939 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 940 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 941 | } |
Lightvalve | 11:82d8768d7351 | 942 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 943 | |
Lightvalve | 19:23b7c1ad8683 | 944 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 945 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 946 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 947 | else |
Lightvalve | 38:118df027d851 | 948 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 949 | } |
Lightvalve | 169:645207e160ca | 950 | |
Lightvalve | 173:68c7914679ec | 951 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 952 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 953 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; |
Lightvalve | 170:42c938a40313 | 954 | } |
Lightvalve | 179:d5377766d7ea | 955 | bc1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 956 | } |
Lightvalve | 173:68c7914679ec | 957 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 958 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 959 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 960 | } |
Lightvalve | 179:d5377766d7ea | 961 | bc2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 179:d5377766d7ea | 962 | hc3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 963 | } |
Lightvalve | 179:d5377766d7ea | 964 | bc3_temp = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 965 | |
Lightvalve | 173:68c7914679ec | 966 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 967 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 968 | ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 969 | } |
Lightvalve | 179:d5377766d7ea | 970 | ba1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 971 | } |
Lightvalve | 173:68c7914679ec | 972 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 973 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 974 | ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 975 | } |
Lightvalve | 179:d5377766d7ea | 976 | ba2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 977 | } |
Lightvalve | 170:42c938a40313 | 978 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 979 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 980 | ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 981 | } |
Lightvalve | 179:d5377766d7ea | 982 | ba3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 983 | } |
Lightvalve | 171:bfc1fd2629d8 | 984 | |
Lightvalve | 170:42c938a40313 | 985 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 986 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 987 | |
jobuuu | 6:df07d3491e3a | 988 | /************************************ |
jobuuu | 1:e04e563be5ce | 989 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 990 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 991 | while(1) { |
Lightvalve | 169:645207e160ca | 992 | |
Lightvalve | 171:bfc1fd2629d8 | 993 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 994 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 995 | // 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 | 996 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 997 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 998 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 999 | // } |
Lightvalve | 169:645207e160ca | 1000 | |
Lightvalve | 171:bfc1fd2629d8 | 1001 | |
Lightvalve | 171:bfc1fd2629d8 | 1002 | //i2c |
Lightvalve | 180:02be1711ee0b | 1003 | read_field(i2c_slave_addr1); |
Lightvalve | 180:02be1711ee0b | 1004 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 1005 | |
Lightvalve | 177:8e9cf31d63f4 | 1006 | //timer_while ++; |
Lightvalve | 169:645207e160ca | 1007 | |
Lightvalve | 170:42c938a40313 | 1008 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1009 | |
Lightvalve | 73:f80dc3970c99 | 1010 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1011 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1012 | } |
Lightvalve | 169:645207e160ca | 1013 | |
Lightvalve | 73:f80dc3970c99 | 1014 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1015 | |
Lightvalve | 162:9dd4f35e9de8 | 1016 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1017 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1018 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1019 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1020 | } |
Lightvalve | 162:9dd4f35e9de8 | 1021 | |
Lightvalve | 162:9dd4f35e9de8 | 1022 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1023 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1024 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1025 | } |
Lightvalve | 162:9dd4f35e9de8 | 1026 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1027 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1028 | |
Lightvalve | 162:9dd4f35e9de8 | 1029 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1030 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1031 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1032 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1033 | |
Lightvalve | 162:9dd4f35e9de8 | 1034 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 193:4b5e617b8481 | 1035 | input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1036 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1037 | } |
Lightvalve | 193:4b5e617b8481 | 1038 | input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1039 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1040 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 206:2e4d0c287578 | 1041 | input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; |
Lightvalve | 206:2e4d0c287578 | 1042 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1043 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1044 | } |
Lightvalve | 169:645207e160ca | 1045 | |
Lightvalve | 112:8dcb1600cb90 | 1046 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1047 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1048 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1049 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1050 | |
Lightvalve | 112:8dcb1600cb90 | 1051 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1052 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1053 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1054 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1055 | } |
Lightvalve | 66:a8e6799dbce3 | 1056 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1057 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1058 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1059 | } |
Lightvalve | 66:a8e6799dbce3 | 1060 | } |
Lightvalve | 65:a2d7c63419c2 | 1061 | |
Lightvalve | 112:8dcb1600cb90 | 1062 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1063 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1064 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1065 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1066 | } |
Lightvalve | 66:a8e6799dbce3 | 1067 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1068 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1069 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1070 | } |
Lightvalve | 66:a8e6799dbce3 | 1071 | } |
Lightvalve | 65:a2d7c63419c2 | 1072 | |
Lightvalve | 112:8dcb1600cb90 | 1073 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1074 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1075 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1076 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1077 | } |
Lightvalve | 66:a8e6799dbce3 | 1078 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1079 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1080 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1081 | } |
Lightvalve | 65:a2d7c63419c2 | 1082 | } |
Lightvalve | 66:a8e6799dbce3 | 1083 | |
Lightvalve | 66:a8e6799dbce3 | 1084 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1085 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1086 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1087 | } |
Lightvalve | 66:a8e6799dbce3 | 1088 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1089 | |
Lightvalve | 66:a8e6799dbce3 | 1090 | } |
Lightvalve | 73:f80dc3970c99 | 1091 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1092 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1093 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1094 | |
Lightvalve | 66:a8e6799dbce3 | 1095 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1096 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1097 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1098 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1099 | } |
Lightvalve | 87:471334725012 | 1100 | |
Lightvalve | 169:645207e160ca | 1101 | |
Lightvalve | 69:3995ffeaa786 | 1102 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1103 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1104 | } else |
Lightvalve | 69:3995ffeaa786 | 1105 | LED = 1; |
Lightvalve | 169:645207e160ca | 1106 | |
Lightvalve | 65:a2d7c63419c2 | 1107 | } |
Lightvalve | 171:bfc1fd2629d8 | 1108 | |
Lightvalve | 171:bfc1fd2629d8 | 1109 | |
Lightvalve | 170:42c938a40313 | 1110 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1111 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1112 | case 0: { |
Lightvalve | 170:42c938a40313 | 1113 | break; |
Lightvalve | 170:42c938a40313 | 1114 | } |
Lightvalve | 170:42c938a40313 | 1115 | case 1: { |
Lightvalve | 170:42c938a40313 | 1116 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1117 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1118 | float loss_sum = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1119 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 170:42c938a40313 | 1120 | //Calculate Estimated V |
Lightvalve | 175:2f7289dbd488 | 1121 | //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; |
Lightvalve | 175:2f7289dbd488 | 1122 | float temp_array[2] = {state_array[n][0], state_array[n][1]}; |
Lightvalve | 175:2f7289dbd488 | 1123 | V[n] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1124 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 175:2f7289dbd488 | 1125 | hx_c_sum_array[n][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1126 | } |
Lightvalve | 173:68c7914679ec | 1127 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 175:2f7289dbd488 | 1128 | hxh_c_sum_array[n][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1129 | } |
Lightvalve | 175:2f7289dbd488 | 1130 | hxhh_c_sum_array[n] = hxhh_c_sum; |
Lightvalve | 177:8e9cf31d63f4 | 1131 | |
Lightvalve | 175:2f7289dbd488 | 1132 | pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]); |
Lightvalve | 170:42c938a40313 | 1133 | Actor_Network_Old(temp_array); |
Lightvalve | 175:2f7289dbd488 | 1134 | pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old); |
Lightvalve | 179:d5377766d7ea | 1135 | r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); |
Lightvalve | 175:2f7289dbd488 | 1136 | if(n == batch_size-1) return_G[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1137 | else return_G[n] = gamma * return_G[n+1] + r[n]; |
Lightvalve | 175:2f7289dbd488 | 1138 | if(n == batch_size-1) td_target[n] = r[n]; |
Lightvalve | 175:2f7289dbd488 | 1139 | else td_target[n] = r[n] + gamma * V[n+1]; |
Lightvalve | 175:2f7289dbd488 | 1140 | delta[n] = td_target[n] - V[n]; |
Lightvalve | 175:2f7289dbd488 | 1141 | if(n == batch_size-1) advantage[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1142 | else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; |
Lightvalve | 179:d5377766d7ea | 1143 | // return_G[n] = advantage[n] + V[n]; |
Lightvalve | 175:2f7289dbd488 | 1144 | ratio[n] = pi[n]/pi_old[n]; |
Lightvalve | 179:d5377766d7ea | 1145 | } |
Lightvalve | 179:d5377766d7ea | 1146 | float mean_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1147 | float dev_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1148 | mean_advantage = mean_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1149 | dev_advantage = deviation_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1150 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 179:d5377766d7ea | 1151 | //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; |
Lightvalve | 175:2f7289dbd488 | 1152 | surr1[n] = ratio[n] * advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1153 | if (ratio[n] > 1.0f + epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1154 | surr2[n] = (1.0f + epsilon)*advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1155 | } else if( ratio[n] < 1.0f - epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1156 | surr2[n] = (1.0f - epsilon)*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1157 | } else { |
Lightvalve | 175:2f7289dbd488 | 1158 | surr2[n] = ratio[n]*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1159 | } |
Lightvalve | 175:2f7289dbd488 | 1160 | loss[n] = -min(surr1[n], surr2[n]); |
Lightvalve | 175:2f7289dbd488 | 1161 | loss_sum = loss_sum + loss[n]; |
Lightvalve | 170:42c938a40313 | 1162 | } |
Lightvalve | 170:42c938a40313 | 1163 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1164 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1165 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1166 | } |
