![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
for learning
main.cpp@248:c925c863ea87, 2021-01-08 (annotated)
- Committer:
- Lightvalve
- Date:
- Fri Jan 08 04:06:04 2021 +0000
- Revision:
- 248:c925c863ea87
- Parent:
- 247:87a44e8b3392
- Child:
- 249:21430e06f706
210108_2 500Hz num_input 17 210105 data
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 248:c925c863ea87 | 1 | //210108_2 500Hz num_input 17 210105 data |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 11 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 12 | #include <string> |
Lightvalve | 170:42c938a40313 | 13 | #include <iostream> |
Lightvalve | 179:d5377766d7ea | 14 | #include <cmath> |
Lightvalve | 61:bc8c8270f0ab | 15 | |
Lightvalve | 61:bc8c8270f0ab | 16 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 17 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 18 | |
Lightvalve | 31:66738bfecec5 | 19 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 20 | |
jobuuu | 7:e9086c72bb22 | 21 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 22 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 23 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 24 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 25 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 26 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 27 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 28 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 29 | |
Lightvalve | 24:ef6e1092e9e6 | 30 | |
jobuuu | 7:e9086c72bb22 | 31 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 32 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 34 | |
jobuuu | 7:e9086c72bb22 | 35 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 36 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 37 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 38 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 39 | |
jobuuu | 7:e9086c72bb22 | 40 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 41 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 42 | DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 43 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 44 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 45 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 46 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 50 | |
jobuuu | 7:e9086c72bb22 | 51 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 52 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 53 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 54 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 55 | { |
Lightvalve | 11:82d8768d7351 | 56 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 57 | } |
jobuuu | 2:a1c0a37df760 | 58 | |
jobuuu | 7:e9086c72bb22 | 59 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 60 | State pos; |
jobuuu | 7:e9086c72bb22 | 61 | State vel; |
jobuuu | 7:e9086c72bb22 | 62 | State Vout; |
jobuuu | 7:e9086c72bb22 | 63 | State torq; |
Lightvalve | 207:c70c5a9f17dd | 64 | State torq_dot; |
jobuuu | 7:e9086c72bb22 | 65 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 66 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 67 | State cur; |
Lightvalve | 14:8e7590227d22 | 68 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 69 | |
Lightvalve | 14:8e7590227d22 | 70 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 71 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 72 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 73 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 74 | |
Lightvalve | 19:23b7c1ad8683 | 75 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 77 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 78 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 79 | |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 84 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 85 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 86 | |
Lightvalve | 61:bc8c8270f0ab | 87 | |
Lightvalve | 61:bc8c8270f0ab | 88 | |
Lightvalve | 61:bc8c8270f0ab | 89 | |
jobuuu | 7:e9086c72bb22 | 90 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 91 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 92 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 93 | |
Lightvalve | 12:6f2531038ea4 | 94 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 95 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 96 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 97 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 98 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 100 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 101 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 102 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 103 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 104 | }; |
Lightvalve | 12:6f2531038ea4 | 105 | |
Lightvalve | 12:6f2531038ea4 | 106 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 107 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 108 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 109 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 110 | //control mode |
Lightvalve | 12:6f2531038ea4 | 111 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 112 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 113 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 114 | |
Lightvalve | 47:fdcb8bd86fd6 | 115 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 116 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 171:bfc1fd2629d8 | 117 | MODE_RL, //5 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 121 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 122 | |
Lightvalve | 12:6f2531038ea4 | 123 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 124 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 125 | |
Lightvalve | 14:8e7590227d22 | 126 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 127 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 128 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 171:bfc1fd2629d8 | 129 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 |
Lightvalve | 13:747daba9cf59 | 130 | |
Lightvalve | 12:6f2531038ea4 | 131 | //utility |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 135 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 138 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 139 | |
Lightvalve | 12:6f2531038ea4 | 140 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 141 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 142 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 143 | MODE_SYSTEM_ID, //33 |
Lightvalve | 169:645207e160ca | 144 | MODE_FREQ_TEST, //34 |
Lightvalve | 169:645207e160ca | 145 | MODE_SEND_BUFFER, //35 |
Lightvalve | 169:645207e160ca | 146 | MODE_SEND_OVER, //36 |
Lightvalve | 169:645207e160ca | 147 | MODE_STEP_TEST, //37 |
Lightvalve | 12:6f2531038ea4 | 148 | }; |
Lightvalve | 12:6f2531038ea4 | 149 | |
Lightvalve | 65:a2d7c63419c2 | 150 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 151 | { |
Lightvalve | 169:645207e160ca | 152 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 169:645207e160ca | 153 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 154 | |
Lightvalve | 169:645207e160ca | 155 | /** Configure the main internal regulator output voltage |
Lightvalve | 169:645207e160ca | 156 | */ |
Lightvalve | 169:645207e160ca | 157 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 169:645207e160ca | 158 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 169:645207e160ca | 159 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 160 | */ |
Lightvalve | 169:645207e160ca | 161 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 169:645207e160ca | 162 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 169:645207e160ca | 163 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 169:645207e160ca | 164 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 169:645207e160ca | 165 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 169:645207e160ca | 166 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 169:645207e160ca | 167 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 169:645207e160ca | 168 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 169:645207e160ca | 169 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 169:645207e160ca | 170 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 169:645207e160ca | 171 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 172 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 173 | } |
Lightvalve | 169:645207e160ca | 174 | /** Activate the Over-Drive mode |
Lightvalve | 169:645207e160ca | 175 | */ |
Lightvalve | 169:645207e160ca | 176 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 169:645207e160ca | 177 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 178 | } |
Lightvalve | 169:645207e160ca | 179 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 180 | */ |
Lightvalve | 169:645207e160ca | 181 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 169:645207e160ca | 182 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 169:645207e160ca | 183 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 169:645207e160ca | 184 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 169:645207e160ca | 185 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 169:645207e160ca | 186 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 169:645207e160ca | 188 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 189 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 190 | } |
Lightvalve | 65:a2d7c63419c2 | 191 | } |
Lightvalve | 65:a2d7c63419c2 | 192 | |
Lightvalve | 99:7bbcb3c0fb06 | 193 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 194 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 195 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 196 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 197 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 198 | |
Lightvalve | 73:f80dc3970c99 | 199 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 200 | |
Lightvalve | 169:645207e160ca | 201 | const float h1[num_input][16] = { |
Lightvalve | 248:c925c863ea87 | 202 | {0.12029463052749634f,0.32439547777175903f,0.3253990113735199f,-0.40358179807662964f,0.32602089643478394f,0.17646153271198273f,-0.11076107621192932f,-0.15169337391853333f,-0.3098427653312683f,0.3232423663139343f,0.40315863490104675f,-0.29039695858955383f,0.2031967043876648f,-0.27791184186935425f,0.17944055795669556f,-0.10248809307813644f}, |
Lightvalve | 248:c925c863ea87 | 203 | {0.2289528250694275f,-0.11581733822822571f,-0.3210306167602539f,-0.009400676004588604f,0.14739708602428436f,0.18253393471240997f,-0.1888934224843979f,0.24952995777130127f,0.11685870587825775f,-0.17984692752361298f,-0.3189629912376404f,-0.2759281396865845f,-0.11419431865215302f,-0.41846609115600586f,0.15279953181743622f,-0.21088747680187225f}, |
Lightvalve | 248:c925c863ea87 | 204 | {-0.23407986760139465f,0.2746552526950836f,-0.27934324741363525f,0.281544029712677f,0.0691910833120346f,0.15362368524074554f,0.09164291620254517f,0.23460233211517334f,-0.2216859757900238f,-0.045391589403152466f,0.48829853534698486f,0.011129438877105713f,0.24279506504535675f,-0.24969372153282166f,0.1991954892873764f,-0.056837938725948334f}, |
Lightvalve | 248:c925c863ea87 | 205 | {0.28324830532073975f,-0.49235230684280396f,0.0893109068274498f,0.24444693326950073f,-0.28724706172943115f,0.4106735289096832f,0.012390375137329102f,-0.17277541756629944f,-0.01752597838640213f,0.09997862577438354f,0.3091915249824524f,0.060018718242645264f,0.18626005947589874f,-0.06163036823272705f,0.36356213688850403f,-0.3430219292640686f}, |
Lightvalve | 248:c925c863ea87 | 206 | {0.3904739022254944f,-0.1312386393547058f,0.11185256391763687f,-0.2410188466310501f,0.03473509103059769f,-0.026506241410970688f,-0.22494451701641083f,-0.08969682455062866f,-0.598922848701477f,0.3720676302909851f,0.1977512538433075f,0.12142705917358398f,-0.10239765048027039f,0.1201176643371582f,-0.2445002943277359f,0.17321054637432098f}, |
Lightvalve | 248:c925c863ea87 | 207 | {0.06815502047538757f,-0.9094702005386353f,0.1937963217496872f,0.3118898272514343f,-0.17545679211616516f,0.23099179565906525f,-0.3556491434574127f,0.015110224485397339f,-0.2232312113046646f,-0.09812286496162415f,0.269318163394928f,0.3328637480735779f,-0.24221044778823853f,0.3426499366760254f,0.3682255148887634f,-0.6424373984336853f}, |
Lightvalve | 248:c925c863ea87 | 208 | {-0.16411858797073364f,0.369585782289505f,-0.6314609050750732f,-0.5693538188934326f,0.6128901839256287f,-0.8363930583000183f,-0.141270250082016f,-0.12596392631530762f,0.2177102267742157f,-0.351109117269516f,-0.02605469524860382f,-0.0465674102306366f,-0.29820114374160767f,0.08629488945007324f,-0.6067855358123779f,0.026524588465690613f}, |
Lightvalve | 248:c925c863ea87 | 209 | {-0.2577098608016968f,0.10666954517364502f,-0.5034106373786926f,-0.23197859525680542f,0.43054795265197754f,-0.6309574246406555f,0.025958985090255737f,-0.12497517466545105f,-0.1766054481267929f,0.2610861659049988f,0.22995825111865997f,-0.41905614733695984f,0.0640576183795929f,-0.2940995991230011f,-0.359150767326355f,0.3654940128326416f}, |
Lightvalve | 248:c925c863ea87 | 210 | {-0.34239912033081055f,-0.03346605971455574f,0.4188571572303772f,-0.02161659300327301f,-0.2646237909793854f,-0.4273391664028168f,-0.3588126599788666f,-0.031578779220581055f,0.3110342025756836f,0.010242640972137451f,-0.3654257357120514f,0.371657133102417f,-0.13082590699195862f,0.1957080364227295f,0.30811935663223267f,0.10160328447818756f}, |
Lightvalve | 248:c925c863ea87 | 211 | {0.007106572389602661f,-0.2421773076057434f,0.46641460061073303f,-0.31366419792175293f,0.34302887320518494f,-0.06283218413591385f,0.0487118661403656f,-0.05797317624092102f,0.1252775937318802f,0.037577033042907715f,-0.4267411231994629f,-0.10185864567756653f,-0.35608401894569397f,0.3296334147453308f,-0.08692765235900879f,-0.3356909453868866f}, |
Lightvalve | 248:c925c863ea87 | 212 | {0.005361050367355347f,-0.17223995923995972f,-0.3541768193244934f,0.025221295654773712f,-0.38209959864616394f,0.06616703420877457f,0.2798372507095337f,-0.29855674505233765f,0.08199447393417358f,0.2170935869216919f,0.04863183572888374f,0.32450181245803833f,0.1565188616514206f,0.10987043380737305f,0.22269849479198456f,-0.38703325390815735f}, |
Lightvalve | 248:c925c863ea87 | 213 | {0.11118721961975098f,-0.32497215270996094f,-0.3421168327331543f,0.01932227611541748f,-0.39530959725379944f,0.1666279435157776f,-0.17080268263816833f,-0.011185973882675171f,-0.2096530944108963f,0.055823951959609985f,0.21810635924339294f,-0.08630678057670593f,0.18210454285144806f,-0.19973935186862946f,-0.32726141810417175f,0.12518195807933807f}, |
Lightvalve | 248:c925c863ea87 | 214 | {-0.3802122175693512f,-0.34527134895324707f,-0.3438180088996887f,-0.5019819140434265f,-0.15020138025283813f,0.27575546503067017f,-0.22263282537460327f,-0.4002646505832672f,-0.07560327649116516f,-0.02876487374305725f,0.20872855186462402f,-0.14311227202415466f,-0.041490986943244934f,0.17396080493927002f,-0.23381072282791138f,0.20905156433582306f}, |
Lightvalve | 248:c925c863ea87 | 215 | {0.08569753170013428f,0.06161818653345108f,0.18235889077186584f,0.28753721714019775f,-0.0010203318670392036f,-0.1345454752445221f,0.14085489511489868f,-0.0029449462890625f,0.15124951303005219f,-0.1663190722465515f,-0.15697185695171356f,0.24732691049575806f,-0.3126959204673767f,0.3553522825241089f,0.11084630340337753f,0.39049768447875977f}, |
Lightvalve | 248:c925c863ea87 | 216 | {-0.26055601239204407f,0.2590674161911011f,0.3975576162338257f,-0.29168701171875f,-0.34103190898895264f,0.13632021844387054f,0.37936437129974365f,-0.0660250186920166f,-0.19138023257255554f,0.3040957450866699f,-0.10151639580726624f,-0.4202289283275604f,-0.1619628220796585f,0.08887934684753418f,0.10887259244918823f,0.4763869643211365f}, |
Lightvalve | 248:c925c863ea87 | 217 | {0.11469399929046631f,-0.21290963888168335f,-0.05974477156996727f,0.12983649969100952f,0.3469894528388977f,-0.05137277767062187f,0.366621196269989f,-0.2244901806116104f,0.39662137627601624f,0.2527315616607666f,0.14986273646354675f,0.2841273546218872f,0.25556156039237976f,0.1657332181930542f,0.14632098376750946f,0.5411337018013f}, |
Lightvalve | 248:c925c863ea87 | 218 | {-0.059370726346969604f,-0.07226622849702835f,-0.11754117161035538f,0.0764244794845581f,-0.304899126291275f,0.20474858582019806f,-0.1551026999950409f,0.16547387838363647f,-0.019299617037177086f,-0.14976879954338074f,-0.11074484139680862f,0.20210683345794678f,-0.3744249939918518f,-0.33896559476852417f,0.2311168611049652f,0.25652533769607544f}, |
Lightvalve | 65:a2d7c63419c2 | 219 | }; |
Lightvalve | 65:a2d7c63419c2 | 220 | |
Lightvalve | 169:645207e160ca | 221 | const float h2[16][16] = { |
Lightvalve | 248:c925c863ea87 | 222 | {0.32990679144859314f,-0.22771379351615906f,0.39505013823509216f,-0.0683324933052063f,0.22545382380485535f,-0.007979273796081543f,0.2395780384540558f,-0.034219563007354736f,0.37450137734413147f,-0.22071784734725952f,0.16612449288368225f,-0.07834556698799133f,-0.3467230498790741f,-0.05756679177284241f,0.22580644488334656f,0.3757082521915436f}, |
Lightvalve | 248:c925c863ea87 | 223 | {0.34812483191490173f,-0.58417147397995f,-0.44621726870536804f,0.4399251639842987f,-0.23112468421459198f,0.09719876199960709f,-0.2090800404548645f,0.21919211745262146f,-0.04730355739593506f,-0.33060699701309204f,-0.08424825221300125f,0.1875980794429779f,0.27315768599510193f,-0.3667793273925781f,-0.3713403046131134f,-0.25764328241348267f}, |
Lightvalve | 248:c925c863ea87 | 224 | {-0.2573432922363281f,-0.16238933801651f,0.36038342118263245f,0.45852696895599365f,0.3246026933193207f,-0.10405118763446808f,-0.2722679078578949f,-0.27011042833328247f,0.1605333387851715f,0.40474843978881836f,-0.2670339345932007f,-0.4318048059940338f,-0.13144290447235107f,0.2453850507736206f,0.02393771894276142f,-0.29326876997947693f}, |
Lightvalve | 248:c925c863ea87 | 225 | {-0.09597927331924438f,-0.3034897744655609f,-0.18075206875801086f,0.03972805663943291f,-0.3099406957626343f,0.3536432981491089f,-0.372884601354599f,0.04856431484222412f,-0.18917545676231384f,-0.3822404146194458f,0.3714853823184967f,0.016138523817062378f,0.5202351808547974f,-0.657880425453186f,-0.2189570665359497f,-0.440679669380188f}, |
Lightvalve | 248:c925c863ea87 | 226 | {0.05158650875091553f,-0.384009450674057f,-0.2007094919681549f,0.2446175068616867f,-0.32137784361839294f,0.1877688467502594f,0.10627549886703491f,0.40803369879722595f,-0.21114446222782135f,-0.3937692940235138f,0.1887626349925995f,0.05310100317001343f,0.38025572896003723f,-0.20281358063220978f,0.1391090303659439f,0.30554768443107605f}, |
Lightvalve | 248:c925c863ea87 | 227 | {0.06702008843421936f,0.23674213886260986f,0.34845250844955444f,-0.057588331401348114f,-0.10817387700080872f,0.15095187723636627f,0.22771301865577698f,0.033474892377853394f,-0.17704206705093384f,0.06516788899898529f,0.2942393124103546f,-0.07012924551963806f,0.11481969803571701f,0.39096930623054504f,-0.20555482804775238f,0.2799214720726013f}, |
Lightvalve | 248:c925c863ea87 | 228 | {-0.12732923030853271f,0.12529191374778748f,0.33626797795295715f,-0.19384245574474335f,-0.3017725944519043f,0.4070797860622406f,0.07241907715797424f,0.04820999503135681f,0.006740838289260864f,0.09349516034126282f,0.07114943861961365f,0.27705106139183044f,-0.38285964727401733f,0.3795633614063263f,0.326577752828598f,0.08675161004066467f}, |
Lightvalve | 248:c925c863ea87 | 229 | {-0.25684091448783875f,0.18890580534934998f,0.3560451567173004f,0.17962011694908142f,-0.1718338131904602f,0.417229026556015f,0.09605774283409119f,0.2547163665294647f,-0.023149937391281128f,0.028311043977737427f,-0.11622235178947449f,0.2842167913913727f,0.20045164227485657f,0.24821874499320984f,-0.27735579013824463f,0.35005876421928406f}, |
Lightvalve | 248:c925c863ea87 | 230 | {0.2597649395465851f,0.6654161810874939f,0.6269409656524658f,0.4609566032886505f,-0.134059339761734f,-0.2682721018791199f,0.5755676627159119f,0.37231728434562683f,0.3463006913661957f,0.4490346312522888f,0.07144501060247421f,-0.40448126196861267f,-0.23961472511291504f,-0.513441264629364f,0.23401369154453278f,0.37098371982574463f}, |
Lightvalve | 248:c925c863ea87 | 231 | {0.3404812514781952f,0.24143943190574646f,-0.1403423249721527f,0.4042727053165436f,-0.012187391519546509f,-0.03508862853050232f,0.2788313925266266f,0.05689254403114319f,0.30420395731925964f,-0.2130228877067566f,-0.27042829990386963f,0.09785637259483337f,-0.0689181387424469f,-0.060743749141693115f,-0.27287566661834717f,0.023455113172531128f}, |
