Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@239:cfce386d54a3, 2021-01-03 (annotated)

Committer:
Lightvalve
Date:
Sun Jan 03 05:36:49 2021 +0000
Revision:
239:cfce386d54a3
Parent:
238:e4bda4d06a7d
Child:
240:bffaba802829
210103-1 500Hz 201215data num_input 13

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 239:cfce386d54a3 1 //210103_1 500Hz num_input 13
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 239:cfce386d54a3 202 {0.27129805088043213f,-0.26327311992645264f,-0.8411139845848083f,-1.9951435327529907f,-0.14487287402153015f,0.033287037163972855f,2.275852918624878f,0.10570615530014038f,-0.22152025997638702f,-0.15143045783042908f,-0.2270357608795166f,-1.6322144269943237f,-1.807586431503296f,-0.072050541639328f,-0.7541930079460144f,1.394510269165039f},
Lightvalve 239:cfce386d54a3 203 {-0.45620307326316833f,0.019361712038517f,-0.6241646409034729f,-1.6013507843017578f,-0.12558257579803467f,0.05257459357380867f,1.426666021347046f,0.13501125574111938f,-0.10187676548957825f,-0.897335946559906f,-0.4488705098628998f,-1.4154459238052368f,-1.1477041244506836f,0.26257723569869995f,-0.34952011704444885f,0.6115957498550415f},
Lightvalve 239:cfce386d54a3 204 {0.13503123819828033f,0.25241437554359436f,-1.101109504699707f,-0.3294941186904907f,-0.10467872023582458f,0.11260904371738434f,0.4058953523635864f,0.1402340531349182f,-0.4043404161930084f,-0.04674229025840759f,0.22504913806915283f,-1.1158376932144165f,-0.7041786909103394f,0.2898668050765991f,0.06395922601222992f,0.13391900062561035f},
Lightvalve 239:cfce386d54a3 205 {0.08935610204935074f,0.2106296569108963f,-0.48310530185699463f,0.3162388205528259f,-0.4312995374202728f,-0.2152530401945114f,-0.3369220793247223f,0.3846672773361206f,-0.31987857818603516f,0.20966529846191406f,0.04822564125061035f,-0.8848797082901001f,-0.49668800830841064f,0.15704113245010376f,-0.006149047985672951f,-0.4984190762042999f},
Lightvalve 239:cfce386d54a3 206 {-0.23924873769283295f,-0.06199616938829422f,0.46527180075645447f,0.6406799554824829f,-0.3423629701137543f,0.27507707476615906f,-1.302945613861084f,0.2620691657066345f,-0.22581344842910767f,0.26004424691200256f,-0.21999962627887726f,0.7585422992706299f,0.6990750432014465f,-0.23897065222263336f,-0.4200310707092285f,-0.7055225968360901f},
Lightvalve 239:cfce386d54a3 207 {-1.698799729347229f,-0.3078902065753937f,2.5908987522125244f,2.922898054122925f,0.05794799327850342f,-0.2717558741569519f,-2.474329710006714f,-0.19574907422065735f,0.09996527433395386f,-0.39587369561195374f,0.17797690629959106f,2.107271671295166f,2.214550256729126f,0.41771095991134644f,0.42414018511772156f,-3.0877182483673096f},
Lightvalve 239:cfce386d54a3 208 {3.239917755126953f,-0.18983937799930573f,-2.1157517433166504f,0.04122750833630562f,-0.28819194436073303f,-0.8967771530151367f,-0.9963980913162231f,-0.33463069796562195f,-0.19738835096359253f,-0.31420034170150757f,-0.036606550216674805f,-0.036103591322898865f,-0.3075484037399292f,0.35921841859817505f,-0.5412825345993042f,0.7807357311248779f},
Lightvalve 239:cfce386d54a3 209 {1.1015052795410156f,-0.02947426587343216f,-0.9257070422172546f,-0.2492351531982422f,0.09860771894454956f,-0.18818393349647522f,-0.7662551999092102f,-0.1056668758392334f,-0.030347198247909546f,-0.26387539505958557f,-0.28012633323669434f,0.1903408318758011f,-0.43735843896865845f,0.2621787190437317f,-0.6697344779968262f,0.6820495128631592f},
Lightvalve 239:cfce386d54a3 210 {-1.486767053604126f,-0.1912635713815689f,1.1074020862579346f,0.11053598672151566f,0.32415270805358887f,-0.35157865285873413f,-0.06249008700251579f,-0.17457884550094604f,0.37095171213150024f,0.3016795814037323f,0.1854521632194519f,0.6224623918533325f,0.6913073658943176f,0.4085165858268738f,-0.5315712094306946f,0.052943769842386246f},
Lightvalve 239:cfce386d54a3 211 {-1.1275967359542847f,-0.4498770534992218f,0.9786672592163086f,0.20075395703315735f,0.44279974699020386f,-0.23632627725601196f,-0.052523378282785416f,-0.35350510478019714f,0.019421100616455078f,0.6643745303153992f,-0.4424104392528534f,-0.29819193482398987f,0.23877201974391937f,0.19192266464233398f,-0.6676661372184753f,-0.1115335151553154f},
Lightvalve 239:cfce386d54a3 212 {-0.45439693331718445f,0.20732282102108002f,0.7169840931892395f,-0.32938477396965027f,-0.264940083026886f,0.3793957829475403f,-0.1478579342365265f,-0.07423117756843567f,-0.395535409450531f,0.18505890667438507f,0.057104289531707764f,0.14808307588100433f,-0.276614248752594f,-0.20463010668754578f,-0.6305270791053772f,0.04536904767155647f},
Lightvalve 239:cfce386d54a3 213 {0.690695583820343f,-0.280142217874527f,0.24655281007289886f,-0.23689241707324982f,-0.08700317144393921f,0.6507786512374878f,0.11938972026109695f,-0.0490185022354126f,-0.2538357973098755f,0.47351518273353577f,-0.06763717532157898f,-0.2595674395561218f,-0.6761330366134644f,-0.31936192512512207f,-0.12736926972866058f,-0.23895053565502167f},
Lightvalve 239:cfce386d54a3 214 {-0.2949267327785492f,-0.39869192242622375f,0.9087414741516113f,0.03417085483670235f,-0.05999407172203064f,0.4309628903865814f,-0.08123058825731277f,-0.43552157282829285f,-0.06561344861984253f,0.9857105612754822f,-0.44651398062705994f,0.07958663254976273f,0.4699391722679138f,-0.36004769802093506f,-0.28303399682044983f,-0.22659188508987427f},
Lightvalve 65:a2d7c63419c2 215 };
Lightvalve 65:a2d7c63419c2 216
Lightvalve 169:645207e160ca 217 const float h2[16][16] = {