Lightvalve | 170:42c938a40313 | 1167 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1168 | |
Lightvalve | 171:bfc1fd2629d8 | 1169 | |
Lightvalve | 170:42c938a40313 | 1170 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1171 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1172 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1173 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1174 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1175 | } |
Lightvalve | 170:42c938a40313 | 1176 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1177 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1178 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1179 | |
Lightvalve | 170:42c938a40313 | 1180 | break; |
Lightvalve | 170:42c938a40313 | 1181 | } |
Lightvalve | 170:42c938a40313 | 1182 | case 2: { |
Lightvalve | 170:42c938a40313 | 1183 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1184 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1185 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1186 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1187 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1188 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1189 | break; |
Lightvalve | 170:42c938a40313 | 1190 | } |
Lightvalve | 169:645207e160ca | 1191 | |
Lightvalve | 170:42c938a40313 | 1192 | } |
GiJeongKim | 0:51c43836c1d7 | 1193 | } |
jobuuu | 1:e04e563be5ce | 1194 | } |
jobuuu | 1:e04e563be5ce | 1195 | |
Lightvalve | 33:91b17819ec30 | 1196 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1197 | { |
Lightvalve | 14:8e7590227d22 | 1198 | |
Lightvalve | 13:747daba9cf59 | 1199 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1200 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1201 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1202 | if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) { |
Lightvalve | 14:8e7590227d22 | 1203 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1204 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1205 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1206 | } else { |
Lightvalve | 57:f4819de54e7a | 1207 | Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; |
Lightvalve | 38:118df027d851 | 1208 | } |
Lightvalve | 14:8e7590227d22 | 1209 | } else { |
Lightvalve | 50:3c630b5eba9f | 1210 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1211 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1212 | } else { |
Lightvalve | 57:f4819de54e7a | 1213 | Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]); |
Lightvalve | 38:118df027d851 | 1214 | } |
Lightvalve | 13:747daba9cf59 | 1215 | } |
Lightvalve | 13:747daba9cf59 | 1216 | break; |
Lightvalve | 13:747daba9cf59 | 1217 | } |
Lightvalve | 13:747daba9cf59 | 1218 | } |
Lightvalve | 14:8e7590227d22 | 1219 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1220 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1221 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1222 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1223 | } |
Lightvalve | 36:a46e63505ed8 | 1224 | |
Lightvalve | 57:f4819de54e7a | 1225 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1226 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1227 | |
Lightvalve | 13:747daba9cf59 | 1228 | } |
jobuuu | 6:df07d3491e3a | 1229 | |
jobuuu | 6:df07d3491e3a | 1230 | |
Lightvalve | 30:8d561f16383b | 1231 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1232 | { |
Lightvalve | 13:747daba9cf59 | 1233 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1234 | |
Lightvalve | 38:118df027d851 | 1235 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1236 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1237 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1238 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1239 | } |
Lightvalve | 38:118df027d851 | 1240 | |
Lightvalve | 89:a7b45368ea0f | 1241 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1242 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1243 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1244 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1245 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1246 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1247 | |
Lightvalve | 13:747daba9cf59 | 1248 | VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff; |
Lightvalve | 14:8e7590227d22 | 1249 | |
Lightvalve | 18:b8adf1582ea3 | 1250 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1251 | if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { |
Lightvalve | 14:8e7590227d22 | 1252 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1253 | VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); |
Lightvalve | 14:8e7590227d22 | 1254 | } else { |
Lightvalve | 48:889798ff9329 | 1255 | VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1]; |
Lightvalve | 13:747daba9cf59 | 1256 | } |
Lightvalve | 13:747daba9cf59 | 1257 | break; |
Lightvalve | 13:747daba9cf59 | 1258 | } |
Lightvalve | 13:747daba9cf59 | 1259 | } |
Lightvalve | 59:f308b1656d9c | 1260 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1261 | } |
Lightvalve | 13:747daba9cf59 | 1262 | |
Lightvalve | 14:8e7590227d22 | 1263 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1264 | float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1265 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1266 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1267 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1268 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1269 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1270 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1271 | float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, |
Lightvalve | 67:c2812cf26c38 | 1272 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1273 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1274 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1275 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1276 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1277 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1278 | |
Lightvalve | 30:8d561f16383b | 1279 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1280 | { |
Lightvalve | 30:8d561f16383b | 1281 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1282 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1283 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1284 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1285 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1286 | } else { |
Lightvalve | 13:747daba9cf59 | 1287 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1288 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1289 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1290 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1291 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1292 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1293 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1294 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1295 | break; |
Lightvalve | 13:747daba9cf59 | 1296 | } |
Lightvalve | 13:747daba9cf59 | 1297 | } |
Lightvalve | 13:747daba9cf59 | 1298 | } |
Lightvalve | 14:8e7590227d22 | 1299 | |
Lightvalve | 13:747daba9cf59 | 1300 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1301 | } |
jobuuu | 6:df07d3491e3a | 1302 | |
Lightvalve | 57:f4819de54e7a | 1303 | |
Lightvalve | 57:f4819de54e7a | 1304 | |
Lightvalve | 57:f4819de54e7a | 1305 | |
Lightvalve | 57:f4819de54e7a | 1306 | |
jobuuu | 2:a1c0a37df760 | 1307 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1308 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1309 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1310 | |
Lightvalve | 51:b46bed7fec80 | 1311 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1312 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1313 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1314 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1315 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1316 | { |
Lightvalve | 19:23b7c1ad8683 | 1317 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1318 | |
Lightvalve | 21:e5f1a43ea6f9 | 1319 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1320 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1321 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1322 | |
Lightvalve | 57:f4819de54e7a | 1323 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1324 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1325 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1326 | } |
Lightvalve | 61:bc8c8270f0ab | 1327 | |
Lightvalve | 61:bc8c8270f0ab | 1328 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1329 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1330 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1331 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1332 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1333 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 1334 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1335 | |
Lightvalve | 67:c2812cf26c38 | 1336 | |
Lightvalve | 67:c2812cf26c38 | 1337 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1338 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1339 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1340 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1341 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1342 | |
Lightvalve | 17:1865016ca2e7 | 1343 | |
Lightvalve | 58:2eade98630e2 | 1344 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1345 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1346 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1347 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1348 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1349 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1350 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1351 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1352 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1353 | |
Lightvalve | 58:2eade98630e2 | 1354 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1355 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm |
Lightvalve | 58:2eade98630e2 | 1356 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1357 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N |
Lightvalve | 58:2eade98630e2 | 1358 | } |
Lightvalve | 58:2eade98630e2 | 1359 | } |
Lightvalve | 61:bc8c8270f0ab | 1360 | |
Lightvalve | 58:2eade98630e2 | 1361 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1362 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1363 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1364 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1365 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1366 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1367 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. |
Lightvalve | 58:2eade98630e2 | 1368 | // |
Lightvalve | 58:2eade98630e2 | 1369 | // |
Lightvalve | 58:2eade98630e2 | 1370 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1371 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1372 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1373 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1374 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1375 | |
Lightvalve | 17:1865016ca2e7 | 1376 | |
Lightvalve | 21:e5f1a43ea6f9 | 1377 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1378 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1379 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1380 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1381 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1382 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1383 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1384 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1385 | |
Lightvalve | 57:f4819de54e7a | 1386 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1387 | } |
Lightvalve | 11:82d8768d7351 | 1388 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1389 | } |
Lightvalve | 19:23b7c1ad8683 | 1390 | |
Lightvalve | 19:23b7c1ad8683 | 1391 | |
Lightvalve | 18:b8adf1582ea3 | 1392 | int j =0; |
Lightvalve | 54:647072f5307a | 1393 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1394 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1395 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1396 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1397 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 1398 | |
Lightvalve | 11:82d8768d7351 | 1399 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1400 | { |
Lightvalve | 19:23b7c1ad8683 | 1401 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1402 | |