Lightvalve | 248:c925c863ea87 | 232 | {0.008799105882644653f,3.4324190616607666f,3.4501841068267822f,0.21141117811203003f,-0.41768965125083923f,-3.744389772415161f,3.3473763465881348f,-0.11425420641899109f,0.3958878219127655f,3.4478015899658203f,0.1567380726337433f,-0.02250140905380249f,-3.237753391265869f,3.5955066680908203f,3.4332306385040283f,3.3855905532836914f}, |
Lightvalve | 248:c925c863ea87 | 233 | {0.14732906222343445f,0.026133209466934204f,-0.33983778953552246f,0.2787051498889923f,-0.3774802088737488f,0.4297333061695099f,-0.06640854477882385f,0.023566514253616333f,0.1720668375492096f,0.3811666667461395f,-0.3013334274291992f,0.0631561279296875f,0.19861474633216858f,-0.2652350068092346f,0.19145837426185608f,-0.37609031796455383f}, |
Lightvalve | 248:c925c863ea87 | 234 | {0.08282116055488586f,-0.4041024446487427f,-0.19468042254447937f,-0.40714138746261597f,-0.3936988413333893f,0.1502033770084381f,-0.1295778453350067f,-0.4109485149383545f,0.013534128665924072f,0.20062419772148132f,0.3415384888648987f,0.3936344087123871f,0.056454554200172424f,-0.1623954176902771f,0.2702265679836273f,0.3704809248447418f}, |
Lightvalve | 248:c925c863ea87 | 235 | {-0.37750962376594543f,-0.43168607354164124f,0.2613445818424225f,-0.09158360958099365f,-0.22593891620635986f,-0.27911579608917236f,0.31599172949790955f,0.31067004799842834f,0.40325191617012024f,0.0981883704662323f,0.05980768799781799f,0.09857037663459778f,0.17739048600196838f,0.2240789830684662f,0.309121698141098f,0.08850201964378357f}, |
Lightvalve | 248:c925c863ea87 | 236 | {0.03596067428588867f,2.219564914703369f,2.0520761013031006f,-0.08760329335927963f,-0.28528958559036255f,-2.2146286964416504f,1.8476011753082275f,-0.2531716227531433f,-0.3853277564048767f,1.6306650638580322f,-0.05052439495921135f,0.14657148718833923f,-1.6547781229019165f,0.7158820629119873f,1.6761053800582886f,2.3707761764526367f}, |
Lightvalve | 248:c925c863ea87 | 237 | {-0.36665526032447815f,0.11255808174610138f,-0.10575105994939804f,0.3767031729221344f,0.013457924127578735f,0.2852111756801605f,-0.04517848417162895f,-0.048774510622024536f,-0.040078431367874146f,-0.03326001018285751f,-0.04099993780255318f,0.04545673727989197f,0.3553937077522278f,-1.213148832321167f,0.1546936184167862f,-0.8471413850784302f}, |
Lightvalve | 65:a2d7c63419c2 | 238 | }; |
Lightvalve | 65:a2d7c63419c2 | 239 | |
Lightvalve | 169:645207e160ca | 240 | const float h3[16][16] = { |
Lightvalve | 248:c925c863ea87 | 241 | {-0.006784409284591675f,0.011591166257858276f,-0.1711772084236145f,0.06661221385002136f,-0.3024352788925171f,-0.2162710726261139f,-0.08371788263320923f,-0.24768595397472382f,0.3046490252017975f,0.42488422989845276f,-0.32157349586486816f,0.23732700943946838f,0.39780154824256897f,-0.40600472688674927f,-0.005673259496688843f,-0.012726902961730957f}, |
Lightvalve | 248:c925c863ea87 | 242 | {0.15736311674118042f,0.17275694012641907f,0.0779055655002594f,0.4008640944957733f,0.18839694559574127f,-0.3002234101295471f,-0.18499596416950226f,-0.4914197623729706f,0.02269434928894043f,0.3291845917701721f,0.48395025730133057f,0.41987374424934387f,0.04805648326873779f,-0.26030126214027405f,-0.06967311352491379f,-0.2507726848125458f}, |
Lightvalve | 248:c925c863ea87 | 243 | {0.9251652359962463f,0.19307175278663635f,-0.3745024502277374f,0.3391399085521698f,1.8526111841201782f,-0.22146447002887726f,0.03898844122886658f,-1.462852954864502f,0.35289832949638367f,-1.2500654458999634f,1.438684344291687f,-0.14124834537506104f,-0.009361743927001953f,-0.4244033396244049f,-1.5417962074279785f,0.3833100497722626f}, |
Lightvalve | 248:c925c863ea87 | 244 | {-0.19994033873081207f,-0.3809167146682739f,-0.380477637052536f,-0.1846858412027359f,-0.9107093811035156f,-0.26401442289352417f,0.40777549147605896f,0.191114142537117f,0.21440955996513367f,-0.3996132016181946f,-0.25285106897354126f,0.10200449824333191f,-0.17840811610221863f,0.26662585139274597f,-0.16512733697891235f,-0.25433534383773804f}, |
Lightvalve | 248:c925c863ea87 | 245 | {-0.41038885712623596f,-0.25415247678756714f,0.3928767740726471f,0.3931368887424469f,-0.09454911947250366f,0.2187802493572235f,0.3187973201274872f,-0.10918933153152466f,-0.3469909429550171f,-0.07977944612503052f,-0.27702081203460693f,-0.013040751218795776f,-0.23685264587402344f,0.43071624636650085f,-0.16098490357398987f,-0.33784186840057373f}, |
Lightvalve | 248:c925c863ea87 | 246 | {-0.47221502661705017f,0.13509628176689148f,0.19790565967559814f,-0.3212202191352844f,-0.4345828592777252f,-0.4041581153869629f,-0.10852354764938354f,0.7363570928573608f,0.2945133149623871f,0.38219642639160156f,-0.7434504628181458f,0.1312461793422699f,0.290401428937912f,0.02162325382232666f,0.2284594625234604f,-0.08208084106445312f}, |
Lightvalve | 248:c925c863ea87 | 247 | {0.751155436038971f,-0.27590706944465637f,0.3646376132965088f,-0.2896735668182373f,2.0827224254608154f,-0.4272306263446808f,-0.09492966532707214f,-0.6590879559516907f,0.0668577253818512f,-1.1094880104064941f,0.6010093688964844f,0.20773324370384216f,-0.02018028497695923f,0.21753749251365662f,-1.150075912475586f,-0.1806066930294037f}, |
Lightvalve | 248:c925c863ea87 | 248 | {0.22927382588386536f,0.16818538308143616f,0.2835442125797272f,0.25338098406791687f,-0.33052858710289f,0.033754169940948486f,-0.28235915303230286f,0.40787002444267273f,0.3625892102718353f,-0.3072187304496765f,-0.29142439365386963f,0.23065373301506042f,-0.056540101766586304f,-0.3443121314048767f,-0.1002824604511261f,-0.34395676851272583f}, |
Lightvalve | 248:c925c863ea87 | 249 | {-0.42901137471199036f,0.11331585049629211f,-0.4254419207572937f,-0.41849637031555176f,0.2676439583301544f,-0.39580047130584717f,-0.31509849429130554f,-0.2536264955997467f,0.055910736322402954f,-0.18082979321479797f,-0.01722654700279236f,0.30373576283454895f,0.39980819821357727f,-0.19209814071655273f,0.4092620313167572f,-0.22491076588630676f}, |
Lightvalve | 248:c925c863ea87 | 250 | {0.2545858919620514f,-0.2916125953197479f,0.27293503284454346f,-0.4310237169265747f,0.38539034128189087f,0.3181239068508148f,0.40835288166999817f,0.04301092028617859f,-0.2545261085033417f,-0.2495555877685547f,0.3938688337802887f,-0.15932711958885193f,-0.052699536085128784f,-0.3101273477077484f,-0.530136227607727f,-0.25110065937042236f}, |
Lightvalve | 248:c925c863ea87 | 251 | {0.21246318519115448f,-0.2271718978881836f,-0.39899319410324097f,0.3744005262851715f,-0.42283061146736145f,0.12747976183891296f,-0.11338090896606445f,0.10038778930902481f,0.2581707537174225f,0.35993489623069763f,-0.2904704511165619f,-0.2682785987854004f,-0.06758007407188416f,0.3559739291667938f,-0.1177206039428711f,-0.065116286277771f}, |
Lightvalve | 248:c925c863ea87 | 252 | {-0.3550794720649719f,0.2319062054157257f,0.08714351058006287f,0.059495389461517334f,-0.20396052300930023f,0.09022775292396545f,-0.13347572088241577f,0.380744069814682f,-0.32225897908210754f,0.26990190148353577f,0.34235361218452454f,0.14946576952934265f,-0.13877257704734802f,0.4154616892337799f,0.1937645971775055f,-0.3524196445941925f}, |
Lightvalve | 248:c925c863ea87 | 253 | {0.1687467247247696f,-0.3361349403858185f,-0.3299780786037445f,-0.015021175146102905f,-0.2822544276714325f,-0.2050897479057312f,-0.10660600662231445f,0.11660045385360718f,-0.28691351413726807f,0.28333738446235657f,-0.2018653005361557f,-0.2373335361480713f,-0.355659157037735f,-0.2689184546470642f,0.45329853892326355f,0.006600528955459595f}, |
Lightvalve | 248:c925c863ea87 | 254 | {1.222341775894165f,-0.17448309063911438f,-0.006604045629501343f,-0.37460842728614807f,1.21065354347229f,-0.4212898910045624f,-0.0639798641204834f,-1.4440394639968872f,0.09972581267356873f,-1.509207844734192f,1.2394670248031616f,-0.3735979199409485f,0.42593201994895935f,0.33273449540138245f,-1.5098384618759155f,-0.19221004843711853f}, |
Lightvalve | 248:c925c863ea87 | 255 | {0.16239899396896362f,0.08163955807685852f,0.20630477368831635f,0.13065919280052185f,0.24819806218147278f,0.01394665241241455f,0.12145271897315979f,-0.47084546089172363f,-0.008626163005828857f,0.15138980746269226f,0.20644353330135345f,-0.0672503411769867f,0.17882832884788513f,-0.1371990144252777f,-0.3436245024204254f,0.06007528305053711f}, |
Lightvalve | 248:c925c863ea87 | 256 | {0.4035561680793762f,-0.0589139461517334f,-0.24108271300792694f,-0.19417023658752441f,0.6766414046287537f,-0.22242458164691925f,-0.25499820709228516f,0.26631227135658264f,-0.06846049427986145f,-0.07797426730394363f,0.4324924647808075f,-0.30570536851882935f,-0.42592084407806396f,0.27876976132392883f,-0.027926554903388023f,-0.37883490324020386f}, |
Lightvalve | 66:a8e6799dbce3 | 257 | }; |
Lightvalve | 65:a2d7c63419c2 | 258 | |
Lightvalve | 248:c925c863ea87 | 259 | const float hout[16] = { 0.2481980174779892f,-0.016965270042419434f,0.2990952134132385f,-0.3580540418624878f,4.602396488189697f,-0.3819909393787384f,0.23506540060043335f,-1.8231533765792847f,-0.2465997040271759f,-1.2787277698516846f,0.8465975522994995f,-0.1766282618045807f,0.5051735639572144f,0.5268286466598511f,-1.6327191591262817f,0.1137319803237915f }; |
Lightvalve | 248:c925c863ea87 | 260 | |
Lightvalve | 248:c925c863ea87 | 261 | const float b1[16] = { -0.9725186228752136f,1.5392283201217651f,0.4737415015697479f,0.39264023303985596f,1.210579514503479f,1.495548129081726f,-1.166344404220581f,-0.5649668574333191f,0.8760673999786377f,-1.107372522354126f,-1.1786530017852783f,-0.21172259747982025f,0.21644939482212067f,-1.315019130706787f,-0.7975879311561584f,0.33155956864356995f }; |
Lightvalve | 248:c925c863ea87 | 262 | |
Lightvalve | 248:c925c863ea87 | 263 | const float b2[16] = { -1.964282751083374f,1.8368951082229614f,-0.10498178005218506f,-0.4555990695953369f,-0.34926503896713257f,-0.1103285625576973f,-0.4479595124721527f,-2.1116275787353516f,-1.8302065134048462f,1.3305860757827759f,-1.1562929153442383f,-0.7495974898338318f,1.358338475227356f,-0.5001242160797119f,0.5774686336517334f,-0.012902485206723213f }; |
Lightvalve | 248:c925c863ea87 | 264 | |
Lightvalve | 248:c925c863ea87 | 265 | const float b3[16] = { 1.0208133459091187f,0.2389478087425232f,0.03310447558760643f,-0.6187915802001953f,-1.0014171600341797f,-0.6332045793533325f,-0.7213670611381531f,0.5915477275848389f,-0.22222131490707397f,-0.45918989181518555f,0.11774744093418121f,-1.832419753074646f,-0.013567646965384483f,0.619306743144989f,0.3450506925582886f,-1.0727126598358154f }; |
Lightvalve | 248:c925c863ea87 | 266 | |
Lightvalve | 248:c925c863ea87 | 267 | const float bout[1] = { -0.5529015064239502f }; |
Lightvalve | 225:278b48b86f27 | 268 | |
Lightvalve | 225:278b48b86f27 | 269 | float valve_ref_pos_buffer[10] = {0.0f}; |
Lightvalve | 65:a2d7c63419c2 | 270 | |
Lightvalve | 170:42c938a40313 | 271 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 272 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 273 | |
Lightvalve | 170:42c938a40313 | 274 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 275 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 276 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 277 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 278 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 279 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 280 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 281 | |
Lightvalve | 170:42c938a40313 | 282 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 283 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 284 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 285 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 286 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 287 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 288 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 289 | |
Lightvalve | 170:42c938a40313 | 290 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 291 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 292 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 293 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 294 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 295 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 296 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 297 | |
Lightvalve | 170:42c938a40313 | 298 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 299 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 300 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 301 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 302 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 303 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 304 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 305 | |
Lightvalve | 87:471334725012 | 306 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 307 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 308 | |
Lightvalve | 179:d5377766d7ea | 309 | /////////////////////////////////////////////RL tuning |
Lightvalve | 179:d5377766d7ea | 310 | float Gradient_Limit = 0.5f; |
Lightvalve | 179:d5377766d7ea | 311 | float gradient_rate_actor = 0.001f; |
Lightvalve | 179:d5377766d7ea | 312 | float gradient_rate_critic = 0.001f; |
Lightvalve | 179:d5377766d7ea | 313 | ////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 314 | |
Lightvalve | 170:42c938a40313 | 315 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 316 | { |
Lightvalve | 173:68c7914679ec | 317 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 318 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 319 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 320 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 321 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 322 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 323 | } |
Lightvalve | 173:68c7914679ec | 324 | //ReLU |
Lightvalve | 173:68c7914679ec | 325 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 326 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 327 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 328 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 329 | } |
Lightvalve | 173:68c7914679ec | 330 | //tanh |
Lightvalve | 173:68c7914679ec | 331 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 332 | } |
Lightvalve | 173:68c7914679ec | 333 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 334 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 335 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 336 | } |
Lightvalve | 173:68c7914679ec | 337 | //ReLU |
Lightvalve | 173:68c7914679ec | 338 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 339 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 340 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 341 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 342 | } |
Lightvalve | 173:68c7914679ec | 343 | //tanh |
Lightvalve | 173:68c7914679ec | 344 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 345 | } |
Lightvalve | 170:42c938a40313 | 346 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 347 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 348 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 349 | } |
Lightvalve | 173:68c7914679ec | 350 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 351 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 352 | } |
Lightvalve | 170:42c938a40313 | 353 | return output; |
Lightvalve | 170:42c938a40313 | 354 | } |
Lightvalve | 170:42c938a40313 | 355 | |
Lightvalve | 170:42c938a40313 | 356 | |
Lightvalve | 170:42c938a40313 | 357 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 358 | { |
Lightvalve | 173:68c7914679ec | 359 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 360 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 361 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 362 | |
Lightvalve | 173:68c7914679ec | 363 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 364 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 178:1074553d2f6f | 365 | output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 366 | } |
Lightvalve | 178:1074553d2f6f | 367 | output1[index2] = output1[index2] + ba1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 368 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 369 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 370 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 371 | } |
Lightvalve | 173:68c7914679ec | 372 | } |
Lightvalve | 173:68c7914679ec | 373 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 374 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 178:1074553d2f6f | 375 | output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 376 | } |
Lightvalve | 178:1074553d2f6f | 377 | output2[index2] = output2[index2] + ba2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 378 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 379 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 380 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 381 | } |
Lightvalve | 173:68c7914679ec | 382 | } |
Lightvalve | 173:68c7914679ec | 383 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 384 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 178:1074553d2f6f | 385 | output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 386 | } |
Lightvalve | 178:1074553d2f6f | 387 | hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 388 | } |
Lightvalve | 178:1074553d2f6f | 389 | |
Lightvalve | 178:1074553d2f6f | 390 | mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus |
Lightvalve | 178:1074553d2f6f | 391 | deviation_before_SP = output[1] + ba3_temp[1]; |
Lightvalve | 173:68c7914679ec | 392 | //Softplus |
Lightvalve | 173:68c7914679ec | 393 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 394 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 179:d5377766d7ea | 395 | logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 396 | logging4 = deviation; |
Lightvalve | 173:68c7914679ec | 397 | } |
Lightvalve | 173:68c7914679ec | 398 | |
Lightvalve | 173:68c7914679ec | 399 | |
Lightvalve | 173:68c7914679ec | 400 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 401 | { |
Lightvalve | 173:68c7914679ec | 402 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 403 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 404 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 405 | |
Lightvalve | 173:68c7914679ec | 406 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 407 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 408 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 409 | } |
Lightvalve | 170:42c938a40313 | 410 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 411 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 412 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 413 | } |
Lightvalve | 170:42c938a40313 | 414 | } |
Lightvalve | 173:68c7914679ec | 415 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 416 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 417 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 418 | } |
Lightvalve | 173:68c7914679ec | 419 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 420 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 421 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 422 | } |
Lightvalve | 170:42c938a40313 | 423 | } |
Lightvalve | 170:42c938a40313 | 424 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 425 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 426 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 427 | } |
Lightvalve | 170:42c938a40313 | 428 | } |
Lightvalve | 173:68c7914679ec | 429 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 430 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 431 | //Softplus |
Lightvalve | 173:68c7914679ec | 432 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 433 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 434 | } |
Lightvalve | 170:42c938a40313 | 435 | |
Lightvalve | 170:42c938a40313 | 436 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 437 | { |
Lightvalve | 170:42c938a40313 | 438 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 439 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 440 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 441 | } |
Lightvalve | 170:42c938a40313 | 442 | |
Lightvalve | 170:42c938a40313 | 443 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 444 | { |