Lightvalve 239:cfce386d54a3 218 {-0.21036449074745178f,-0.1165812686085701f,0.03890746086835861f,-0.29017066955566406f,0.1582350730895996f,0.39632782340049744f,-0.39482197165489197f,-1.3370285034179688f,-0.979823887348175f,-0.11581858992576599f,0.18905022740364075f,-0.3178834617137909f,1.4061373472213745f,0.351841539144516f,-0.418458491563797f,-1.6785600185394287f},
Lightvalve 239:cfce386d54a3 219 {0.0858018696308136f,-0.2673152685165405f,0.3634365499019623f,0.09080123156309128f,0.23325398564338684f,-0.17339682579040527f,-0.43299493193626404f,0.05999861657619476f,0.31613588333129883f,0.42929479479789734f,0.2987208664417267f,-0.2709915041923523f,-0.2182316780090332f,-0.1622065007686615f,-0.01720908284187317f,-0.03861325979232788f},
Lightvalve 239:cfce386d54a3 220 {0.20706436038017273f,-0.5168852806091309f,-0.4352167844772339f,-0.3710166811943054f,-0.29665637016296387f,-0.29575151205062866f,-0.18257027864456177f,-0.1372070461511612f,-0.5257076621055603f,0.0032114386558532715f,-0.16430535912513733f,2.6688225269317627f,-4.405387878417969f,0.16661030054092407f,0.3688402473926544f,-0.1341625601053238f},
Lightvalve 239:cfce386d54a3 221 {-0.07150664925575256f,-0.07037899643182755f,0.3807899057865143f,-0.1838146299123764f,-0.15602844953536987f,0.14062795042991638f,0.26958754658699036f,-0.6752872467041016f,-0.743759274482727f,-0.010245352983474731f,-0.2804213762283325f,2.5621111392974854f,3.4790198802948f,0.08922258019447327f,-0.034710973501205444f,-0.9833502769470215f},
Lightvalve 239:cfce386d54a3 222 {0.19401517510414124f,0.11748430132865906f,0.060581862926483154f,-0.2663313150405884f,0.3453809320926666f,0.16245242953300476f,-0.24281641840934753f,0.4014129340648651f,-0.05801382660865784f,0.2868408262729645f,0.33146342635154724f,0.35748377442359924f,0.3443669378757477f,-0.326143741607666f,0.02167487144470215f,0.27806350588798523f},
Lightvalve 239:cfce386d54a3 223 {-0.2542678117752075f,0.20247718691825867f,0.23715631663799286f,0.20885010063648224f,0.060438573360443115f,-0.09561040997505188f,-0.025697648525238037f,-0.49242162704467773f,-0.7723267674446106f,-0.16918781399726868f,0.33879539370536804f,-0.15141190588474274f,-0.12072261422872543f,0.3678347170352936f,0.305215060710907f,-0.5763906240463257f},
Lightvalve 239:cfce386d54a3 224 {0.09324470162391663f,-0.39980611205101013f,-0.9619078636169434f,-0.24463573098182678f,-0.415401428937912f,-0.03176993131637573f,-0.3723878860473633f,-1.6295626163482666f,-0.7340795397758484f,-0.1073366105556488f,-0.10192310810089111f,-0.47594979405403137f,-1.9320030212402344f,-0.19922783970832825f,-0.16886916756629944f,-1.0232590436935425f},
Lightvalve 239:cfce386d54a3 225 {0.20792827010154724f,-0.31854984164237976f,0.2981450855731964f,0.3392891585826874f,0.29666414856910706f,0.22557583451271057f,0.02845907211303711f,-0.0673595666885376f,0.22143122553825378f,-0.33435511589050293f,-0.12020620703697205f,-0.33907124400138855f,-0.01842007040977478f,0.19371464848518372f,0.06714418530464172f,0.3299846351146698f},
Lightvalve 239:cfce386d54a3 226 {0.34738728404045105f,0.05534055829048157f,-0.1142396628856659f,-0.09000736474990845f,0.22402480244636536f,0.3334931433200836f,-0.20826607942581177f,0.40756043791770935f,0.01275685429573059f,-0.23594672977924347f,-0.30536890029907227f,-0.2096325308084488f,-0.36651578545570374f,-0.06306898593902588f,0.41190746426582336f,-0.13776269555091858f},
Lightvalve 239:cfce386d54a3 227 {0.06315797567367554f,0.24467769265174866f,-0.08166135847568512f,-0.581722617149353f,-0.11208859086036682f,0.3681338131427765f,-0.025185495615005493f,-0.1050800234079361f,-0.5106925368309021f,-0.40124595165252686f,0.16385123133659363f,0.1490139663219452f,0.09398871660232544f,-0.4880881607532501f,0.18939366936683655f,-1.3594781160354614f},
Lightvalve 239:cfce386d54a3 228 {-0.137151837348938f,-0.2662311792373657f,-0.4088067412376404f,0.19464048743247986f,0.4036111533641815f,-0.13499993085861206f,-0.0031629204750061035f,0.30979958176612854f,0.03356730937957764f,-0.017782777547836304f,-0.05176997184753418f,0.15545442700386047f,0.15632620453834534f,0.05224683880805969f,-0.0757463276386261f,0.1627422273159027f},
Lightvalve 239:cfce386d54a3 229 {0.14506134390830994f,-0.49817925691604614f,0.20001660287380219f,2.3562092781066895f,-0.3487517535686493f,0.26278600096702576f,-0.4136088490486145f,-4.7947516441345215f,-0.7539332509040833f,0.2896214425563812f,0.008849263191223145f,1.5363504886627197f,-0.6599268913269043f,0.040065664798021317f,-0.3481926918029785f,-7.36983060836792f},
Lightvalve 239:cfce386d54a3 230 {0.22331616282463074f,-0.0773380696773529f,-0.5090305805206299f,-1.000752568244934f,-0.12819969654083252f,-0.1852414608001709f,-0.22197456657886505f,-3.9182615280151367f,-0.7986771464347839f,-0.16592463850975037f,-0.36554720997810364f,0.9630739092826843f,-0.1338542103767395f,-0.1562097817659378f,-0.3024305999279022f,-9.974847793579102f},
Lightvalve 239:cfce386d54a3 231 {-0.35083866119384766f,0.22605279088020325f,0.3915311396121979f,0.30329957604408264f,-0.0795525312423706f,-0.046863675117492676f,-0.3418675363063812f,0.14024153351783752f,-0.24872979521751404f,0.006887227296829224f,0.41247323155403137f,0.19765040278434753f,0.42944392561912537f,0.3273095190525055f,-0.25286686420440674f,0.25121548771858215f},