Lightvalve | 57:f4819de54e7a | 1403 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1404 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1405 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1406 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1407 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1408 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1409 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1410 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1411 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1412 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1413 | } |
Lightvalve | 50:3c630b5eba9f | 1414 | |
Lightvalve | 50:3c630b5eba9f | 1415 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1416 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1417 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1418 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1419 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1420 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1421 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1422 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1423 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1424 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1425 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1426 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1427 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1428 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1429 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1430 | } else { |
Lightvalve | 58:2eade98630e2 | 1431 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1432 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1433 | } |
Lightvalve | 45:35fa6884d0c6 | 1434 | |
Lightvalve | 50:3c630b5eba9f | 1435 | |
Lightvalve | 57:f4819de54e7a | 1436 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1437 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1438 | |
Lightvalve | 57:f4819de54e7a | 1439 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1440 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1441 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1442 | } else { |
Lightvalve | 57:f4819de54e7a | 1443 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1444 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1445 | } |
Lightvalve | 56:6f50d9d3bfee | 1446 | |
Lightvalve | 56:6f50d9d3bfee | 1447 | |
Lightvalve | 56:6f50d9d3bfee | 1448 | |
Lightvalve | 57:f4819de54e7a | 1449 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1450 | |
Lightvalve | 57:f4819de54e7a | 1451 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1452 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1453 | break; |
Lightvalve | 13:747daba9cf59 | 1454 | } |
Lightvalve | 14:8e7590227d22 | 1455 | |
Lightvalve | 14:8e7590227d22 | 1456 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1457 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1458 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1459 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1460 | |
Lightvalve | 14:8e7590227d22 | 1461 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1462 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1463 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1464 | |
Lightvalve | 84:c355d3e52bf1 | 1465 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1466 | |
Lightvalve | 30:8d561f16383b | 1467 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1468 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1469 | |
Lightvalve | 16:903b5a4433b4 | 1470 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1471 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1472 | } |
Lightvalve | 13:747daba9cf59 | 1473 | } else { |
Lightvalve | 58:2eade98630e2 | 1474 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1475 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1476 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1477 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1478 | |
Lightvalve | 170:42c938a40313 | 1479 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1480 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1481 | |
Lightvalve | 30:8d561f16383b | 1482 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1483 | |
Lightvalve | 13:747daba9cf59 | 1484 | } |
Lightvalve | 14:8e7590227d22 | 1485 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1486 | break; |
Lightvalve | 19:23b7c1ad8683 | 1487 | } |
Lightvalve | 14:8e7590227d22 | 1488 | |
Lightvalve | 50:3c630b5eba9f | 1489 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1490 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1491 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1492 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1493 | // } |
Lightvalve | 50:3c630b5eba9f | 1494 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1495 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1496 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1497 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1498 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1499 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1500 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1501 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1502 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1503 | // } |
Lightvalve | 50:3c630b5eba9f | 1504 | // |
Lightvalve | 50:3c630b5eba9f | 1505 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1506 | // 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 | 1507 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1508 | // |
Lightvalve | 50:3c630b5eba9f | 1509 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1510 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1511 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1512 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1513 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1514 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1515 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1516 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1517 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1518 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1519 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1520 | // |
Lightvalve | 50:3c630b5eba9f | 1521 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1522 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1523 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1524 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1525 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1526 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1527 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1528 | // |
Lightvalve | 50:3c630b5eba9f | 1529 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1530 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1531 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1532 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1533 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1534 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1535 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1536 | // } |
Lightvalve | 50:3c630b5eba9f | 1537 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1538 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1539 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1540 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1541 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1542 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1543 | // } |
Lightvalve | 50:3c630b5eba9f | 1544 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1545 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1546 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1547 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1548 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1549 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1550 | // } |
Lightvalve | 50:3c630b5eba9f | 1551 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1552 | // |
Lightvalve | 50:3c630b5eba9f | 1553 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1554 | // |
Lightvalve | 50:3c630b5eba9f | 1555 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1556 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1557 | // |
Lightvalve | 50:3c630b5eba9f | 1558 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1559 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1560 | // } |
Lightvalve | 50:3c630b5eba9f | 1561 | // } |
Lightvalve | 50:3c630b5eba9f | 1562 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1563 | // break; |
Lightvalve | 50:3c630b5eba9f | 1564 | // } |
Lightvalve | 14:8e7590227d22 | 1565 | |
Lightvalve | 14:8e7590227d22 | 1566 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1567 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1568 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1569 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1570 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1571 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1572 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1573 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1574 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1575 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1576 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1577 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1578 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1579 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1580 | } |
Lightvalve | 29:69f3f5445d6d | 1581 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1582 | |
Lightvalve | 29:69f3f5445d6d | 1583 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1584 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1585 | } else { |
Lightvalve | 29:69f3f5445d6d | 1586 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1587 | } |
Lightvalve | 19:23b7c1ad8683 | 1588 | |
Lightvalve | 57:f4819de54e7a | 1589 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1590 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1591 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1592 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1593 | |
Lightvalve | 59:f308b1656d9c | 1594 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1595 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1596 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1597 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1598 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1599 | |
Lightvalve | 59:f308b1656d9c | 1600 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1601 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1602 | |
Lightvalve | 34:bb2ca2fc2a8e | 1603 | |
Lightvalve | 29:69f3f5445d6d | 1604 | } else { |
Lightvalve | 29:69f3f5445d6d | 1605 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1606 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1607 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1608 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1609 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1610 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1611 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1612 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1613 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1614 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1615 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1616 | |
Lightvalve | 67:c2812cf26c38 | 1617 | |
Lightvalve | 67:c2812cf26c38 | 1618 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1619 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1620 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1621 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1622 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1623 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1624 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1625 | |
Lightvalve | 169:645207e160ca | 1626 | |
Lightvalve | 29:69f3f5445d6d | 1627 | } |
Lightvalve | 29:69f3f5445d6d | 1628 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1629 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1630 | 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 | 1631 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1632 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1633 | |
Lightvalve | 29:69f3f5445d6d | 1634 | // input for position control |
Lightvalve | 169:645207e160ca | 1635 | |
Lightvalve | 67:c2812cf26c38 | 1636 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1637 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1638 | |
Lightvalve | 67:c2812cf26c38 | 1639 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1640 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1641 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1642 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1643 | |
Lightvalve | 67:c2812cf26c38 | 1644 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1645 | |
Lightvalve | 67:c2812cf26c38 | 1646 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1647 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1648 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1649 | |