Lightvalve | 170:42c938a40313 | 445 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 446 | 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 | 447 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 448 | } |
Lightvalve | 170:42c938a40313 | 449 | |
Lightvalve | 173:68c7914679ec | 450 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 451 | { |
Lightvalve | 173:68c7914679ec | 452 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 453 | return x; |
Lightvalve | 173:68c7914679ec | 454 | } else { |
Lightvalve | 173:68c7914679ec | 455 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 456 | } |
Lightvalve | 173:68c7914679ec | 457 | } |
Lightvalve | 173:68c7914679ec | 458 | |
Lightvalve | 170:42c938a40313 | 459 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 460 | { |
Lightvalve | 173:68c7914679ec | 461 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 177:8e9cf31d63f4 | 462 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 463 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 464 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 465 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 466 | float d_V_d_hc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 467 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 468 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 469 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 470 | d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 471 | } |
Lightvalve | 173:68c7914679ec | 472 | } |
Lightvalve | 170:42c938a40313 | 473 | } |
Lightvalve | 177:8e9cf31d63f4 | 474 | G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); |
Lightvalve | 170:42c938a40313 | 475 | } |
Lightvalve | 170:42c938a40313 | 476 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 477 | if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 478 | else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 479 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 480 | } |
Lightvalve | 173:68c7914679ec | 481 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 482 | float d_V_d_bc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 483 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 484 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 485 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 486 | d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 487 | } |
Lightvalve | 173:68c7914679ec | 488 | } |
Lightvalve | 173:68c7914679ec | 489 | } |
Lightvalve | 177:8e9cf31d63f4 | 490 | G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); |
Lightvalve | 173:68c7914679ec | 491 | } |
Lightvalve | 173:68c7914679ec | 492 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 493 | if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 494 | else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 495 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 496 | } |
Lightvalve | 173:68c7914679ec | 497 | |
Lightvalve | 175:2f7289dbd488 | 498 | |
Lightvalve | 173:68c7914679ec | 499 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 500 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 501 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 502 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 503 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 504 | float d_V_d_hc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 505 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 506 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 507 | d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 508 | } |
Lightvalve | 173:68c7914679ec | 509 | } |
Lightvalve | 177:8e9cf31d63f4 | 510 | G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); |
Lightvalve | 173:68c7914679ec | 511 | } |
Lightvalve | 173:68c7914679ec | 512 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 513 | if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 514 | else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 515 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 516 | } |
Lightvalve | 173:68c7914679ec | 517 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 518 | float d_V_d_bc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 519 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 520 | d_V_d_bc2 = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 521 | } |
Lightvalve | 177:8e9cf31d63f4 | 522 | G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); |
Lightvalve | 173:68c7914679ec | 523 | } |
Lightvalve | 173:68c7914679ec | 524 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 525 | if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 526 | else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 527 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 528 | } |
Lightvalve | 173:68c7914679ec | 529 | |
Lightvalve | 173:68c7914679ec | 530 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 531 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 532 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 533 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 534 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 535 | float d_V_d_hc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 536 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 537 | d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 538 | } |
Lightvalve | 177:8e9cf31d63f4 | 539 | G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); |
Lightvalve | 173:68c7914679ec | 540 | } |
Lightvalve | 173:68c7914679ec | 541 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 179:d5377766d7ea | 542 | if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 543 | else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 544 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 545 | } |
Lightvalve | 173:68c7914679ec | 546 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 547 | float d_V_d_bc3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 548 | d_V_d_bc3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 549 | G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); |
Lightvalve | 173:68c7914679ec | 550 | } |
Lightvalve | 173:68c7914679ec | 551 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 179:d5377766d7ea | 552 | if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 553 | else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 554 | //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 173:68c7914679ec | 555 | } |
Lightvalve | 173:68c7914679ec | 556 | |
Lightvalve | 173:68c7914679ec | 557 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 558 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 559 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 560 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 561 | } |
Lightvalve | 179:d5377766d7ea | 562 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 563 | } |
Lightvalve | 173:68c7914679ec | 564 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 565 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 566 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 567 | } |
Lightvalve | 179:d5377766d7ea | 568 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 569 | } |
Lightvalve | 170:42c938a40313 | 570 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 571 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 572 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 573 | } |
Lightvalve | 179:d5377766d7ea | 574 | bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 170:42c938a40313 | 575 | } |
Lightvalve | 170:42c938a40313 | 576 | } |
Lightvalve | 170:42c938a40313 | 577 | |
Lightvalve | 173:68c7914679ec | 578 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 579 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 580 | { |
Lightvalve | 218:066030f7951f | 581 | |
Lightvalve | 173:68c7914679ec | 582 | |
Lightvalve | 173:68c7914679ec | 583 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 584 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 585 | |
Lightvalve | 173:68c7914679ec | 586 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 587 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 588 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 589 | float d_x_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 590 | float d_y_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 591 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 592 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 593 | } else { |
Lightvalve | 173:68c7914679ec | 594 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 595 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 596 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 597 | d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 598 | d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 599 | } |
Lightvalve | 171:bfc1fd2629d8 | 600 | } |
Lightvalve | 170:42c938a40313 | 601 | } |
Lightvalve | 170:42c938a40313 | 602 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 603 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 604 | 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 | 605 | 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 | 606 | |
Lightvalve | 173:68c7914679ec | 607 | 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 | 608 | } |
Lightvalve | 170:42c938a40313 | 609 | } |
Lightvalve | 176:589ea3edcf3c | 610 | G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 611 | if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 612 | else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 613 | //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 614 | } |
Lightvalve | 173:68c7914679ec | 615 | |
Lightvalve | 173:68c7914679ec | 616 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 617 | float d_x_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 618 | float d_y_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 619 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 620 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 621 | } else { |
Lightvalve | 173:68c7914679ec | 622 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 623 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 624 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 625 | d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 626 | d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 627 | } |
Lightvalve | 171:bfc1fd2629d8 | 628 | } |
Lightvalve | 170:42c938a40313 | 629 | } |
Lightvalve | 170:42c938a40313 | 630 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 631 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 632 | 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 | 633 | 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 | 634 | |
Lightvalve | 173:68c7914679ec | 635 | 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 | 636 | } |
Lightvalve | 170:42c938a40313 | 637 | } |
Lightvalve | 176:589ea3edcf3c | 638 | G_ba1[index2] = -G_ba1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 639 | if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 640 | else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 641 | //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 642 | } |
Lightvalve | 170:42c938a40313 | 643 | |
Lightvalve | 173:68c7914679ec | 644 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 645 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 646 | |
Lightvalve | 173:68c7914679ec | 647 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 648 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 649 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 650 | float d_x_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 651 | float d_y_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 652 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 653 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 654 | } else { |
Lightvalve | 173:68c7914679ec | 655 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 656 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 657 | d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 658 | d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 659 | } |
Lightvalve | 170:42c938a40313 | 660 | } |
Lightvalve | 173:68c7914679ec | 661 | |
Lightvalve | 170:42c938a40313 | 662 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 663 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 664 | 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 | 665 | 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 | 666 | |
Lightvalve | 173:68c7914679ec | 667 | 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 | 668 | } |
Lightvalve | 170:42c938a40313 | 669 | } |
Lightvalve | 176:589ea3edcf3c | 670 | G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 671 | if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 672 | else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 673 | //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 674 | } |
Lightvalve | 173:68c7914679ec | 675 | |
Lightvalve | 173:68c7914679ec | 676 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 677 | float d_x_d_ba2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 678 | float d_y_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 679 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 680 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 681 | } else { |
Lightvalve | 170:42c938a40313 | 682 | |
Lightvalve | 173:68c7914679ec | 683 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 684 | d_x_d_ba2 = ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 685 | d_y_d_ba2 = ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 686 | } |
Lightvalve | 173:68c7914679ec | 687 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 688 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 689 | 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 | 690 | 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 | 691 | |
Lightvalve | 173:68c7914679ec | 692 | 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 | 693 | } |
Lightvalve | 170:42c938a40313 | 694 | } |
Lightvalve | 176:589ea3edcf3c | 695 | G_ba2[index2] = -G_ba2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 696 | if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 697 | else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 698 | //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 699 | } |
Lightvalve | 173:68c7914679ec | 700 | |
Lightvalve | 173:68c7914679ec | 701 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 702 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 703 | |
Lightvalve | 173:68c7914679ec | 704 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 705 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 706 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 707 | float d_x_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 708 | float d_y_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 709 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 710 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 711 | } else { |
Lightvalve | 173:68c7914679ec | 712 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 713 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 714 | d_x_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 177:8e9cf31d63f4 | 715 | d_y_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 716 | } |
Lightvalve | 173:68c7914679ec | 717 | } |
Lightvalve | 173:68c7914679ec | 718 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 719 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 720 | 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 | 721 | 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 | 722 | |
Lightvalve | 173:68c7914679ec | 723 | 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 | 724 | } |
Lightvalve | 173:68c7914679ec | 725 | } |
Lightvalve | 176:589ea3edcf3c | 726 | G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 727 | if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 728 | else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 729 | //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 730 | } |
Lightvalve | 173:68c7914679ec | 731 | |
Lightvalve | 173:68c7914679ec | 732 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 733 | float d_x_d_ba3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 734 | float d_y_d_ba3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 735 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 736 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 737 | } else { |
Lightvalve | 173:68c7914679ec | 738 | |
Lightvalve | 177:8e9cf31d63f4 | 739 | d_x_d_ba3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 740 | d_y_d_ba3 = 1.0f; |
Lightvalve | 173:68c7914679ec | 741 | |
Lightvalve | 173:68c7914679ec | 742 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 743 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 744 | 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 | 745 | 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 | 746 | |
Lightvalve | 173:68c7914679ec | 747 | 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 | 748 | } |
Lightvalve | 173:68c7914679ec | 749 | } |
Lightvalve | 176:589ea3edcf3c | 750 | G_ba3[index2] = -G_ba3[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 751 | if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 752 | else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 753 | //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 175:2f7289dbd488 | 754 | } |
Lightvalve | 177:8e9cf31d63f4 | 755 | |
Lightvalve | 175:2f7289dbd488 | 756 | // Simultaneous Update |
Lightvalve | 175:2f7289dbd488 | 757 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 175:2f7289dbd488 | 758 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 759 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 760 | } |
Lightvalve | 179:d5377766d7ea | 761 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 175:2f7289dbd488 | 762 | } |
Lightvalve | 175:2f7289dbd488 | 763 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 764 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 765 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 766 | } |
Lightvalve | 179:d5377766d7ea | 767 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 175:2f7289dbd488 | 768 | } |
Lightvalve | 175:2f7289dbd488 | 769 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 770 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 771 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 772 | } |
Lightvalve | 179:d5377766d7ea | 773 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 774 | } |
Lightvalve | 170:42c938a40313 | 775 | } |
Lightvalve | 170:42c938a40313 | 776 | |
Lightvalve | 170:42c938a40313 | 777 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 778 | { |
Lightvalve | 170:42c938a40313 | 779 | //Box muller method |
Lightvalve | 170:42c938a40313 | 780 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 781 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 782 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 783 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 784 | do { |
Lightvalve | 170:42c938a40313 | 785 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 786 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 787 | |
Lightvalve | 170:42c938a40313 | 788 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 789 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 790 | { |
Lightvalve | 170:42c938a40313 | 791 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 792 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 793 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 794 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 795 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 796 | return result; |
Lightvalve | 170:42c938a40313 | 797 | } |
Lightvalve | 170:42c938a40313 | 798 | } else { |
Lightvalve | 170:42c938a40313 | 799 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 800 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 801 | } |
Lightvalve | 170:42c938a40313 | 802 | } |
Lightvalve | 170:42c938a40313 | 803 | |
Lightvalve | 179:d5377766d7ea | 804 | float mean_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 805 | { |
Lightvalve | 179:d5377766d7ea | 806 | float add = 0.0f; |
Lightvalve | 179:d5377766d7ea | 807 | float result; |
Lightvalve | 218:066030f7951f | 808 | |
Lightvalve | 218:066030f7951f | 809 | for (int i=0; i<size; i++) { |
Lightvalve | 179:d5377766d7ea | 810 | add += x[i]; |
Lightvalve | 179:d5377766d7ea | 811 | } |