Lightvalve 239:cfce386d54a3 232 {-0.4035545885562897f,-0.42581987380981445f,-0.09782712906599045f,-0.20598207414150238f,-0.38041868805885315f,0.20198193192481995f,0.35028156638145447f,-0.24950791895389557f,-0.24620792269706726f,-0.2589012384414673f,0.4229624569416046f,0.29950013756752014f,-0.1759597212076187f,0.23178531229496002f,0.2735741138458252f,0.21281711757183075f},
Lightvalve 239:cfce386d54a3 233 {0.3850635588169098f,-0.5451380610466003f,-0.346036434173584f,-2.717503070831299f,0.05630726367235184f,-0.22060304880142212f,-0.017435193061828613f,-7.510067462921143f,-1.0102704763412476f,0.2978500425815582f,-0.18101778626441956f,-1.8728718757629395f,-0.5694166421890259f,-0.23812080919742584f,-0.35606688261032104f,-1.2097482681274414f},
Lightvalve 65:a2d7c63419c2 234 };
Lightvalve 65:a2d7c63419c2 235
Lightvalve 169:645207e160ca 236 const float h3[16][16] = {
Lightvalve 239:cfce386d54a3 237 {-0.3790767788887024f,0.3684680163860321f,0.06586065888404846f,-0.1708393096923828f,0.24999144673347473f,-0.22121627628803253f,0.1995704472064972f,0.3202294409275055f,-0.2756892442703247f,-0.2018035650253296f,0.15641269087791443f,-0.0701577365398407f,-0.2894788682460785f,0.3861950933933258f,0.36163511872291565f,-0.11588990688323975f},
Lightvalve 239:cfce386d54a3 238 {0.05962349846959114f,-0.28490951657295227f,0.09995582699775696f,0.2751786410808563f,-0.3658856153488159f,-0.3218461275100708f,0.31183478236198425f,-0.16336804628372192f,0.4074488580226898f,0.3299448788166046f,0.07987216114997864f,0.17928794026374817f,-0.3025720715522766f,-0.04754999279975891f,0.05470007658004761f,0.07015249133110046f},
Lightvalve 239:cfce386d54a3 239 {0.007629042491316795f,-0.4687996804714203f,-0.16086529195308685f,-0.42601555585861206f,0.21790191531181335f,0.12859603762626648f,0.08784329146146774f,0.3015885651111603f,-0.4112645089626312f,0.12889757752418518f,0.050297219306230545f,-0.23332303762435913f,0.2848741114139557f,0.30920740962028503f,-0.07592999935150146f,0.21862539649009705f},
Lightvalve 239:cfce386d54a3 240 {-0.14335410296916962f,2.586805582046509f,-8.091984748840332f,-0.21349067986011505f,-0.02032741904258728f,-1.613012671470642f,2.574464797973633f,-0.6251707077026367f,0.24389421939849854f,-0.5673341751098633f,-3.7245700359344482f,-0.10514301061630249f,-0.3124888241291046f,-0.34806546568870544f,-0.389617919921875f,-0.2075973004102707f},
Lightvalve 239:cfce386d54a3 241 {-0.2834973633289337f,0.2100161612033844f,-0.4091516435146332f,-0.05615273118019104f,-0.33683425188064575f,-0.3341673016548157f,-0.19783873856067657f,-0.11371549963951111f,-0.376054584980011f,0.2568935453891754f,-0.3972722291946411f,0.42894914746284485f,0.0011816620826721191f,-0.06112778186798096f,-0.2119445502758026f,-0.1946234405040741f},
Lightvalve 239:cfce386d54a3 242 {-0.22224442660808563f,0.3394860327243805f,0.3854617774486542f,-0.18319734930992126f,-0.08341488242149353f,0.03534960746765137f,0.2559453547000885f,-0.37061807513237f,0.4303824007511139f,0.18293192982673645f,-0.1490803062915802f,-0.13365432620048523f,-0.11829060316085815f,0.3466164171695709f,-0.32109516859054565f,0.13560834527015686f},
Lightvalve 239:cfce386d54a3 243 {0.016979485750198364f,0.034863680601119995f,0.0798591673374176f,0.21183118224143982f,0.29126086831092834f,0.3403650224208832f,-0.15417137742042542f,0.003806591033935547f,0.25255087018013f,-0.05951717495918274f,0.10464146733283997f,-0.20807817578315735f,-0.35474467277526855f,0.00974765419960022f,0.2947029173374176f,0.05407598614692688f},
Lightvalve 239:cfce386d54a3 244 {-1.0095633268356323f,1.1126266717910767f,0.2848530113697052f,0.11139029264450073f,0.3148065507411957f,0.6868978142738342f,0.7091718912124634f,0.2537561058998108f,-0.43269678950309753f,-0.20559684932231903f,-0.525031566619873f,-0.21892449259757996f,-0.20909415185451508f,0.06676986813545227f,-3.284938335418701f,0.14534905552864075f},
Lightvalve 239:cfce386d54a3 245 {-0.2436118721961975f,-0.11610545963048935f,0.018527699634432793f,0.05150647088885307f,0.03338530659675598f,0.03858492523431778f,0.21044127643108368f,-0.4081900715827942f,0.10882797837257385f,-0.16068962216377258f,0.1830018311738968f,0.30455783009529114f,0.29149749875068665f,0.16252586245536804f,0.12503686547279358f,0.4013197720050812f},
Lightvalve 239:cfce386d54a3 246 {0.38487508893013f,-0.1687856912612915f,0.1105833351612091f,0.04788336157798767f,0.151687890291214f,-0.336375892162323f,-0.09549334645271301f,0.045876920223236084f,0.037396401166915894f,-0.10662922263145447f,-0.05987560749053955f,0.10833832621574402f,-0.43164995312690735f,-0.1485113501548767f,0.14938536286354065f,-0.10720065236091614f},
Lightvalve 239:cfce386d54a3 247 {0.34842851758003235f,0.12310799956321716f,0.2574295699596405f,0.4128819406032562f,0.30782338976860046f,0.015025705099105835f,0.31515857577323914f,0.2224433720111847f,-0.3877209424972534f,0.36156150698661804f,-0.3739473819732666f,-0.20352867245674133f,-0.3433327078819275f,-0.39642947912216187f,-0.22656795382499695f,-0.011111944913864136f},
Lightvalve 239:cfce386d54a3 248 {-1.5097393989562988f,0.42446109652519226f,-2.3362417221069336f,0.17422476410865784f,-0.2739255130290985f,-2.1354169845581055f,-0.4151459038257599f,-0.8541393876075745f,-0.012628156691789627f,-0.1539219468832016f,0.23941566050052643f,-0.2741747498512268f,-0.2472047656774521f,-0.0944756269454956f,-0.30220237374305725f,0.34048548340797424f},