Lightvalve | 67:c2812cf26c38 | 1650 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1651 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1652 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1653 | |
Lightvalve | 69:3995ffeaa786 | 1654 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1655 | 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 | 1656 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1657 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1658 | 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 | 1659 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1660 | } |
Lightvalve | 67:c2812cf26c38 | 1661 | 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 | 1662 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1663 | |
Lightvalve | 67:c2812cf26c38 | 1664 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1665 | |
Lightvalve | 67:c2812cf26c38 | 1666 | |
Lightvalve | 67:c2812cf26c38 | 1667 | |
Lightvalve | 67:c2812cf26c38 | 1668 | } else { |
Lightvalve | 67:c2812cf26c38 | 1669 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1670 | 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 | 1671 | |
Lightvalve | 67:c2812cf26c38 | 1672 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1673 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1674 | } else { |
Lightvalve | 67:c2812cf26c38 | 1675 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1676 | } |
Lightvalve | 67:c2812cf26c38 | 1677 | |
Lightvalve | 67:c2812cf26c38 | 1678 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1679 | |
Lightvalve | 67:c2812cf26c38 | 1680 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1681 | |
Lightvalve | 67:c2812cf26c38 | 1682 | } |
Lightvalve | 67:c2812cf26c38 | 1683 | |
Lightvalve | 67:c2812cf26c38 | 1684 | |
Lightvalve | 169:645207e160ca | 1685 | |
Lightvalve | 169:645207e160ca | 1686 | |
Lightvalve | 59:f308b1656d9c | 1687 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1688 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1689 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1690 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1691 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1692 | |
Lightvalve | 29:69f3f5445d6d | 1693 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1694 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1695 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1696 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1697 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1698 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1699 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1700 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1701 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1702 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1703 | } |
Lightvalve | 13:747daba9cf59 | 1704 | } |
Lightvalve | 19:23b7c1ad8683 | 1705 | |
Lightvalve | 13:747daba9cf59 | 1706 | break; |
Lightvalve | 13:747daba9cf59 | 1707 | } |
Lightvalve | 14:8e7590227d22 | 1708 | |
Lightvalve | 50:3c630b5eba9f | 1709 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1710 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1711 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1712 | // else { |
Lightvalve | 50:3c630b5eba9f | 1713 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1714 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1715 | // } |
Lightvalve | 50:3c630b5eba9f | 1716 | // } |
Lightvalve | 50:3c630b5eba9f | 1717 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1718 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1719 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1720 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1721 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1722 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1723 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1724 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1725 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1726 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1727 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1728 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1729 | // } |
Lightvalve | 50:3c630b5eba9f | 1730 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1731 | // } |
Lightvalve | 50:3c630b5eba9f | 1732 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1733 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1734 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1735 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1736 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1737 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1738 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1739 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1740 | // 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 | 1741 | // // 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 | 1742 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1743 | // } |
Lightvalve | 50:3c630b5eba9f | 1744 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1745 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1746 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1747 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1748 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1749 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1750 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); |
Lightvalve | 50:3c630b5eba9f | 1751 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1752 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1753 | // } |
Lightvalve | 50:3c630b5eba9f | 1754 | // } |
Lightvalve | 50:3c630b5eba9f | 1755 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1756 | // |
Lightvalve | 50:3c630b5eba9f | 1757 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1758 | // |
Lightvalve | 50:3c630b5eba9f | 1759 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1760 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1761 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1762 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1763 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1764 | // } |
Lightvalve | 50:3c630b5eba9f | 1765 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1766 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1767 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1768 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1769 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1770 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1771 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1772 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1773 | // } |
Lightvalve | 50:3c630b5eba9f | 1774 | // |
Lightvalve | 50:3c630b5eba9f | 1775 | // } |
Lightvalve | 50:3c630b5eba9f | 1776 | // break; |
Lightvalve | 50:3c630b5eba9f | 1777 | // } |
Lightvalve | 50:3c630b5eba9f | 1778 | // |
Lightvalve | 50:3c630b5eba9f | 1779 | // } |
Lightvalve | 14:8e7590227d22 | 1780 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1781 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1782 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1783 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1784 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1785 | |
Lightvalve | 14:8e7590227d22 | 1786 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1787 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1788 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1789 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1790 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1791 | |
Lightvalve | 38:118df027d851 | 1792 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1793 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1794 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1795 | |
Lightvalve | 30:8d561f16383b | 1796 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1797 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1798 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1799 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1800 | |
Lightvalve | 30:8d561f16383b | 1801 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1802 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1803 | } |
Lightvalve | 13:747daba9cf59 | 1804 | } else { |
Lightvalve | 57:f4819de54e7a | 1805 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1806 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1807 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1808 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1809 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1810 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1811 | |
Lightvalve | 170:42c938a40313 | 1812 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1813 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1814 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1815 | |
Lightvalve | 30:8d561f16383b | 1816 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1817 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1818 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1819 | } |
Lightvalve | 14:8e7590227d22 | 1820 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1821 | break; |
Lightvalve | 13:747daba9cf59 | 1822 | } |
Lightvalve | 14:8e7590227d22 | 1823 | |
Lightvalve | 50:3c630b5eba9f | 1824 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1825 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1826 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1827 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1828 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1829 | // } |
Lightvalve | 50:3c630b5eba9f | 1830 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1831 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1832 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1833 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1834 | // } |
Lightvalve | 50:3c630b5eba9f | 1835 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1836 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1837 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1838 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1839 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1840 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1841 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1842 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1843 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1844 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1845 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1846 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1847 | // |
Lightvalve | 50:3c630b5eba9f | 1848 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1849 | // |
Lightvalve | 50:3c630b5eba9f | 1850 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1851 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1852 | // } |
Lightvalve | 50:3c630b5eba9f | 1853 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1854 | // break; |
Lightvalve | 50:3c630b5eba9f | 1855 | // } |
Lightvalve | 19:23b7c1ad8683 | 1856 | |
Lightvalve | 50:3c630b5eba9f | 1857 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1858 | // 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 | 1859 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1860 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1861 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1862 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1863 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1864 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1865 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1866 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1867 | // } |
Lightvalve | 50:3c630b5eba9f | 1868 | // break; |
Lightvalve | 50:3c630b5eba9f | 1869 | // } |
Lightvalve | 14:8e7590227d22 | 1870 | |
Lightvalve | 14:8e7590227d22 | 1871 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1872 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1873 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1874 | |
Lightvalve | 14:8e7590227d22 | 1875 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1876 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1877 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1878 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1879 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1880 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1881 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1882 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1883 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1884 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1885 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1886 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1887 | } else { |
Lightvalve | 13:747daba9cf59 | 1888 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1889 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1890 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1891 | } |
Lightvalve | 14:8e7590227d22 | 1892 | |