Lightvalve | 179:d5377766d7ea | 812 | result = (float) add/size; |
Lightvalve | 179:d5377766d7ea | 813 | return result; |
Lightvalve | 179:d5377766d7ea | 814 | } |
Lightvalve | 179:d5377766d7ea | 815 | float deviation_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 816 | { |
Lightvalve | 179:d5377766d7ea | 817 | float sigma = 0.0f; |
Lightvalve | 179:d5377766d7ea | 818 | float resultDeb = 0.0f; |
Lightvalve | 218:066030f7951f | 819 | |
Lightvalve | 218:066030f7951f | 820 | for (int k=0; k<size; k++) { |
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 | 218:066030f7951f | 825 | } |
Lightvalve | 218:066030f7951f | 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 | 208:408f9f15c486 | 1035 | // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 208:408f9f15c486 | 1036 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1037 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1038 | } |
Lightvalve | 208:408f9f15c486 | 1039 | // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1040 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1041 | ind = ind + 1; |
Lightvalve | 238:e4bda4d06a7d | 1042 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1043 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1044 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; |
Lightvalve | 206:2e4d0c287578 | 1045 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; |
Lightvalve | 228:83e3a91aa1c6 | 1046 | input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1047 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1048 | } |
Lightvalve | 169:645207e160ca | 1049 | |
Lightvalve | 112:8dcb1600cb90 | 1050 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1051 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1052 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1053 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1054 | |
Lightvalve | 112:8dcb1600cb90 | 1055 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1056 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1057 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1058 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1059 | } |
Lightvalve | 66:a8e6799dbce3 | 1060 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1061 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1062 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1063 | } |
Lightvalve | 66:a8e6799dbce3 | 1064 | } |
Lightvalve | 65:a2d7c63419c2 | 1065 | |
Lightvalve | 112:8dcb1600cb90 | 1066 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1067 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1068 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1069 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1070 | } |
Lightvalve | 66:a8e6799dbce3 | 1071 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1072 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1073 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1074 | } |
Lightvalve | 66:a8e6799dbce3 | 1075 | } |
Lightvalve | 65:a2d7c63419c2 | 1076 | |
Lightvalve | 112:8dcb1600cb90 | 1077 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1078 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1079 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1080 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1081 | } |
Lightvalve | 66:a8e6799dbce3 | 1082 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1083 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1084 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1085 | } |
Lightvalve | 65:a2d7c63419c2 | 1086 | } |
Lightvalve | 66:a8e6799dbce3 | 1087 | |
Lightvalve | 66:a8e6799dbce3 | 1088 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1089 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1090 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1091 | } |
Lightvalve | 66:a8e6799dbce3 | 1092 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1093 | |
Lightvalve | 66:a8e6799dbce3 | 1094 | } |
Lightvalve | 73:f80dc3970c99 | 1095 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1096 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1097 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1098 | |
Lightvalve | 66:a8e6799dbce3 | 1099 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1100 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1101 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1102 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1103 | } |
Lightvalve | 87:471334725012 | 1104 | |
Lightvalve | 169:645207e160ca | 1105 | |
Lightvalve | 69:3995ffeaa786 | 1106 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1107 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1108 | } else |
Lightvalve | 69:3995ffeaa786 | 1109 | LED = 1; |
Lightvalve | 169:645207e160ca | 1110 | |
Lightvalve | 65:a2d7c63419c2 | 1111 | } |
Lightvalve | 171:bfc1fd2629d8 | 1112 | |
Lightvalve | 171:bfc1fd2629d8 | 1113 | |
Lightvalve | 170:42c938a40313 | 1114 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1115 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1116 | case 0: { |
Lightvalve | 170:42c938a40313 | 1117 | break; |
Lightvalve | 170:42c938a40313 | 1118 | } |
Lightvalve | 170:42c938a40313 | 1119 | case 1: { |
Lightvalve | 170:42c938a40313 | 1120 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1121 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1122 | float loss_sum = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1123 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 170:42c938a40313 | 1124 | //Calculate Estimated V |
Lightvalve | 175:2f7289dbd488 | 1125 | //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; |
Lightvalve | 175:2f7289dbd488 | 1126 | float temp_array[2] = {state_array[n][0], state_array[n][1]}; |
Lightvalve | 175:2f7289dbd488 | 1127 | V[n] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1128 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 175:2f7289dbd488 | 1129 | hx_c_sum_array[n][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1130 | } |
Lightvalve | 173:68c7914679ec | 1131 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 175:2f7289dbd488 | 1132 | hxh_c_sum_array[n][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1133 | } |
Lightvalve | 175:2f7289dbd488 | 1134 | hxhh_c_sum_array[n] = hxhh_c_sum; |
Lightvalve | 177:8e9cf31d63f4 | 1135 | |
Lightvalve | 175:2f7289dbd488 | 1136 | 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 | 1137 | Actor_Network_Old(temp_array); |
Lightvalve | 175:2f7289dbd488 | 1138 | 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 | 1139 | r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); |
Lightvalve | 175:2f7289dbd488 | 1140 | if(n == batch_size-1) return_G[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1141 | else return_G[n] = gamma * return_G[n+1] + r[n]; |
Lightvalve | 175:2f7289dbd488 | 1142 | if(n == batch_size-1) td_target[n] = r[n]; |
Lightvalve | 175:2f7289dbd488 | 1143 | else td_target[n] = r[n] + gamma * V[n+1]; |
Lightvalve | 175:2f7289dbd488 | 1144 | delta[n] = td_target[n] - V[n]; |
Lightvalve | 175:2f7289dbd488 | 1145 | if(n == batch_size-1) advantage[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1146 | else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; |
Lightvalve | 179:d5377766d7ea | 1147 | // return_G[n] = advantage[n] + V[n]; |
Lightvalve | 175:2f7289dbd488 | 1148 | ratio[n] = pi[n]/pi_old[n]; |
Lightvalve | 179:d5377766d7ea | 1149 | } |
Lightvalve | 179:d5377766d7ea | 1150 | float mean_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1151 | float dev_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1152 | mean_advantage = mean_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1153 | dev_advantage = deviation_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1154 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 179:d5377766d7ea | 1155 | //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; |
Lightvalve | 175:2f7289dbd488 | 1156 | surr1[n] = ratio[n] * advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1157 | if (ratio[n] > 1.0f + epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1158 | surr2[n] = (1.0f + epsilon)*advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1159 | } else if( ratio[n] < 1.0f - epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1160 | surr2[n] = (1.0f - epsilon)*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1161 | } else { |
Lightvalve | 175:2f7289dbd488 | 1162 | surr2[n] = ratio[n]*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1163 | } |
Lightvalve | 175:2f7289dbd488 | 1164 | loss[n] = -min(surr1[n], surr2[n]); |
Lightvalve | 175:2f7289dbd488 | 1165 | loss_sum = loss_sum + loss[n]; |
Lightvalve | 170:42c938a40313 | 1166 | } |
Lightvalve | 170:42c938a40313 | 1167 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1168 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1169 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1170 | } |
Lightvalve | 170:42c938a40313 | 1171 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1172 | |
Lightvalve | 171:bfc1fd2629d8 | 1173 | |
Lightvalve | 170:42c938a40313 | 1174 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1175 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1176 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1177 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1178 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1179 | } |
Lightvalve | 170:42c938a40313 | 1180 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1181 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1182 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1183 | |
Lightvalve | 170:42c938a40313 | 1184 | break; |
Lightvalve | 170:42c938a40313 | 1185 | } |
Lightvalve | 170:42c938a40313 | 1186 | case 2: { |
Lightvalve | 170:42c938a40313 | 1187 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1188 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1189 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1190 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1191 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1192 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1193 | break; |
Lightvalve | 170:42c938a40313 | 1194 | } |
Lightvalve | 169:645207e160ca | 1195 | |
Lightvalve | 170:42c938a40313 | 1196 | } |
GiJeongKim | 0:51c43836c1d7 | 1197 | } |
jobuuu | 1:e04e563be5ce | 1198 | } |
jobuuu | 1:e04e563be5ce | 1199 | |
Lightvalve | 33:91b17819ec30 | 1200 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1201 | { |
Lightvalve | 14:8e7590227d22 | 1202 | |
Lightvalve | 13:747daba9cf59 | 1203 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1204 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1205 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1206 | 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 | 1207 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1208 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1209 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1210 | } else { |
Lightvalve | 57:f4819de54e7a | 1211 | 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 | 1212 | } |
Lightvalve | 14:8e7590227d22 | 1213 | } else { |
Lightvalve | 50:3c630b5eba9f | 1214 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1215 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1216 | } else { |
Lightvalve | 57:f4819de54e7a | 1217 | 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 | 1218 | } |
Lightvalve | 13:747daba9cf59 | 1219 | } |
Lightvalve | 13:747daba9cf59 | 1220 | break; |
Lightvalve | 13:747daba9cf59 | 1221 | } |
Lightvalve | 13:747daba9cf59 | 1222 | } |
Lightvalve | 14:8e7590227d22 | 1223 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1224 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1225 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1226 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1227 | } |
Lightvalve | 36:a46e63505ed8 | 1228 | |
Lightvalve | 57:f4819de54e7a | 1229 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1230 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1231 | |
Lightvalve | 13:747daba9cf59 | 1232 | } |
jobuuu | 6:df07d3491e3a | 1233 | |
jobuuu | 6:df07d3491e3a | 1234 | |
Lightvalve | 30:8d561f16383b | 1235 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1236 | { |
Lightvalve | 13:747daba9cf59 | 1237 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1238 | |
Lightvalve | 38:118df027d851 | 1239 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1240 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1241 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1242 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1243 | } |
Lightvalve | 38:118df027d851 | 1244 | |
Lightvalve | 89:a7b45368ea0f | 1245 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1246 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1247 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1248 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1249 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1250 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1251 | |
Lightvalve | 13:747daba9cf59 | 1252 | 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 | 1253 | |
Lightvalve | 18:b8adf1582ea3 | 1254 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1255 | 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 | 1256 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1257 | 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 | 1258 | } else { |
Lightvalve | 48:889798ff9329 | 1259 | 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 | 1260 | } |
Lightvalve | 13:747daba9cf59 | 1261 | break; |
Lightvalve | 13:747daba9cf59 | 1262 | } |
Lightvalve | 13:747daba9cf59 | 1263 | } |
Lightvalve | 59:f308b1656d9c | 1264 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1265 | } |
Lightvalve | 13:747daba9cf59 | 1266 | |
Lightvalve | 14:8e7590227d22 | 1267 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1268 | 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 | 1269 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1270 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1271 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1272 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1273 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1274 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1275 | 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 | 1276 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1277 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1278 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1279 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1280 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1281 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1282 | |
Lightvalve | 30:8d561f16383b | 1283 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1284 | { |
Lightvalve | 30:8d561f16383b | 1285 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1286 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1287 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1288 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1289 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1290 | } else { |
Lightvalve | 13:747daba9cf59 | 1291 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1292 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1293 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1294 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1295 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1296 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1297 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1298 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1299 | break; |
Lightvalve | 13:747daba9cf59 | 1300 | } |
Lightvalve | 13:747daba9cf59 | 1301 | } |
Lightvalve | 13:747daba9cf59 | 1302 | } |
Lightvalve | 14:8e7590227d22 | 1303 | |
Lightvalve | 13:747daba9cf59 | 1304 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1305 | } |
jobuuu | 6:df07d3491e3a | 1306 | |
Lightvalve | 57:f4819de54e7a | 1307 | |
Lightvalve | 57:f4819de54e7a | 1308 | |
Lightvalve | 57:f4819de54e7a | 1309 | |
Lightvalve | 57:f4819de54e7a | 1310 | |
jobuuu | 2:a1c0a37df760 | 1311 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1312 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1313 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1314 | |
Lightvalve | 51:b46bed7fec80 | 1315 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1316 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1317 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1318 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1319 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1320 | { |
Lightvalve | 19:23b7c1ad8683 | 1321 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1322 | |
Lightvalve | 21:e5f1a43ea6f9 | 1323 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1324 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1325 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1326 | |
Lightvalve | 57:f4819de54e7a | 1327 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1328 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1329 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1330 | } |
Lightvalve | 61:bc8c8270f0ab | 1331 | |
Lightvalve | 61:bc8c8270f0ab | 1332 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1333 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1334 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1335 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1336 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1337 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 1338 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1339 | |
Lightvalve | 67:c2812cf26c38 | 1340 | |
Lightvalve | 67:c2812cf26c38 | 1341 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1342 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1343 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1344 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1345 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1346 | |
Lightvalve | 17:1865016ca2e7 | 1347 | |
Lightvalve | 58:2eade98630e2 | 1348 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1349 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1350 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1351 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1352 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1353 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1354 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1355 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1356 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1357 | |
Lightvalve | 58:2eade98630e2 | 1358 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1359 | 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 | 1360 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1361 | 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 | 1362 | } |
Lightvalve | 58:2eade98630e2 | 1363 | } |
Lightvalve | 61:bc8c8270f0ab | 1364 | |
Lightvalve | 58:2eade98630e2 | 1365 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1366 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1367 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1368 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1369 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1370 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1371 | // 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 | 1372 | // |
Lightvalve | 58:2eade98630e2 | 1373 | // |
Lightvalve | 58:2eade98630e2 | 1374 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1375 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1376 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1377 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1378 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1379 | |
Lightvalve | 17:1865016ca2e7 | 1380 | |
Lightvalve | 21:e5f1a43ea6f9 | 1381 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1382 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1383 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1384 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1385 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1386 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1387 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1388 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1389 | |