Lightvalve 239:cfce386d54a3 249 {-0.8422027230262756f,0.019376369193196297f,-4.284006595611572f,-0.3129349648952484f,0.28466805815696716f,-1.8436174392700195f,-0.6129332184791565f,0.15334254503250122f,-0.21792103350162506f,-1.406484603881836f,0.11935998499393463f,0.41615375876426697f,-0.1154288649559021f,-0.3528309464454651f,-0.03389938920736313f,-0.047162652015686035f},
Lightvalve 239:cfce386d54a3 250 {-0.20137760043144226f,-0.29559940099716187f,0.2985794246196747f,0.18043117225170135f,-0.15085527300834656f,0.01946277543902397f,-0.05183885246515274f,-0.1588779091835022f,-0.38529905676841736f,0.15129932761192322f,-0.482852041721344f,-0.10804629325866699f,-0.24962642788887024f,0.23162737488746643f,-0.040050242096185684f,0.36150965094566345f},
Lightvalve 239:cfce386d54a3 251 {-0.06179893761873245f,0.14290019869804382f,0.2930156886577606f,0.06675025820732117f,-0.20390012860298157f,0.004020810127258301f,-0.02485564723610878f,0.34599313139915466f,0.3322852551937103f,-0.11467158049345016f,-0.35458263754844666f,0.2632710039615631f,0.2645241320133209f,-0.10359475016593933f,0.2233731746673584f,-0.38097429275512695f},
Lightvalve 239:cfce386d54a3 252 {0.16174769401550293f,0.6093657612800598f,0.3619186580181122f,0.3435138463973999f,0.3442154824733734f,-0.7883058190345764f,-0.08947736769914627f,0.022767633199691772f,-0.519589900970459f,-0.22047178447246552f,-0.006563168950378895f,-0.3450045585632324f,-0.3187744915485382f,-0.4280031621456146f,1.1681735515594482f,0.20922061800956726f},
Lightvalve 66:a8e6799dbce3 253 };
Lightvalve 65:a2d7c63419c2 254
Lightvalve 239:cfce386d54a3 255 const float hout[16] = { -1.0431702136993408f,0.7617992758750916f,0.2802157998085022f,-0.4887925982475281f,-0.4660526216030121f,0.37130600214004517f,0.9276490807533264f,0.020355679094791412f,0.0018642216455191374f,-0.02869153395295143f,1.0385676622390747f,-0.34923428297042847f,0.1714203655719757f,0.36723965406417847f,0.8554050326347351f,-0.09045511484146118f };
Lightvalve 239:cfce386d54a3 256
Lightvalve 239:cfce386d54a3 257 const float b1[16] = { 1.150247573852539f,0.3787740468978882f,-0.37591612339019775f,0.35016560554504395f,-1.493345022201538f,-0.014888311736285686f,1.1452380418777466f,-0.7101595997810364f,-0.835256814956665f,-1.015454888343811f,0.06858895719051361f,1.841330885887146f,1.4855725765228271f,-1.0548001527786255f,1.3771636486053467f,1.6997805833816528f };
Lightvalve 239:cfce386d54a3 258
Lightvalve 239:cfce386d54a3 259 const float b2[16] = { -2.127044677734375f,-0.05024205148220062f,-0.10912598669528961f,0.4193979501724243f,-0.3629087209701538f,-2.0801820755004883f,-0.9151886105537415f,0.23505888879299164f,0.15858112275600433f,-1.2868983745574951f,-0.32605794072151184f,0.3689916431903839f,0.4501989781856537f,-0.579530656337738f,-0.5911619067192078f,-0.0021712039597332478f };
Lightvalve 239:cfce386d54a3 260
Lightvalve 239:cfce386d54a3 261 const float b3[16] = { 1.2424890995025635f,-0.19155673682689667f,1.6300463676452637f,-0.6151836514472961f,-1.518149733543396f,1.4923145771026611f,1.0071033239364624f,-0.24371950328350067f,-0.340782105922699f,-0.12960892915725708f,0.41212695837020874f,-0.8292514681816101f,-0.04682595282793045f,-1.1554399728775024f,-0.14774371683597565f,-1.9604157209396362f };
Lightvalve 239:cfce386d54a3 262
Lightvalve 239:cfce386d54a3 263 const float bout[1] = { -1.081741213798523f };
Lightvalve 225:278b48b86f27 264
Lightvalve 225:278b48b86f27 265 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 266
Lightvalve 170:42c938a40313 267 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 268 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 269
Lightvalve 170:42c938a40313 270 //Critic Networks
Lightvalve 173:68c7914679ec 271 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 272 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 273 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 274 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 275 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 276 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 277
Lightvalve 170:42c938a40313 278 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 279 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 280 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 281 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 282 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 283 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 284 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 285
Lightvalve 170:42c938a40313 286 //Actor Networks
Lightvalve 173:68c7914679ec 287 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 288 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 289 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 290 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 291 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 292 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 293
Lightvalve 170:42c938a40313 294 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 295 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 296 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 297 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 298 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 299 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 300 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 301
Lightvalve 87:471334725012 302 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 303 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 304