Lightvalve | 17:1865016ca2e7 | 1893 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1894 | int i; |
Lightvalve | 13:747daba9cf59 | 1895 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1896 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1897 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1898 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1899 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1900 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1901 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1902 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1903 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1904 | } |
Lightvalve | 13:747daba9cf59 | 1905 | } |
Lightvalve | 170:42c938a40313 | 1906 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1907 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1908 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1909 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1910 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1911 | } |
Lightvalve | 13:747daba9cf59 | 1912 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1913 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1914 | } |
Lightvalve | 14:8e7590227d22 | 1915 | |
Lightvalve | 14:8e7590227d22 | 1916 | |
Lightvalve | 13:747daba9cf59 | 1917 | break; |
Lightvalve | 13:747daba9cf59 | 1918 | } |
Lightvalve | 14:8e7590227d22 | 1919 | |
Lightvalve | 14:8e7590227d22 | 1920 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1921 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1922 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1923 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1924 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1925 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1926 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1927 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1928 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1929 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1930 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1931 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1932 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1933 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1934 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1935 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 30:8d561f16383b | 1936 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1937 | 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 | 1938 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1939 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1940 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1941 | 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 | 1942 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1943 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1944 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1945 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1946 | |
Lightvalve | 30:8d561f16383b | 1947 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1948 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1949 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1950 | |
Lightvalve | 30:8d561f16383b | 1951 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1952 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1953 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1954 | |
Lightvalve | 30:8d561f16383b | 1955 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1956 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1957 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1958 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1959 | |
Lightvalve | 60:64181f1d3e60 | 1960 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1961 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1962 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1963 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1964 | } else { |
Lightvalve | 13:747daba9cf59 | 1965 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1966 | } |
Lightvalve | 61:bc8c8270f0ab | 1967 | |
Lightvalve | 60:64181f1d3e60 | 1968 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1969 | |
Lightvalve | 13:747daba9cf59 | 1970 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1971 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1972 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1973 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1974 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1975 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1976 | |
Lightvalve | 13:747daba9cf59 | 1977 | } |
Lightvalve | 19:23b7c1ad8683 | 1978 | } else { |
Lightvalve | 14:8e7590227d22 | 1979 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1980 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1981 | 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 | 1982 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1983 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1984 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1985 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1986 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1987 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1988 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1989 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1990 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1991 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1992 | } |
Lightvalve | 14:8e7590227d22 | 1993 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1994 | |
Lightvalve | 30:8d561f16383b | 1995 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1996 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1997 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1998 | |
Lightvalve | 14:8e7590227d22 | 1999 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2000 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2001 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2002 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2003 | } else { |
Lightvalve | 13:747daba9cf59 | 2004 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2005 | } |
Lightvalve | 14:8e7590227d22 | 2006 | |
Lightvalve | 13:747daba9cf59 | 2007 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2008 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2009 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2010 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2011 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2012 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2013 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2014 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2015 | } |
Lightvalve | 13:747daba9cf59 | 2016 | } |
Lightvalve | 14:8e7590227d22 | 2017 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2018 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2019 | 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 | 2020 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2021 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2022 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2023 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2024 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2025 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2026 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2027 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2028 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2029 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2030 | } |
Lightvalve | 14:8e7590227d22 | 2031 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2032 | |
Lightvalve | 30:8d561f16383b | 2033 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2034 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2035 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2036 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2037 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2038 | |
Lightvalve | 14:8e7590227d22 | 2039 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2040 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2041 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2042 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2043 | } else { |
Lightvalve | 60:64181f1d3e60 | 2044 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2045 | } |
Lightvalve | 14:8e7590227d22 | 2046 | |
Lightvalve | 13:747daba9cf59 | 2047 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2048 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2049 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2050 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2051 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2052 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2053 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2054 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2055 | |
Lightvalve | 170:42c938a40313 | 2056 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2057 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2058 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2059 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2060 | |
Lightvalve | 60:64181f1d3e60 | 2061 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2062 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2063 | } |
Lightvalve | 13:747daba9cf59 | 2064 | } |
Lightvalve | 14:8e7590227d22 | 2065 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2066 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2067 | 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 | 2068 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2069 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2070 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2071 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2072 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2073 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2074 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2075 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2076 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2077 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2078 | } |
Lightvalve | 14:8e7590227d22 | 2079 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2080 | |
Lightvalve | 30:8d561f16383b | 2081 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2082 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2083 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2084 | |
Lightvalve | 14:8e7590227d22 | 2085 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2086 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2087 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2088 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2089 | } else { |
Lightvalve | 13:747daba9cf59 | 2090 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2091 | } |
Lightvalve | 13:747daba9cf59 | 2092 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2093 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2094 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2095 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2096 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2097 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2098 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2099 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2100 | } |
Lightvalve | 13:747daba9cf59 | 2101 | } |
Lightvalve | 14:8e7590227d22 | 2102 | } else { |
Lightvalve | 30:8d561f16383b | 2103 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2104 | 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 | 2105 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2106 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2107 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2108 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2109 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2110 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2111 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2112 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2113 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2114 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2115 | } |
Lightvalve | 14:8e7590227d22 | 2116 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2117 | |
Lightvalve | 30:8d561f16383b | 2118 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2119 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2120 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2121 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2122 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2123 | |
Lightvalve | 60:64181f1d3e60 | 2124 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2125 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2126 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2127 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2128 | } else { |
Lightvalve | 13:747daba9cf59 | 2129 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2130 | } |
Lightvalve | 14:8e7590227d22 | 2131 | |