Lightvalve | 57:f4819de54e7a | 1390 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1391 | } |
Lightvalve | 11:82d8768d7351 | 1392 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1393 | } |
Lightvalve | 19:23b7c1ad8683 | 1394 | |
Lightvalve | 19:23b7c1ad8683 | 1395 | |
Lightvalve | 18:b8adf1582ea3 | 1396 | int j =0; |
Lightvalve | 54:647072f5307a | 1397 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1398 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1399 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1400 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 48:889798ff9329 | 1401 | |
Lightvalve | 11:82d8768d7351 | 1402 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1403 | { |
Lightvalve | 19:23b7c1ad8683 | 1404 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1405 | |
Lightvalve | 57:f4819de54e7a | 1406 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1407 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1408 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1409 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1410 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1411 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1412 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1413 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1414 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1415 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1416 | } |
Lightvalve | 50:3c630b5eba9f | 1417 | |
Lightvalve | 50:3c630b5eba9f | 1418 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1419 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1420 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1421 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1422 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1423 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1424 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1425 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1426 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1427 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1428 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1429 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1430 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1431 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1432 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1433 | } else { |
Lightvalve | 58:2eade98630e2 | 1434 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1435 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1436 | } |
Lightvalve | 45:35fa6884d0c6 | 1437 | |
Lightvalve | 50:3c630b5eba9f | 1438 | |
Lightvalve | 57:f4819de54e7a | 1439 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1440 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1441 | |
Lightvalve | 57:f4819de54e7a | 1442 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1443 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1444 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1445 | } else { |
Lightvalve | 57:f4819de54e7a | 1446 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1447 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1448 | } |
Lightvalve | 56:6f50d9d3bfee | 1449 | |
Lightvalve | 56:6f50d9d3bfee | 1450 | |
Lightvalve | 56:6f50d9d3bfee | 1451 | |
Lightvalve | 57:f4819de54e7a | 1452 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1453 | |
Lightvalve | 57:f4819de54e7a | 1454 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1455 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1456 | break; |
Lightvalve | 13:747daba9cf59 | 1457 | } |
Lightvalve | 14:8e7590227d22 | 1458 | |
Lightvalve | 14:8e7590227d22 | 1459 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1460 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1461 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1462 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1463 | |
Lightvalve | 14:8e7590227d22 | 1464 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1465 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1466 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1467 | |
Lightvalve | 84:c355d3e52bf1 | 1468 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1469 | |
Lightvalve | 30:8d561f16383b | 1470 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1471 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1472 | |
Lightvalve | 16:903b5a4433b4 | 1473 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1474 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1475 | } |
Lightvalve | 13:747daba9cf59 | 1476 | } else { |
Lightvalve | 58:2eade98630e2 | 1477 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1478 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1479 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1480 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1481 | |
Lightvalve | 170:42c938a40313 | 1482 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1483 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1484 | |
Lightvalve | 30:8d561f16383b | 1485 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1486 | |
Lightvalve | 13:747daba9cf59 | 1487 | } |
Lightvalve | 14:8e7590227d22 | 1488 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1489 | break; |
Lightvalve | 19:23b7c1ad8683 | 1490 | } |
Lightvalve | 14:8e7590227d22 | 1491 | |
Lightvalve | 50:3c630b5eba9f | 1492 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1493 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1494 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1495 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1496 | // } |
Lightvalve | 50:3c630b5eba9f | 1497 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1498 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1499 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1500 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1501 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1502 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1503 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1504 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1505 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1506 | // } |
Lightvalve | 50:3c630b5eba9f | 1507 | // |
Lightvalve | 50:3c630b5eba9f | 1508 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1509 | // 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 | 1510 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1511 | // |
Lightvalve | 50:3c630b5eba9f | 1512 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1513 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1514 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1515 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1516 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1517 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1518 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1519 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1520 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1521 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1522 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1523 | // |
Lightvalve | 50:3c630b5eba9f | 1524 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1525 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1526 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1527 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1528 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1529 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1530 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1531 | // |
Lightvalve | 50:3c630b5eba9f | 1532 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1533 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1534 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1535 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1536 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1537 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1538 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1539 | // } |
Lightvalve | 50:3c630b5eba9f | 1540 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1541 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1542 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1543 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1544 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1545 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1546 | // } |
Lightvalve | 50:3c630b5eba9f | 1547 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1548 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1549 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1550 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1551 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1552 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1553 | // } |
Lightvalve | 50:3c630b5eba9f | 1554 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1555 | // |
Lightvalve | 50:3c630b5eba9f | 1556 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1557 | // |
Lightvalve | 50:3c630b5eba9f | 1558 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1559 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1560 | // |
Lightvalve | 50:3c630b5eba9f | 1561 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1562 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1563 | // } |
Lightvalve | 50:3c630b5eba9f | 1564 | // } |
Lightvalve | 50:3c630b5eba9f | 1565 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1566 | // break; |
Lightvalve | 50:3c630b5eba9f | 1567 | // } |
Lightvalve | 14:8e7590227d22 | 1568 | |
Lightvalve | 14:8e7590227d22 | 1569 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1570 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1571 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1572 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1573 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1574 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1575 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1576 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1577 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1578 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1579 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1580 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1581 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1582 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1583 | } |
Lightvalve | 29:69f3f5445d6d | 1584 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1585 | |
Lightvalve | 29:69f3f5445d6d | 1586 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1587 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1588 | } else { |
Lightvalve | 29:69f3f5445d6d | 1589 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1590 | } |
Lightvalve | 19:23b7c1ad8683 | 1591 | |
Lightvalve | 57:f4819de54e7a | 1592 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1593 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1594 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1595 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1596 | |
Lightvalve | 59:f308b1656d9c | 1597 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1598 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1599 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1600 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1601 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1602 | |
Lightvalve | 59:f308b1656d9c | 1603 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1604 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1605 | |
Lightvalve | 34:bb2ca2fc2a8e | 1606 | |
Lightvalve | 29:69f3f5445d6d | 1607 | } else { |
Lightvalve | 29:69f3f5445d6d | 1608 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1609 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1610 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1611 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1612 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1613 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1614 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1615 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1616 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1617 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1618 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1619 | |
Lightvalve | 67:c2812cf26c38 | 1620 | |
Lightvalve | 67:c2812cf26c38 | 1621 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1622 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1623 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1624 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1625 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1626 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1627 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1628 | |
Lightvalve | 169:645207e160ca | 1629 | |
Lightvalve | 29:69f3f5445d6d | 1630 | } |
Lightvalve | 29:69f3f5445d6d | 1631 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1632 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1633 | 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 | 1634 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1635 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1636 | |
Lightvalve | 29:69f3f5445d6d | 1637 | // input for position control |
Lightvalve | 169:645207e160ca | 1638 | |
Lightvalve | 67:c2812cf26c38 | 1639 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1640 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1641 | |
Lightvalve | 67:c2812cf26c38 | 1642 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1643 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1644 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1645 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1646 | |
Lightvalve | 67:c2812cf26c38 | 1647 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1648 | |
Lightvalve | 67:c2812cf26c38 | 1649 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1650 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1651 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1652 | |
Lightvalve | 67:c2812cf26c38 | 1653 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1654 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1655 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1656 | |
Lightvalve | 69:3995ffeaa786 | 1657 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
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) * 3.14159f / 180.0f; // rad/s |
Lightvalve | 67:c2812cf26c38 | 1659 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1660 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1661 | 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 | 1662 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1663 | } |
Lightvalve | 67:c2812cf26c38 | 1664 | 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 | 1665 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1666 | |
Lightvalve | 67:c2812cf26c38 | 1667 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1668 | |
Lightvalve | 67:c2812cf26c38 | 1669 | |
Lightvalve | 67:c2812cf26c38 | 1670 | |
Lightvalve | 67:c2812cf26c38 | 1671 | } else { |
Lightvalve | 67:c2812cf26c38 | 1672 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1673 | 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 | 1674 | |
Lightvalve | 67:c2812cf26c38 | 1675 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1676 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1677 | } else { |
Lightvalve | 67:c2812cf26c38 | 1678 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1679 | } |
Lightvalve | 67:c2812cf26c38 | 1680 | |
Lightvalve | 67:c2812cf26c38 | 1681 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1682 | |
Lightvalve | 67:c2812cf26c38 | 1683 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1684 | |
Lightvalve | 67:c2812cf26c38 | 1685 | } |
Lightvalve | 67:c2812cf26c38 | 1686 | |
Lightvalve | 67:c2812cf26c38 | 1687 | |
Lightvalve | 169:645207e160ca | 1688 | |
Lightvalve | 169:645207e160ca | 1689 | |
Lightvalve | 59:f308b1656d9c | 1690 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1691 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1692 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1693 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1694 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1695 | |
Lightvalve | 29:69f3f5445d6d | 1696 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1697 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1698 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1699 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1700 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1701 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1702 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1703 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1704 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1705 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1706 | } |
Lightvalve | 13:747daba9cf59 | 1707 | } |
Lightvalve | 19:23b7c1ad8683 | 1708 | |
Lightvalve | 13:747daba9cf59 | 1709 | break; |
Lightvalve | 13:747daba9cf59 | 1710 | } |
Lightvalve | 14:8e7590227d22 | 1711 | |
Lightvalve | 50:3c630b5eba9f | 1712 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1713 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1714 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1715 | // else { |
Lightvalve | 50:3c630b5eba9f | 1716 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1717 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1718 | // } |
Lightvalve | 50:3c630b5eba9f | 1719 | // } |
Lightvalve | 50:3c630b5eba9f | 1720 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1721 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1722 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1723 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1724 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1725 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1726 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1727 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1728 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1729 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1730 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1731 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1732 | // } |
Lightvalve | 50:3c630b5eba9f | 1733 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1734 | // } |
Lightvalve | 50:3c630b5eba9f | 1735 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1736 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1737 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1738 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1739 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1740 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1741 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1742 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1743 | // 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 | 1744 | // // 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 | 1745 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1746 | // } |
Lightvalve | 50:3c630b5eba9f | 1747 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1748 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1749 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1750 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1751 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1752 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1753 | // 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 | 1754 | // // 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 | 1755 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1756 | // } |
Lightvalve | 50:3c630b5eba9f | 1757 | // } |
Lightvalve | 50:3c630b5eba9f | 1758 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1759 | // |
Lightvalve | 50:3c630b5eba9f | 1760 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1761 | // |
Lightvalve | 50:3c630b5eba9f | 1762 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1763 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1764 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1765 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1766 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1767 | // } |