Lightvalve 179:d5377766d7ea 305 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 306 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 307 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 308 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 309 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 310
Lightvalve 170:42c938a40313 311 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 312 {
Lightvalve 173:68c7914679ec 313 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 314 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 315 float output = 0.0f;
Lightvalve 173:68c7914679ec 316 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 317 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 318 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 319 }
Lightvalve 173:68c7914679ec 320 //ReLU
Lightvalve 173:68c7914679ec 321 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 322 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 323 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 324 output1[index2] = 0;
Lightvalve 173:68c7914679ec 325 }
Lightvalve 173:68c7914679ec 326 //tanh
Lightvalve 173:68c7914679ec 327 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 328 }
Lightvalve 173:68c7914679ec 329 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 330 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 331 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 332 }
Lightvalve 173:68c7914679ec 333 //ReLU
Lightvalve 173:68c7914679ec 334 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 335 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 336 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 337 output2[index2] = 0;
Lightvalve 173:68c7914679ec 338 }
Lightvalve 173:68c7914679ec 339 //tanh
Lightvalve 173:68c7914679ec 340 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 341 }
Lightvalve 170:42c938a40313 342 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 343 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 344 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 345 }
Lightvalve 173:68c7914679ec 346 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 347 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 348 }
Lightvalve 170:42c938a40313 349 return output;
Lightvalve 170:42c938a40313 350 }
Lightvalve 170:42c938a40313 351
Lightvalve 170:42c938a40313 352
Lightvalve 170:42c938a40313 353 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 354 {
Lightvalve 173:68c7914679ec 355 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 356 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 357 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 358
Lightvalve 173:68c7914679ec 359 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 360 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 361 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 362 }
Lightvalve 178:1074553d2f6f 363 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 364 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 365 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 366 output1[index2] = 0;
Lightvalve 173:68c7914679ec 367 }
Lightvalve 173:68c7914679ec 368 }
Lightvalve 173:68c7914679ec 369 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 370 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 371 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 372 }
Lightvalve 178:1074553d2f6f 373 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 374 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 375 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 376 output2[index2] = 0;
Lightvalve 173:68c7914679ec 377 }
Lightvalve 173:68c7914679ec 378 }
Lightvalve 173:68c7914679ec 379 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 380 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 381 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 382 }
Lightvalve 178:1074553d2f6f 383 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 384 }
Lightvalve 178:1074553d2f6f 385
Lightvalve 178:1074553d2f6f 386 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 387 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 388 //Softplus
Lightvalve 173:68c7914679ec 389 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 390 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 391 logging2 = mean;
Lightvalve 179:d5377766d7ea 392 logging4 = deviation;
Lightvalve 173:68c7914679ec 393 }
Lightvalve 173:68c7914679ec 394
Lightvalve 173:68c7914679ec 395
Lightvalve 173:68c7914679ec 396 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 397 {
Lightvalve 173:68c7914679ec 398 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 399 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 400 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 401
Lightvalve 173:68c7914679ec 402 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 403 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 404 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 405 }
Lightvalve 170:42c938a40313 406 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 407 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 408 output1[index2] = 0;
Lightvalve 170:42c938a40313 409 }
Lightvalve 170:42c938a40313 410 }
Lightvalve 173:68c7914679ec 411 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 412 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 413 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 414 }