Lightvalve | 13:747daba9cf59 | 2132 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2133 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2134 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2135 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2136 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2137 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2138 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2139 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2140 | |
Lightvalve | 170:42c938a40313 | 2141 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2142 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2143 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2144 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2145 | |
Lightvalve | 57:f4819de54e7a | 2146 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2147 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2148 | } |
Lightvalve | 13:747daba9cf59 | 2149 | } |
Lightvalve | 13:747daba9cf59 | 2150 | } |
Lightvalve | 14:8e7590227d22 | 2151 | } |
Lightvalve | 13:747daba9cf59 | 2152 | break; |
Lightvalve | 13:747daba9cf59 | 2153 | } |
Lightvalve | 14:8e7590227d22 | 2154 | |
Lightvalve | 14:8e7590227d22 | 2155 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2156 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2157 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2158 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2159 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2160 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2161 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2162 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2163 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2164 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2165 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2166 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2167 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2168 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2169 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2170 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2171 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2172 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2173 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2174 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2175 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2176 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2177 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2178 | } |
Lightvalve | 14:8e7590227d22 | 2179 | } else { |
Lightvalve | 30:8d561f16383b | 2180 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2181 | //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 | 2182 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2183 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2184 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2185 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2186 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2187 | |
Lightvalve | 14:8e7590227d22 | 2188 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2189 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2190 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2191 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2192 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2193 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2194 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2195 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2196 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2197 | } |
Lightvalve | 30:8d561f16383b | 2198 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2199 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2200 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2201 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2202 | } |
Lightvalve | 14:8e7590227d22 | 2203 | |
Lightvalve | 14:8e7590227d22 | 2204 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2205 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2206 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2207 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2208 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2209 | } |
Lightvalve | 13:747daba9cf59 | 2210 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2211 | |
Lightvalve | 13:747daba9cf59 | 2212 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2213 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2214 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2215 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2216 | } |
Lightvalve | 14:8e7590227d22 | 2217 | |
Lightvalve | 14:8e7590227d22 | 2218 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2219 | |
Lightvalve | 13:747daba9cf59 | 2220 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2221 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2222 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2223 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2224 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2225 | } |
Lightvalve | 13:747daba9cf59 | 2226 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2227 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2228 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2229 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2230 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2231 | } |
Lightvalve | 13:747daba9cf59 | 2232 | } |
Lightvalve | 13:747daba9cf59 | 2233 | break; |
Lightvalve | 13:747daba9cf59 | 2234 | } |
Lightvalve | 58:2eade98630e2 | 2235 | |
Lightvalve | 57:f4819de54e7a | 2236 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2237 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2238 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2239 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2240 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2241 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2242 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2243 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2244 | } |
Lightvalve | 57:f4819de54e7a | 2245 | break; |
Lightvalve | 57:f4819de54e7a | 2246 | } |
Lightvalve | 58:2eade98630e2 | 2247 | |
Lightvalve | 169:645207e160ca | 2248 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2249 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2250 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2251 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2252 | } else { |
Lightvalve | 169:645207e160ca | 2253 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2254 | } |
Lightvalve | 169:645207e160ca | 2255 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2256 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2257 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2258 | } else { |
Lightvalve | 169:645207e160ca | 2259 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2260 | } |
Lightvalve | 58:2eade98630e2 | 2261 | |
Lightvalve | 169:645207e160ca | 2262 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2263 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2264 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2265 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2266 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2267 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2268 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2269 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2270 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2271 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2272 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2273 | } |
Lightvalve | 169:645207e160ca | 2274 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2275 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2276 | |
Lightvalve | 169:645207e160ca | 2277 | } |
Lightvalve | 169:645207e160ca | 2278 | break; |
Lightvalve | 169:645207e160ca | 2279 | } |
Lightvalve | 169:645207e160ca | 2280 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2281 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2282 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2283 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2284 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2285 | // } |
Lightvalve | 169:645207e160ca | 2286 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2287 | // } |
Lightvalve | 169:645207e160ca | 2288 | |
Lightvalve | 169:645207e160ca | 2289 | break; |
Lightvalve | 169:645207e160ca | 2290 | } |
Lightvalve | 169:645207e160ca | 2291 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2292 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2293 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2294 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2295 | break; |
Lightvalve | 169:645207e160ca | 2296 | } |
Lightvalve | 170:42c938a40313 | 2297 | |
Lightvalve | 169:645207e160ca | 2298 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2299 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2300 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2301 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2302 | } else { |
Lightvalve | 169:645207e160ca | 2303 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2304 | } |
Lightvalve | 169:645207e160ca | 2305 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2306 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2307 | } else { |
Lightvalve | 169:645207e160ca | 2308 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2309 | } |
Lightvalve | 169:645207e160ca | 2310 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2311 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2312 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2313 | } else { |
Lightvalve | 169:645207e160ca | 2314 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2315 | } |
Lightvalve | 169:645207e160ca | 2316 | |
Lightvalve | 169:645207e160ca | 2317 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2318 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2319 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2320 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2321 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2322 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2323 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2324 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2325 | } |
Lightvalve | 169:645207e160ca | 2326 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2327 | // { |
Lightvalve | 169:645207e160ca | 2328 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2329 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2330 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2331 | // } |
Lightvalve | 170:42c938a40313 | 2332 | |
Lightvalve | 169:645207e160ca | 2333 | break; |
Lightvalve | 169:645207e160ca | 2334 | } |
Lightvalve | 57:f4819de54e7a | 2335 | |
Lightvalve | 57:f4819de54e7a | 2336 | default: |
Lightvalve | 57:f4819de54e7a | 2337 | break; |
Lightvalve | 57:f4819de54e7a | 2338 | } |
Lightvalve | 57:f4819de54e7a | 2339 | |
Lightvalve | 57:f4819de54e7a | 2340 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2341 | |
Lightvalve | 57:f4819de54e7a | 2342 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2343 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2344 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2345 | break; |
Lightvalve | 57:f4819de54e7a | 2346 | } |
Lightvalve | 57:f4819de54e7a | 2347 | |
Lightvalve | 57:f4819de54e7a | 2348 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2349 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 2350 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 2351 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2352 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2353 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2354 | } else { |
Lightvalve | 67:c2812cf26c38 | 2355 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2356 | } |
Lightvalve | 57:f4819de54e7a | 2357 | break; |
Lightvalve | 57:f4819de54e7a | 2358 | } |
Lightvalve | 57:f4819de54e7a | 2359 | |
Lightvalve | 57:f4819de54e7a | 2360 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2361 | |
Lightvalve | 57:f4819de54e7a | 2362 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2363 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2364 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2365 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2366 | |
Lightvalve | 67:c2812cf26c38 | 2367 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2368 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2369 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2370 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2371 | |
Lightvalve | 139:15621998925b | 2372 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2373 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2374 | |
Lightvalve | 57:f4819de54e7a | 2375 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2376 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2377 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 207:c70c5a9f17dd | 2378 | torq_dot.sen = (torq.sen-totq_sen_past)*(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2379 | |