Lightvalve | 50:3c630b5eba9f | 1768 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1769 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1770 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1771 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1772 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1773 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1774 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1775 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1776 | // } |
Lightvalve | 50:3c630b5eba9f | 1777 | // |
Lightvalve | 50:3c630b5eba9f | 1778 | // } |
Lightvalve | 50:3c630b5eba9f | 1779 | // break; |
Lightvalve | 50:3c630b5eba9f | 1780 | // } |
Lightvalve | 50:3c630b5eba9f | 1781 | // |
Lightvalve | 50:3c630b5eba9f | 1782 | // } |
Lightvalve | 14:8e7590227d22 | 1783 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1784 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1785 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1786 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1787 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1788 | |
Lightvalve | 14:8e7590227d22 | 1789 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1790 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1791 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1792 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1793 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1794 | |
Lightvalve | 38:118df027d851 | 1795 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1796 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1797 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1798 | |
Lightvalve | 30:8d561f16383b | 1799 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1800 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1801 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1802 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1803 | |
Lightvalve | 30:8d561f16383b | 1804 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1805 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1806 | } |
Lightvalve | 13:747daba9cf59 | 1807 | } else { |
Lightvalve | 57:f4819de54e7a | 1808 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1809 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1810 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1811 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1812 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1813 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1814 | |
Lightvalve | 170:42c938a40313 | 1815 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1816 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1817 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1818 | |
Lightvalve | 30:8d561f16383b | 1819 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1820 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1821 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1822 | } |
Lightvalve | 14:8e7590227d22 | 1823 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1824 | break; |
Lightvalve | 13:747daba9cf59 | 1825 | } |
Lightvalve | 14:8e7590227d22 | 1826 | |
Lightvalve | 50:3c630b5eba9f | 1827 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1828 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1829 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1830 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1831 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1832 | // } |
Lightvalve | 50:3c630b5eba9f | 1833 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1834 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1835 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1836 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1837 | // } |
Lightvalve | 50:3c630b5eba9f | 1838 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1839 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1840 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1841 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1842 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1843 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1844 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1845 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1846 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1847 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1848 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1849 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1850 | // |
Lightvalve | 50:3c630b5eba9f | 1851 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1852 | // |
Lightvalve | 50:3c630b5eba9f | 1853 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1854 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1855 | // } |
Lightvalve | 50:3c630b5eba9f | 1856 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1857 | // break; |
Lightvalve | 50:3c630b5eba9f | 1858 | // } |
Lightvalve | 19:23b7c1ad8683 | 1859 | |
Lightvalve | 50:3c630b5eba9f | 1860 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1861 | // 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 | 1862 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1863 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1864 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1865 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1866 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1867 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1868 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1869 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1870 | // } |
Lightvalve | 50:3c630b5eba9f | 1871 | // break; |
Lightvalve | 50:3c630b5eba9f | 1872 | // } |
Lightvalve | 14:8e7590227d22 | 1873 | |
Lightvalve | 14:8e7590227d22 | 1874 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1875 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1876 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1877 | |
Lightvalve | 14:8e7590227d22 | 1878 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1879 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1880 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1881 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1882 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1883 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1884 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1885 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1886 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1887 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1888 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1889 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1890 | } else { |
Lightvalve | 13:747daba9cf59 | 1891 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1892 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1893 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1894 | } |
Lightvalve | 14:8e7590227d22 | 1895 | |
Lightvalve | 17:1865016ca2e7 | 1896 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1897 | int i; |
Lightvalve | 13:747daba9cf59 | 1898 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1899 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1900 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1901 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1902 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1903 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1904 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1905 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1906 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1907 | } |
Lightvalve | 13:747daba9cf59 | 1908 | } |
Lightvalve | 170:42c938a40313 | 1909 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1910 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1911 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1912 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1913 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1914 | } |
Lightvalve | 13:747daba9cf59 | 1915 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1916 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1917 | } |
Lightvalve | 14:8e7590227d22 | 1918 | |
Lightvalve | 14:8e7590227d22 | 1919 | |
Lightvalve | 13:747daba9cf59 | 1920 | break; |
Lightvalve | 13:747daba9cf59 | 1921 | } |
Lightvalve | 14:8e7590227d22 | 1922 | |
Lightvalve | 14:8e7590227d22 | 1923 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1924 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1925 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1926 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1927 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1928 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1929 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1930 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1931 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1932 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1933 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1934 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1935 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1936 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1937 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1938 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 30:8d561f16383b | 1939 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1940 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1941 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1942 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1943 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1944 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1945 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1946 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1947 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1948 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1949 | |
Lightvalve | 30:8d561f16383b | 1950 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1951 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1952 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1953 | |
Lightvalve | 30:8d561f16383b | 1954 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1955 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1956 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1957 | |
Lightvalve | 30:8d561f16383b | 1958 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1959 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1960 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1961 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1962 | |
Lightvalve | 60:64181f1d3e60 | 1963 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1964 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1965 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1966 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1967 | } else { |
Lightvalve | 13:747daba9cf59 | 1968 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1969 | } |
Lightvalve | 61:bc8c8270f0ab | 1970 | |
Lightvalve | 60:64181f1d3e60 | 1971 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1972 | |
Lightvalve | 13:747daba9cf59 | 1973 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1974 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1975 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1976 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1977 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1978 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1979 | |
Lightvalve | 13:747daba9cf59 | 1980 | } |
Lightvalve | 19:23b7c1ad8683 | 1981 | } else { |
Lightvalve | 14:8e7590227d22 | 1982 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1983 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1984 | 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 | 1985 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1986 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1987 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1988 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1989 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1990 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1991 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1992 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1993 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1994 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1995 | } |
Lightvalve | 14:8e7590227d22 | 1996 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1997 | |
Lightvalve | 30:8d561f16383b | 1998 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1999 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2000 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2001 | |
Lightvalve | 14:8e7590227d22 | 2002 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2003 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2004 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2005 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2006 | } else { |
Lightvalve | 13:747daba9cf59 | 2007 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2008 | } |
Lightvalve | 14:8e7590227d22 | 2009 | |
Lightvalve | 13:747daba9cf59 | 2010 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2011 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2012 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2013 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2014 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2015 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2016 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2017 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2018 | } |
Lightvalve | 13:747daba9cf59 | 2019 | } |
Lightvalve | 14:8e7590227d22 | 2020 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2021 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2022 | 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 | 2023 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2024 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2025 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2026 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2027 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2028 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2029 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2030 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2031 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2032 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2033 | } |
Lightvalve | 14:8e7590227d22 | 2034 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2035 | |
Lightvalve | 30:8d561f16383b | 2036 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2037 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2038 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2039 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2040 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2041 | |
Lightvalve | 14:8e7590227d22 | 2042 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2043 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2044 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2045 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2046 | } else { |
Lightvalve | 60:64181f1d3e60 | 2047 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2048 | } |
Lightvalve | 14:8e7590227d22 | 2049 | |
Lightvalve | 13:747daba9cf59 | 2050 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2051 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2052 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2053 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2054 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2055 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2056 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2057 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2058 | |
Lightvalve | 170:42c938a40313 | 2059 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2060 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2061 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2062 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2063 | |
Lightvalve | 60:64181f1d3e60 | 2064 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2065 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2066 | } |
Lightvalve | 13:747daba9cf59 | 2067 | } |
Lightvalve | 14:8e7590227d22 | 2068 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2069 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2070 | 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 | 2071 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2072 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2073 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2074 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2075 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2076 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2077 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2078 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2079 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2080 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2081 | } |
Lightvalve | 14:8e7590227d22 | 2082 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2083 | |
Lightvalve | 30:8d561f16383b | 2084 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2085 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2086 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2087 | |
Lightvalve | 14:8e7590227d22 | 2088 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2089 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2090 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2091 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2092 | } else { |
Lightvalve | 13:747daba9cf59 | 2093 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2094 | } |
Lightvalve | 13:747daba9cf59 | 2095 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2096 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2097 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2098 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2099 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2100 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2101 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2102 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2103 | } |
Lightvalve | 13:747daba9cf59 | 2104 | } |
Lightvalve | 14:8e7590227d22 | 2105 | } else { |
Lightvalve | 30:8d561f16383b | 2106 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2107 | 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 | 2108 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2109 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2110 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2111 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2112 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2113 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2114 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2115 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2116 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2117 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2118 | } |
Lightvalve | 14:8e7590227d22 | 2119 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2120 | |
Lightvalve | 30:8d561f16383b | 2121 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2122 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2123 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2124 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2125 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2126 | |
Lightvalve | 60:64181f1d3e60 | 2127 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2128 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2129 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2130 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2131 | } else { |
Lightvalve | 13:747daba9cf59 | 2132 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2133 | } |
Lightvalve | 14:8e7590227d22 | 2134 | |
Lightvalve | 13:747daba9cf59 | 2135 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2136 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2137 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2138 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2139 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2140 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2141 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2142 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2143 | |