Lightvalve 173:68c7914679ec 415 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 416 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 417 output2[index2] = 0;
Lightvalve 170:42c938a40313 418 }
Lightvalve 170:42c938a40313 419 }
Lightvalve 170:42c938a40313 420 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 421 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 422 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 423 }
Lightvalve 170:42c938a40313 424 }
Lightvalve 173:68c7914679ec 425 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 426 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 427 //Softplus
Lightvalve 173:68c7914679ec 428 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 429 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 430 }
Lightvalve 170:42c938a40313 431
Lightvalve 170:42c938a40313 432 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 433 {
Lightvalve 170:42c938a40313 434 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 435 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 436 return grad_mean;
Lightvalve 170:42c938a40313 437 }
Lightvalve 170:42c938a40313 438
Lightvalve 170:42c938a40313 439 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 440 {
Lightvalve 170:42c938a40313 441 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 442 grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation));
Lightvalve 170:42c938a40313 443 return grad_dev;
Lightvalve 170:42c938a40313 444 }
Lightvalve 170:42c938a40313 445
Lightvalve 173:68c7914679ec 446 float ReLU(float x)
Lightvalve 173:68c7914679ec 447 {
Lightvalve 173:68c7914679ec 448 if (x >= 0) {
Lightvalve 173:68c7914679ec 449 return x;
Lightvalve 173:68c7914679ec 450 } else {
Lightvalve 173:68c7914679ec 451 return 0.0f;
Lightvalve 173:68c7914679ec 452 }
Lightvalve 173:68c7914679ec 453 }
Lightvalve 173:68c7914679ec 454
Lightvalve 170:42c938a40313 455 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 456 {
Lightvalve 173:68c7914679ec 457 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 458 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 459 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 460 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 461 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 462 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 463 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 464 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 465 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 466 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 467 }
Lightvalve 173:68c7914679ec 468 }
Lightvalve 170:42c938a40313 469 }
Lightvalve 177:8e9cf31d63f4 470 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 471 }
Lightvalve 170:42c938a40313 472 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 473 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 474 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 475 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 476 }
Lightvalve 173:68c7914679ec 477 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 478 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 479 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 480 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 481 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 482 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 483 }
Lightvalve 173:68c7914679ec 484 }
Lightvalve 173:68c7914679ec 485 }
Lightvalve 177:8e9cf31d63f4 486 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 487 }
Lightvalve 173:68c7914679ec 488 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 489 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 490 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 491 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 492 }
Lightvalve 173:68c7914679ec 493
Lightvalve 175:2f7289dbd488 494
Lightvalve 173:68c7914679ec 495 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 496 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 497 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 498 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 499 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 500 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 501 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 502 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 503 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 504 }
Lightvalve 173:68c7914679ec 505 }
Lightvalve 177:8e9cf31d63f4 506 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 507 }
Lightvalve 173:68c7914679ec 508 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 509 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 510 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 511 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 512 }
Lightvalve 173:68c7914679ec 513 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 514 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 515 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 516 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 517 }
Lightvalve 177:8e9cf31d63f4 518 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 519 }