Lightvalve | 57:f4819de54e7a | 2380 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2381 | |
Lightvalve | 57:f4819de54e7a | 2382 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2383 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2384 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2385 | |
Lightvalve | 57:f4819de54e7a | 2386 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2387 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2388 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2389 | |
Lightvalve | 69:3995ffeaa786 | 2390 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2391 | 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 | 2392 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2393 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2394 | 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 | 2395 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2396 | } |
Lightvalve | 57:f4819de54e7a | 2397 | 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 | 2398 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2399 | |
Lightvalve | 57:f4819de54e7a | 2400 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2401 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2402 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2403 | // 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 | 2404 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2405 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2406 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2407 | 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 | 2408 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2409 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2410 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2411 | } |
Lightvalve | 57:f4819de54e7a | 2412 | 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 | 2413 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2414 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2415 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2416 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2417 | |
Lightvalve | 57:f4819de54e7a | 2418 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2419 | |
Lightvalve | 67:c2812cf26c38 | 2420 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2421 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2422 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2423 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2424 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2425 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2426 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2427 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2428 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2429 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2430 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2431 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2432 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2433 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2434 | } |
Lightvalve | 67:c2812cf26c38 | 2435 | } |
Lightvalve | 57:f4819de54e7a | 2436 | |
Lightvalve | 57:f4819de54e7a | 2437 | } else { |
Lightvalve | 57:f4819de54e7a | 2438 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2439 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2440 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2441 | |
Lightvalve | 207:c70c5a9f17dd | 2442 | 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) / (float) TMR_FREQ_5k) * 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 | 2443 | |
Lightvalve | 72:3436ce769b1e | 2444 | 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 | 2445 | |
Lightvalve | 72:3436ce769b1e | 2446 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2447 | |
Lightvalve | 169:645207e160ca | 2448 | |
Lightvalve | 72:3436ce769b1e | 2449 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2450 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2451 | } else { |
Lightvalve | 72:3436ce769b1e | 2452 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2453 | } |
Lightvalve | 57:f4819de54e7a | 2454 | |
Lightvalve | 57:f4819de54e7a | 2455 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2456 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2457 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2458 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2459 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2460 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2461 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2462 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2463 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2464 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2465 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2466 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2467 | } |
Lightvalve | 57:f4819de54e7a | 2468 | } |
Lightvalve | 61:bc8c8270f0ab | 2469 | |
Lightvalve | 57:f4819de54e7a | 2470 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2471 | |
Lightvalve | 67:c2812cf26c38 | 2472 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2473 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2474 | |
Lightvalve | 57:f4819de54e7a | 2475 | } |
Lightvalve | 169:645207e160ca | 2476 | |
Lightvalve | 72:3436ce769b1e | 2477 | torq_ref_past = torq_ref; |
Lightvalve | 207:c70c5a9f17dd | 2478 | totq_sen_past = torq.sen; |
Lightvalve | 58:2eade98630e2 | 2479 | |
Lightvalve | 133:22ab22818e01 | 2480 | |
Lightvalve | 57:f4819de54e7a | 2481 | break; |
Lightvalve | 57:f4819de54e7a | 2482 | } |
Lightvalve | 58:2eade98630e2 | 2483 | |
Lightvalve | 57:f4819de54e7a | 2484 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2485 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2486 | break; |
Lightvalve | 57:f4819de54e7a | 2487 | } |
Lightvalve | 169:645207e160ca | 2488 | |
Lightvalve | 138:a843f32ced33 | 2489 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2490 | |
Lightvalve | 169:645207e160ca | 2491 | |
Lightvalve | 139:15621998925b | 2492 | 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 | 2493 | 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 | 169:645207e160ca | 2494 | |
Lightvalve | 139:15621998925b | 2495 | // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 |
Lightvalve | 139:15621998925b | 2496 | // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 170:42c938a40313 | 2497 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2498 | |
Lightvalve | 169:645207e160ca | 2499 | |
Lightvalve | 170:42c938a40313 | 2500 | 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 | 169:645207e160ca | 2501 | |
Lightvalve | 138:a843f32ced33 | 2502 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2503 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2504 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2505 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2506 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2507 | } else { |
Lightvalve | 138:a843f32ced33 | 2508 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2509 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2510 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2511 | } else { |
Lightvalve | 138:a843f32ced33 | 2512 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2513 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2514 | } |
Lightvalve | 138:a843f32ced33 | 2515 | } |
Lightvalve | 138:a843f32ced33 | 2516 | float tau = 0.01f; |
Lightvalve | 142:43026242815a | 2517 | float K_valve = 0.0004f; |
Lightvalve | 169:645207e160ca | 2518 | |
Lightvalve | 138:a843f32ced33 | 2519 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2520 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2521 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2522 | } else { |
Lightvalve | 138:a843f32ced33 | 2523 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2524 | } |
Lightvalve | 138:a843f32ced33 | 2525 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2526 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2527 | |
Lightvalve | 139:15621998925b | 2528 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2529 | |
Lightvalve | 138:a843f32ced33 | 2530 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2531 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2532 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2533 | |
Lightvalve | 138:a843f32ced33 | 2534 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2535 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2536 | |
Lightvalve | 142:43026242815a | 2537 | float k3 = 20000.0f; //2000 |
Lightvalve | 142:43026242815a | 2538 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2539 | float rho3 = 3.2f; |
Lightvalve | 142:43026242815a | 2540 | float rho4 = 25000000.0f; |
Lightvalve | 139:15621998925b | 2541 | float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2542 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2543 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2544 | |
Lightvalve | 139:15621998925b | 2545 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2546 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2547 | } else { |
Lightvalve | 139:15621998925b | 2548 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2549 | } |
Lightvalve | 169:645207e160ca | 2550 | |
Lightvalve | 169:645207e160ca | 2551 | |
Lightvalve | 138:a843f32ced33 | 2552 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2553 | x_4_des_old = x_4_des; |
Lightvalve | 169:645207e160ca | 2554 | |
Lightvalve | 139:15621998925b | 2555 | V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; |
Lightvalve | 169:645207e160ca | 2556 | |
Lightvalve | 142:43026242815a | 2557 | float rho_gamma = 50000.0f;//5000 |
Lightvalve | 139:15621998925b | 2558 | 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 | 138:a843f32ced33 | 2559 | gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 169:645207e160ca | 2560 | break; |
Lightvalve | 138:a843f32ced33 | 2561 | } |
Lightvalve | 171:bfc1fd2629d8 | 2562 | |
Lightvalve | 170:42c938a40313 | 2563 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2564 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2565 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2566 | |
Lightvalve | 170:42c938a40313 | 2567 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2568 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2569 | |
Lightvalve | 170:42c938a40313 | 2570 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2571 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2572 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2573 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2574 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2575 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2576 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2577 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2578 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2579 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2580 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2581 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2582 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2583 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2584 | } |
Lightvalve | 173:68c7914679ec | 2585 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2586 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2587 | } |
Lightvalve | 173:68c7914679ec | 2588 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2589 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2590 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2591 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2592 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2593 | |
Lightvalve | 179:d5377766d7ea | 2594 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2595 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2596 | virt_pos = 70.0f; |
Lightvalve | 179:d5377766d7ea | 2597 | }else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2598 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2599 | } |
Lightvalve | 171:bfc1fd2629d8 | 2600 | |
Lightvalve | 170:42c938a40313 | 2601 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2602 | |
Lightvalve | 170:42c938a40313 | 2603 | |
Lightvalve | 170:42c938a40313 | 2604 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2605 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2606 | batch++; |
Lightvalve | 170:42c938a40313 | 2607 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2608 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2609 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2610 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2611 | } |
Lightvalve | 170:42c938a40313 | 2612 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2613 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2614 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2615 | |