Lightvalve | 170:42c938a40313 | 2144 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2145 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2146 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2147 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2148 | |
Lightvalve | 57:f4819de54e7a | 2149 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2150 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2151 | } |
Lightvalve | 13:747daba9cf59 | 2152 | } |
Lightvalve | 13:747daba9cf59 | 2153 | } |
Lightvalve | 14:8e7590227d22 | 2154 | } |
Lightvalve | 13:747daba9cf59 | 2155 | break; |
Lightvalve | 13:747daba9cf59 | 2156 | } |
Lightvalve | 14:8e7590227d22 | 2157 | |
Lightvalve | 14:8e7590227d22 | 2158 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2159 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2160 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2161 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2162 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2163 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2164 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2165 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2166 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2167 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2168 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2169 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2170 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2171 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2172 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2173 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2174 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2175 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2176 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2177 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2178 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2179 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2180 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2181 | } |
Lightvalve | 14:8e7590227d22 | 2182 | } else { |
Lightvalve | 30:8d561f16383b | 2183 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2184 | //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 | 2185 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2186 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2187 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2188 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2189 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2190 | |
Lightvalve | 14:8e7590227d22 | 2191 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2192 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2193 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2194 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2195 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2196 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2197 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2198 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2199 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2200 | } |
Lightvalve | 30:8d561f16383b | 2201 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2202 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2203 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2204 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2205 | } |
Lightvalve | 14:8e7590227d22 | 2206 | |
Lightvalve | 14:8e7590227d22 | 2207 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2208 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2209 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2210 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2211 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2212 | } |
Lightvalve | 13:747daba9cf59 | 2213 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2214 | |
Lightvalve | 13:747daba9cf59 | 2215 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2216 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2217 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2218 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2219 | } |
Lightvalve | 14:8e7590227d22 | 2220 | |
Lightvalve | 14:8e7590227d22 | 2221 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2222 | |
Lightvalve | 13:747daba9cf59 | 2223 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2224 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2225 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2226 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2227 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2228 | } |
Lightvalve | 13:747daba9cf59 | 2229 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2230 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2231 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2232 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2233 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2234 | } |
Lightvalve | 13:747daba9cf59 | 2235 | } |
Lightvalve | 13:747daba9cf59 | 2236 | break; |
Lightvalve | 13:747daba9cf59 | 2237 | } |
Lightvalve | 58:2eade98630e2 | 2238 | |
Lightvalve | 57:f4819de54e7a | 2239 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2240 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2241 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2242 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2243 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2244 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2245 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2246 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2247 | } |
Lightvalve | 57:f4819de54e7a | 2248 | break; |
Lightvalve | 57:f4819de54e7a | 2249 | } |
Lightvalve | 58:2eade98630e2 | 2250 | |
Lightvalve | 169:645207e160ca | 2251 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2252 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2253 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2254 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2255 | } else { |
Lightvalve | 169:645207e160ca | 2256 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2257 | } |
Lightvalve | 169:645207e160ca | 2258 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2259 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2260 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2261 | } else { |
Lightvalve | 169:645207e160ca | 2262 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2263 | } |
Lightvalve | 58:2eade98630e2 | 2264 | |
Lightvalve | 169:645207e160ca | 2265 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2266 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2267 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2268 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2269 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2270 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2271 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2272 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2273 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2274 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2275 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2276 | } |
Lightvalve | 169:645207e160ca | 2277 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2278 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2279 | |
Lightvalve | 169:645207e160ca | 2280 | } |
Lightvalve | 169:645207e160ca | 2281 | break; |
Lightvalve | 169:645207e160ca | 2282 | } |
Lightvalve | 169:645207e160ca | 2283 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2284 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2285 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2286 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2287 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2288 | // } |
Lightvalve | 169:645207e160ca | 2289 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2290 | // } |
Lightvalve | 169:645207e160ca | 2291 | |
Lightvalve | 169:645207e160ca | 2292 | break; |
Lightvalve | 169:645207e160ca | 2293 | } |
Lightvalve | 169:645207e160ca | 2294 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2295 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2296 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2297 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2298 | break; |
Lightvalve | 169:645207e160ca | 2299 | } |
Lightvalve | 170:42c938a40313 | 2300 | |
Lightvalve | 169:645207e160ca | 2301 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2302 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2303 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2304 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2305 | } else { |
Lightvalve | 169:645207e160ca | 2306 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2307 | } |
Lightvalve | 169:645207e160ca | 2308 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2309 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2310 | } else { |
Lightvalve | 169:645207e160ca | 2311 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2312 | } |
Lightvalve | 169:645207e160ca | 2313 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2314 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2315 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2316 | } else { |
Lightvalve | 169:645207e160ca | 2317 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2318 | } |
Lightvalve | 169:645207e160ca | 2319 | |
Lightvalve | 169:645207e160ca | 2320 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2321 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2322 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2323 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2324 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2325 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2326 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2327 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2328 | } |
Lightvalve | 169:645207e160ca | 2329 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2330 | // { |
Lightvalve | 169:645207e160ca | 2331 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2332 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2333 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2334 | // } |
Lightvalve | 170:42c938a40313 | 2335 | |
Lightvalve | 169:645207e160ca | 2336 | break; |
Lightvalve | 169:645207e160ca | 2337 | } |
Lightvalve | 57:f4819de54e7a | 2338 | |
Lightvalve | 57:f4819de54e7a | 2339 | default: |
Lightvalve | 57:f4819de54e7a | 2340 | break; |
Lightvalve | 57:f4819de54e7a | 2341 | } |
Lightvalve | 57:f4819de54e7a | 2342 | |
Lightvalve | 57:f4819de54e7a | 2343 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2344 | |
Lightvalve | 57:f4819de54e7a | 2345 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2346 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2347 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2348 | break; |
Lightvalve | 57:f4819de54e7a | 2349 | } |
Lightvalve | 57:f4819de54e7a | 2350 | |
Lightvalve | 57:f4819de54e7a | 2351 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2352 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 225:278b48b86f27 | 2353 | ////For Test LIMC////////////////////////////////////////// |
Lightvalve | 233:0a37cdd59651 | 2354 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 233:0a37cdd59651 | 2355 | // for(int i=0; i<9; i++){ |
Lightvalve | 233:0a37cdd59651 | 2356 | // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1]; |
Lightvalve | 233:0a37cdd59651 | 2357 | // } |
Lightvalve | 233:0a37cdd59651 | 2358 | // valve_ref_pos_buffer[9] = valve_pos.ref; |
Lightvalve | 233:0a37cdd59651 | 2359 | // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]); |
Lightvalve | 225:278b48b86f27 | 2360 | //////////////////////////////////////////////////////////// |
Lightvalve | 225:278b48b86f27 | 2361 | |
Lightvalve | 59:f308b1656d9c | 2362 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2363 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2364 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2365 | } else { |
Lightvalve | 67:c2812cf26c38 | 2366 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2367 | } |
Lightvalve | 57:f4819de54e7a | 2368 | break; |
Lightvalve | 57:f4819de54e7a | 2369 | } |
Lightvalve | 57:f4819de54e7a | 2370 | |
Lightvalve | 57:f4819de54e7a | 2371 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2372 | |
Lightvalve | 57:f4819de54e7a | 2373 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2374 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2375 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2376 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2377 | |
Lightvalve | 67:c2812cf26c38 | 2378 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2379 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2380 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2381 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2382 | |
Lightvalve | 139:15621998925b | 2383 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2384 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2385 | |
Lightvalve | 57:f4819de54e7a | 2386 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2387 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2388 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2389 | |
Lightvalve | 57:f4819de54e7a | 2390 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2391 | |
Lightvalve | 57:f4819de54e7a | 2392 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2393 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2394 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2395 | |
Lightvalve | 57:f4819de54e7a | 2396 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2397 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2398 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2399 | |
Lightvalve | 69:3995ffeaa786 | 2400 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2401 | 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 | 2402 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2403 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2404 | 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 | 2405 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2406 | } |
Lightvalve | 57:f4819de54e7a | 2407 | 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 | 2408 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2409 | |
Lightvalve | 57:f4819de54e7a | 2410 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2411 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2412 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2413 | // 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 | 2414 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2415 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2416 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2417 | 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 | 2418 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2419 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2420 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2421 | } |
Lightvalve | 57:f4819de54e7a | 2422 | 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 | 2423 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2424 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2425 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2426 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2427 | |
Lightvalve | 57:f4819de54e7a | 2428 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2429 | |
Lightvalve | 67:c2812cf26c38 | 2430 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2431 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2432 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2433 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2434 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2435 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2436 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2437 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2438 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2439 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2440 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2441 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2442 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2443 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2444 | } |
Lightvalve | 67:c2812cf26c38 | 2445 | } |
Lightvalve | 57:f4819de54e7a | 2446 | |
Lightvalve | 57:f4819de54e7a | 2447 | } else { |
Lightvalve | 57:f4819de54e7a | 2448 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2449 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2450 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2451 | |
Lightvalve | 209:ebc69d6ee6f1 | 2452 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 57:f4819de54e7a | 2453 | |
Lightvalve | 72:3436ce769b1e | 2454 | 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 | 2455 | |
Lightvalve | 72:3436ce769b1e | 2456 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2457 | |
Lightvalve | 169:645207e160ca | 2458 | |
Lightvalve | 72:3436ce769b1e | 2459 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2460 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2461 | } else { |
Lightvalve | 72:3436ce769b1e | 2462 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2463 | } |
Lightvalve | 57:f4819de54e7a | 2464 | |
Lightvalve | 57:f4819de54e7a | 2465 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2466 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2467 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2468 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2469 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2470 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2471 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2472 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2473 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2474 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2475 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2476 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2477 | } |
Lightvalve | 57:f4819de54e7a | 2478 | } |
Lightvalve | 61:bc8c8270f0ab | 2479 | |
Lightvalve | 57:f4819de54e7a | 2480 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2481 | |
Lightvalve | 67:c2812cf26c38 | 2482 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2483 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2484 | |
Lightvalve | 57:f4819de54e7a | 2485 | } |
Lightvalve | 169:645207e160ca | 2486 | |
Lightvalve | 72:3436ce769b1e | 2487 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2488 | |
Lightvalve | 133:22ab22818e01 | 2489 | |
Lightvalve | 57:f4819de54e7a | 2490 | break; |
Lightvalve | 57:f4819de54e7a | 2491 | } |
Lightvalve | 58:2eade98630e2 | 2492 | |
Lightvalve | 57:f4819de54e7a | 2493 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2494 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2495 | break; |
Lightvalve | 57:f4819de54e7a | 2496 | } |
Lightvalve | 169:645207e160ca | 2497 | |
Lightvalve | 138:a843f32ced33 | 2498 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2499 | |
Lightvalve | 169:645207e160ca | 2500 | |
Lightvalve | 139:15621998925b | 2501 | 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 | 2502 | float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 218:066030f7951f | 2503 | |
Lightvalve | 170:42c938a40313 | 2504 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2505 | |
Lightvalve | 218:066030f7951f | 2506 | //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 218:066030f7951f | 2507 | float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 169:645207e160ca | 2508 | |
Lightvalve | 138:a843f32ced33 | 2509 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2510 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2511 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2512 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2513 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2514 | } else { |
Lightvalve | 138:a843f32ced33 | 2515 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2516 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2517 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2518 | } else { |