Lightvalve 173:68c7914679ec 520 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 521 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 522 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 523 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 524 }
Lightvalve 173:68c7914679ec 525
Lightvalve 173:68c7914679ec 526 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 527 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 528 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 529 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 530 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 531 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 532 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 533 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 534 }
Lightvalve 177:8e9cf31d63f4 535 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 536 }
Lightvalve 173:68c7914679ec 537 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 538 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 539 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 540 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 541 }
Lightvalve 173:68c7914679ec 542 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 543 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 544 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 545 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 546 }
Lightvalve 173:68c7914679ec 547 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 548 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 549 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 550 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 551 }
Lightvalve 173:68c7914679ec 552
Lightvalve 173:68c7914679ec 553 // Simultaneous Update
Lightvalve 173:68c7914679ec 554 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 555 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 556 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 557 }
Lightvalve 179:d5377766d7ea 558 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 559 }
Lightvalve 173:68c7914679ec 560 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 561 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 562 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 563 }
Lightvalve 179:d5377766d7ea 564 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 565 }
Lightvalve 170:42c938a40313 566 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 567 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 568 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 569 }
Lightvalve 179:d5377766d7ea 570 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 571 }
Lightvalve 170:42c938a40313 572 }
Lightvalve 170:42c938a40313 573
Lightvalve 173:68c7914679ec 574 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 575 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 576 {
Lightvalve 218:066030f7951f 577
Lightvalve 173:68c7914679ec 578
Lightvalve 173:68c7914679ec 579 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 580 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 581
Lightvalve 173:68c7914679ec 582 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 583 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 584 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 585 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 586 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 587 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 588 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 589 } else {
Lightvalve 173:68c7914679ec 590 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 591 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 592 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 593 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 594 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 595 }
Lightvalve 171:bfc1fd2629d8 596 }
Lightvalve 170:42c938a40313 597 }
Lightvalve 170:42c938a40313 598 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 599 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 600 d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1;
Lightvalve 177:8e9cf31d63f4 601 d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1;
Lightvalve 173:68c7914679ec 602
Lightvalve 173:68c7914679ec 603 G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 604 }
Lightvalve 170:42c938a40313 605 }
Lightvalve 176:589ea3edcf3c 606 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 607 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 608 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 609 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 610 }
Lightvalve 173:68c7914679ec 611
Lightvalve 173:68c7914679ec 612 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 613 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 614 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 615 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 616 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 617 } else {
Lightvalve 173:68c7914679ec 618 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 619 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 620 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 621 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 622 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 623 }
Lightvalve 171:bfc1fd2629d8 624 }
Lightvalve 170:42c938a40313 625 }