Lightvalve | 170:42c938a40313 | 2616 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2617 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2618 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2619 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2620 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2621 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2622 | } |
Lightvalve | 170:42c938a40313 | 2623 | } |
Lightvalve | 170:42c938a40313 | 2624 | } |
Lightvalve | 170:42c938a40313 | 2625 | |
Lightvalve | 170:42c938a40313 | 2626 | else { |
Lightvalve | 170:42c938a40313 | 2627 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2628 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2629 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2630 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2631 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2632 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2633 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2634 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2635 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2636 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2637 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2638 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2639 | virt_pos = 70.0f; |
Lightvalve | 179:d5377766d7ea | 2640 | }else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2641 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2642 | } |
Lightvalve | 170:42c938a40313 | 2643 | |
Lightvalve | 170:42c938a40313 | 2644 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2645 | } |
Lightvalve | 170:42c938a40313 | 2646 | |
Lightvalve | 170:42c938a40313 | 2647 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2648 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2649 | |
Lightvalve | 170:42c938a40313 | 2650 | break; |
Lightvalve | 170:42c938a40313 | 2651 | } |
Lightvalve | 14:8e7590227d22 | 2652 | |
Lightvalve | 12:6f2531038ea4 | 2653 | default: |
Lightvalve | 12:6f2531038ea4 | 2654 | break; |
Lightvalve | 12:6f2531038ea4 | 2655 | } |
Lightvalve | 14:8e7590227d22 | 2656 | |
Lightvalve | 57:f4819de54e7a | 2657 | |
Lightvalve | 57:f4819de54e7a | 2658 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2659 | |
Lightvalve | 57:f4819de54e7a | 2660 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2661 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2662 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2663 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2664 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2665 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2666 | |
Lightvalve | 57:f4819de54e7a | 2667 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2668 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2669 | |
Lightvalve | 57:f4819de54e7a | 2670 | |
Lightvalve | 57:f4819de54e7a | 2671 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2672 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2673 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2674 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2675 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2676 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2677 | |
Lightvalve | 57:f4819de54e7a | 2678 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2679 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2680 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2681 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2682 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2683 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2684 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2685 | } |
Lightvalve | 57:f4819de54e7a | 2686 | |
Lightvalve | 57:f4819de54e7a | 2687 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2688 | |
Lightvalve | 67:c2812cf26c38 | 2689 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2690 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2691 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2692 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2693 | // 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 | 2694 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2695 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2696 | |
Lightvalve | 57:f4819de54e7a | 2697 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2698 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2699 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2700 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2701 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2702 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2703 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2704 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2705 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2706 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2707 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2708 | } |
Lightvalve | 57:f4819de54e7a | 2709 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2710 | } else { |
Lightvalve | 57:f4819de54e7a | 2711 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2712 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2713 | } |
Lightvalve | 57:f4819de54e7a | 2714 | |
Lightvalve | 57:f4819de54e7a | 2715 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2716 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2717 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2718 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2719 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2720 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2721 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2722 | |
Lightvalve | 57:f4819de54e7a | 2723 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2724 | |
Lightvalve | 57:f4819de54e7a | 2725 | } else { |
Lightvalve | 57:f4819de54e7a | 2726 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2727 | } |
Lightvalve | 57:f4819de54e7a | 2728 | |
Lightvalve | 57:f4819de54e7a | 2729 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2730 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2731 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2732 | |
Lightvalve | 57:f4819de54e7a | 2733 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2734 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2735 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2736 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2737 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2738 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2739 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2740 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2741 | |
Lightvalve | 89:a7b45368ea0f | 2742 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2743 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2744 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2745 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2746 | |
Lightvalve | 135:79885a39c161 | 2747 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2748 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2749 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2750 | } |
Lightvalve | 169:645207e160ca | 2751 | |
Lightvalve | 67:c2812cf26c38 | 2752 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2753 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2754 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2755 | |
jobuuu | 7:e9086c72bb22 | 2756 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2757 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2758 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2759 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2760 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2761 | } |
Lightvalve | 169:645207e160ca | 2762 | |
Lightvalve | 49:e7bcfc244d40 | 2763 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2764 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2765 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2766 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2767 | } |
Lightvalve | 49:e7bcfc244d40 | 2768 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2769 | |
Lightvalve | 19:23b7c1ad8683 | 2770 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2771 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2772 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2773 | |
Lightvalve | 30:8d561f16383b | 2774 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2775 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2776 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2777 | } else { |
jobuuu | 2:a1c0a37df760 | 2778 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2779 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2780 | } |
Lightvalve | 13:747daba9cf59 | 2781 | |
jobuuu | 1:e04e563be5ce | 2782 | //pwm |
Lightvalve | 30:8d561f16383b | 2783 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2784 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2785 | |
Lightvalve | 61:bc8c8270f0ab | 2786 | |
Lightvalve | 57:f4819de54e7a | 2787 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 2788 | |
Lightvalve | 54:647072f5307a | 2789 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2790 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2791 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2792 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2793 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2794 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2795 | 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 | 2796 | } |
Lightvalve | 57:f4819de54e7a | 2797 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2798 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2799 | 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 | 2800 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2801 | 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 | 2802 | } |
Lightvalve | 52:8ea76864368a | 2803 | } |
Lightvalve | 52:8ea76864368a | 2804 | } |
Lightvalve | 56:6f50d9d3bfee | 2805 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 179:d5377766d7ea | 2806 | CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 54:647072f5307a | 2807 | } |
Lightvalve | 58:2eade98630e2 | 2808 | |
Lightvalve | 58:2eade98630e2 | 2809 | |
Lightvalve | 171:bfc1fd2629d8 | 2810 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2811 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2812 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2813 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2814 | } else { |
Lightvalve | 131:d08121ac87ba | 2815 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2816 | } |
Lightvalve | 169:645207e160ca | 2817 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2818 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2819 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2820 | } else { |
Lightvalve | 169:645207e160ca | 2821 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2822 | } |
Lightvalve | 169:645207e160ca | 2823 | |
Lightvalve | 169:645207e160ca | 2824 | |
Lightvalve | 169:645207e160ca | 2825 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2826 | } |
Lightvalve | 58:2eade98630e2 | 2827 | |
Lightvalve | 57:f4819de54e7a | 2828 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 2829 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2830 | ; |
Lightvalve | 57:f4819de54e7a | 2831 | } |
Lightvalve | 58:2eade98630e2 | 2832 | |
Lightvalve | 169:645207e160ca | 2833 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2834 | //PWM |
Lightvalve | 180:02be1711ee0b | 2835 | //CAN_TX_PWM((int16_t) (V[0]*100.0f)); //1500 |
Lightvalve | 192:637092202815 | 2836 | CAN_TX_PWM((int16_t) (f_future[1])); //1500 |
Lightvalve | 54:647072f5307a | 2837 | } |
Lightvalve | 179:d5377766d7ea | 2838 | |
Lightvalve | 56:6f50d9d3bfee | 2839 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2840 | //valve position |
Lightvalve | 179:d5377766d7ea | 2841 | 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 | 179:d5377766d7ea | 2842 | //CAN_TX_VALVE_POSITION((int16_t) action_array[20], (int16_t) virt_pos, (int16_t) Update_Case*1000, (int16_t) (logging4*1000.0f)); //1600 |
Lightvalve | 54:647072f5307a | 2843 | } |
Lightvalve | 20:806196fda269 | 2844 | |
Lightvalve | 54:647072f5307a | 2845 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 2846 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 2847 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 2848 | // } |
Lightvalve | 54:647072f5307a | 2849 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 2850 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 2851 | //} |
Lightvalve | 52:8ea76864368a | 2852 | |
Lightvalve | 54:647072f5307a | 2853 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2854 | } |
Lightvalve | 54:647072f5307a | 2855 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 2856 | |
Lightvalve | 20:806196fda269 | 2857 | } |
Lightvalve | 52:8ea76864368a | 2858 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2859 | |
Lightvalve | 58:2eade98630e2 | 2860 | } |