Lightvalve | 138:a843f32ced33 | 2519 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2520 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2521 | } |
Lightvalve | 138:a843f32ced33 | 2522 | } |
Lightvalve | 138:a843f32ced33 | 2523 | float tau = 0.01f; |
Lightvalve | 247:87a44e8b3392 | 2524 | //float K_valve = 0.0004f; |
Lightvalve | 247:87a44e8b3392 | 2525 | float K_valve = 0.0002f; |
Lightvalve | 169:645207e160ca | 2526 | |
Lightvalve | 138:a843f32ced33 | 2527 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2528 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2529 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2530 | } else { |
Lightvalve | 138:a843f32ced33 | 2531 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2532 | } |
Lightvalve | 138:a843f32ced33 | 2533 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2534 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2535 | |
Lightvalve | 139:15621998925b | 2536 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2537 | |
Lightvalve | 138:a843f32ced33 | 2538 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2539 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2540 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2541 | |
Lightvalve | 138:a843f32ced33 | 2542 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2543 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2544 | |
Lightvalve | 212:ec41f1449ef9 | 2545 | float k3 = 2000.0f; //2000 //20000 |
Lightvalve | 142:43026242815a | 2546 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2547 | float rho3 = 3.2f; |
Lightvalve | 212:ec41f1449ef9 | 2548 | float rho4 = 10000000.0f; //25000000.0f; |
Lightvalve | 218:066030f7951f | 2549 | float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2550 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2551 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2552 | |
Lightvalve | 139:15621998925b | 2553 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2554 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2555 | } else { |
Lightvalve | 139:15621998925b | 2556 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2557 | } |
Lightvalve | 169:645207e160ca | 2558 | |
Lightvalve | 138:a843f32ced33 | 2559 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2560 | x_4_des_old = x_4_des; |
Lightvalve | 212:ec41f1449ef9 | 2561 | float V_input = 0.0f; |
Lightvalve | 139:15621998925b | 2562 | V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; |
Lightvalve | 212:ec41f1449ef9 | 2563 | // //V_out LPF |
Lightvalve | 212:ec41f1449ef9 | 2564 | // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz |
Lightvalve | 212:ec41f1449ef9 | 2565 | // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out); |
Lightvalve | 212:ec41f1449ef9 | 2566 | |
Lightvalve | 218:066030f7951f | 2567 | // float rho_gamma = 5000.0f;//5000 for change //50000 for not change |
Lightvalve | 218:066030f7951f | 2568 | // float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); |
Lightvalve | 218:066030f7951f | 2569 | // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2570 | // |
Lightvalve | 218:066030f7951f | 2571 | // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f; |
Lightvalve | 218:066030f7951f | 2572 | // else if(gamma_hat < 100.0f) gamma_hat = 100.0f; |
Lightvalve | 218:066030f7951f | 2573 | |
Lightvalve | 218:066030f7951f | 2574 | float rho_a = 0.00001f; |
Lightvalve | 218:066030f7951f | 2575 | float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err); |
Lightvalve | 218:066030f7951f | 2576 | a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2577 | |
Lightvalve | 218:066030f7951f | 2578 | if(a_hat > -3000000.0f) a_hat = -3000000.0f; |
Lightvalve | 218:066030f7951f | 2579 | else if(a_hat < -30000000.0f) a_hat = -30000000.0f; |
Lightvalve | 218:066030f7951f | 2580 | |
Lightvalve | 169:645207e160ca | 2581 | break; |
Lightvalve | 138:a843f32ced33 | 2582 | } |
Lightvalve | 171:bfc1fd2629d8 | 2583 | |
Lightvalve | 170:42c938a40313 | 2584 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2585 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2586 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2587 | |
Lightvalve | 170:42c938a40313 | 2588 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2589 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2590 | |
Lightvalve | 170:42c938a40313 | 2591 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2592 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2593 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2594 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2595 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2596 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2597 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2598 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2599 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2600 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2601 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2602 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2603 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2604 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2605 | } |
Lightvalve | 173:68c7914679ec | 2606 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2607 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2608 | } |
Lightvalve | 173:68c7914679ec | 2609 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2610 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2611 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2612 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2613 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2614 | |
Lightvalve | 179:d5377766d7ea | 2615 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2616 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2617 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2618 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2619 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2620 | } |
Lightvalve | 171:bfc1fd2629d8 | 2621 | |
Lightvalve | 170:42c938a40313 | 2622 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2623 | |
Lightvalve | 170:42c938a40313 | 2624 | |
Lightvalve | 170:42c938a40313 | 2625 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2626 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2627 | batch++; |
Lightvalve | 170:42c938a40313 | 2628 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2629 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2630 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2631 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2632 | } |
Lightvalve | 170:42c938a40313 | 2633 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2634 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2635 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2636 | |
Lightvalve | 170:42c938a40313 | 2637 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2638 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2639 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2640 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2641 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2642 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2643 | } |
Lightvalve | 170:42c938a40313 | 2644 | } |
Lightvalve | 170:42c938a40313 | 2645 | } |
Lightvalve | 170:42c938a40313 | 2646 | |
Lightvalve | 170:42c938a40313 | 2647 | else { |
Lightvalve | 170:42c938a40313 | 2648 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2649 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2650 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2651 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2652 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2653 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2654 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2655 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2656 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2657 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2658 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2659 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2660 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2661 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2662 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2663 | } |
Lightvalve | 170:42c938a40313 | 2664 | |
Lightvalve | 170:42c938a40313 | 2665 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2666 | } |
Lightvalve | 170:42c938a40313 | 2667 | |
Lightvalve | 170:42c938a40313 | 2668 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2669 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2670 | |
Lightvalve | 170:42c938a40313 | 2671 | break; |
Lightvalve | 170:42c938a40313 | 2672 | } |
Lightvalve | 14:8e7590227d22 | 2673 | |
Lightvalve | 12:6f2531038ea4 | 2674 | default: |
Lightvalve | 12:6f2531038ea4 | 2675 | break; |
Lightvalve | 12:6f2531038ea4 | 2676 | } |
Lightvalve | 14:8e7590227d22 | 2677 | |
Lightvalve | 57:f4819de54e7a | 2678 | |
Lightvalve | 57:f4819de54e7a | 2679 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2680 | |
Lightvalve | 57:f4819de54e7a | 2681 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2682 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2683 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2684 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2685 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2686 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2687 | |
Lightvalve | 57:f4819de54e7a | 2688 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2689 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2690 | |
Lightvalve | 57:f4819de54e7a | 2691 | |
Lightvalve | 57:f4819de54e7a | 2692 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2693 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2694 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2695 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2696 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2697 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2698 | |
Lightvalve | 57:f4819de54e7a | 2699 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2700 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2701 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2702 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2703 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2704 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2705 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2706 | } |
Lightvalve | 57:f4819de54e7a | 2707 | |
Lightvalve | 57:f4819de54e7a | 2708 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2709 | |
Lightvalve | 67:c2812cf26c38 | 2710 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2711 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2712 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2713 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2714 | // 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 | 2715 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2716 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2717 | |
Lightvalve | 57:f4819de54e7a | 2718 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2719 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2720 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2721 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2722 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2723 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2724 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2725 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2726 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2727 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2728 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2729 | } |
Lightvalve | 57:f4819de54e7a | 2730 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2731 | } else { |
Lightvalve | 57:f4819de54e7a | 2732 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2733 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2734 | } |
Lightvalve | 57:f4819de54e7a | 2735 | |
Lightvalve | 57:f4819de54e7a | 2736 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2737 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2738 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2739 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2740 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2741 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2742 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2743 | |
Lightvalve | 57:f4819de54e7a | 2744 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2745 | |
Lightvalve | 57:f4819de54e7a | 2746 | } else { |
Lightvalve | 57:f4819de54e7a | 2747 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2748 | } |
Lightvalve | 57:f4819de54e7a | 2749 | |
Lightvalve | 57:f4819de54e7a | 2750 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2751 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2752 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2753 | |
Lightvalve | 57:f4819de54e7a | 2754 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2755 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2756 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2757 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2758 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2759 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2760 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2761 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2762 | |
Lightvalve | 89:a7b45368ea0f | 2763 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2764 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2765 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2766 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2767 | |
Lightvalve | 135:79885a39c161 | 2768 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2769 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2770 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2771 | } |
Lightvalve | 169:645207e160ca | 2772 | |
Lightvalve | 67:c2812cf26c38 | 2773 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2774 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2775 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2776 | |
jobuuu | 7:e9086c72bb22 | 2777 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2778 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2779 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2780 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2781 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2782 | } |
Lightvalve | 169:645207e160ca | 2783 | |
Lightvalve | 49:e7bcfc244d40 | 2784 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2785 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2786 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2787 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2788 | } |
Lightvalve | 49:e7bcfc244d40 | 2789 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2790 | |
Lightvalve | 19:23b7c1ad8683 | 2791 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2792 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2793 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2794 | |
Lightvalve | 30:8d561f16383b | 2795 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2796 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2797 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2798 | } else { |
jobuuu | 2:a1c0a37df760 | 2799 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2800 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2801 | } |
Lightvalve | 13:747daba9cf59 | 2802 | |
jobuuu | 1:e04e563be5ce | 2803 | //pwm |
Lightvalve | 30:8d561f16383b | 2804 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2805 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2806 | |
Lightvalve | 61:bc8c8270f0ab | 2807 | |
Lightvalve | 233:0a37cdd59651 | 2808 | |
Lightvalve | 233:0a37cdd59651 | 2809 | /* |
Lightvalve | 237:aa3863117889 | 2810 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 233:0a37cdd59651 | 2811 | |
Lightvalve | 54:647072f5307a | 2812 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2813 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2814 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2815 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2816 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2817 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2818 | 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 | 2819 | } |
Lightvalve | 57:f4819de54e7a | 2820 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2821 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2822 | 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 | 2823 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2824 | 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 | 2825 | } |
Lightvalve | 52:8ea76864368a | 2826 | } |
Lightvalve | 52:8ea76864368a | 2827 | } |
Lightvalve | 233:0a37cdd59651 | 2828 | |
Lightvalve | 56:6f50d9d3bfee | 2829 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 179:d5377766d7ea | 2830 | CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 54:647072f5307a | 2831 | } |
Lightvalve | 58:2eade98630e2 | 2832 | |
Lightvalve | 58:2eade98630e2 | 2833 | |
Lightvalve | 171:bfc1fd2629d8 | 2834 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2835 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2836 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2837 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2838 | } else { |
Lightvalve | 131:d08121ac87ba | 2839 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2840 | } |
Lightvalve | 169:645207e160ca | 2841 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2842 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2843 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2844 | } else { |
Lightvalve | 169:645207e160ca | 2845 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2846 | } |
Lightvalve | 169:645207e160ca | 2847 | |
Lightvalve | 169:645207e160ca | 2848 | |
Lightvalve | 169:645207e160ca | 2849 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2850 | } |
Lightvalve | 58:2eade98630e2 | 2851 | |
Lightvalve | 57:f4819de54e7a | 2852 | //If it doesn't rest, below can can not work. |
Lightvalve | 233:0a37cdd59651 | 2853 | for (int can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2854 | ; |
Lightvalve | 57:f4819de54e7a | 2855 | } |
Lightvalve | 58:2eade98630e2 | 2856 | |
Lightvalve | 169:645207e160ca | 2857 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2858 | //PWM |
Lightvalve | 209:ebc69d6ee6f1 | 2859 | CAN_TX_PWM((int16_t) (torq.ref)); //1500 |
Lightvalve | 209:ebc69d6ee6f1 | 2860 | // CAN_TX_PWM((int16_t) (f_future[1])); //1500 |
Lightvalve | 54:647072f5307a | 2861 | } |
Lightvalve | 179:d5377766d7ea | 2862 | |
Lightvalve | 56:6f50d9d3bfee | 2863 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2864 | //valve position |
Lightvalve | 212:ec41f1449ef9 | 2865 | //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600 |
Lightvalve | 218:066030f7951f | 2866 | CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600 |
Lightvalve | 54:647072f5307a | 2867 | } |
Lightvalve | 237:aa3863117889 | 2868 | |
Lightvalve | 233:0a37cdd59651 | 2869 | |
Lightvalve | 20:806196fda269 | 2870 | |
Lightvalve | 54:647072f5307a | 2871 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 237:aa3863117889 | 2872 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 237:aa3863117889 | 2873 | CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 237:aa3863117889 | 2874 | } |
Lightvalve | 237:aa3863117889 | 2875 | if (flag_delay_test == 1){ |
Lightvalve | 237:aa3863117889 | 2876 | CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 237:aa3863117889 | 2877 | } |
Lightvalve | 52:8ea76864368a | 2878 | |
Lightvalve | 54:647072f5307a | 2879 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2880 | } |
Lightvalve | 54:647072f5307a | 2881 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 237:aa3863117889 | 2882 | |
Lightvalve | 237:aa3863117889 | 2883 | */ |
Lightvalve | 237:aa3863117889 | 2884 | |
Lightvalve | 20:806196fda269 | 2885 | } |
Lightvalve | 52:8ea76864368a | 2886 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2887 | |
Lightvalve | 58:2eade98630e2 | 2888 | } |