Lightvalve 170:42c938a40313 626 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 627 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 628 d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1;
Lightvalve 177:8e9cf31d63f4 629 d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1;
Lightvalve 173:68c7914679ec 630
Lightvalve 173:68c7914679ec 631 G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 632 }
Lightvalve 170:42c938a40313 633 }
Lightvalve 176:589ea3edcf3c 634 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 635 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 636 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 637 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 638 }
Lightvalve 170:42c938a40313 639
Lightvalve 173:68c7914679ec 640 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 641 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 642
Lightvalve 173:68c7914679ec 643 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 644 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 645 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 646 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 647 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 648 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 649 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 650 } else {
Lightvalve 173:68c7914679ec 651 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 652 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 653 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 654 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 655 }
Lightvalve 170:42c938a40313 656 }
Lightvalve 173:68c7914679ec 657
Lightvalve 170:42c938a40313 658 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 659 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 660 d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2;
Lightvalve 177:8e9cf31d63f4 661 d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2;
Lightvalve 173:68c7914679ec 662
Lightvalve 173:68c7914679ec 663 G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 664 }
Lightvalve 170:42c938a40313 665 }
Lightvalve 176:589ea3edcf3c 666 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 667 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 668 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 669 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 670 }
Lightvalve 173:68c7914679ec 671
Lightvalve 173:68c7914679ec 672 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 673 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 674 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 675 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 676 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 677 } else {
Lightvalve 170:42c938a40313 678
Lightvalve 173:68c7914679ec 679 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 680 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 681 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 682 }
Lightvalve 173:68c7914679ec 683 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 684 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 685 d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2;
Lightvalve 177:8e9cf31d63f4 686 d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2;
Lightvalve 173:68c7914679ec 687
Lightvalve 173:68c7914679ec 688 G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 689 }
Lightvalve 170:42c938a40313 690 }
Lightvalve 176:589ea3edcf3c 691 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 692 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 693 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 694 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 695 }
Lightvalve 173:68c7914679ec 696
Lightvalve 173:68c7914679ec 697 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 698 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 699
Lightvalve 173:68c7914679ec 700 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 701 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 702 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 703 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 704 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 705 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 706 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 707 } else {
Lightvalve 173:68c7914679ec 708 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 709 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 710 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 711 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 712 }
Lightvalve 173:68c7914679ec 713 }
Lightvalve 173:68c7914679ec 714 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 715 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 716 d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3;
Lightvalve 177:8e9cf31d63f4 717 d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3;
Lightvalve 173:68c7914679ec 718
Lightvalve 173:68c7914679ec 719 G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 173:68c7914679ec 720 }
Lightvalve 173:68c7914679ec 721 }
Lightvalve 176:589ea3edcf3c 722 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 723 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 724 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 725 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 726 }
Lightvalve 173:68c7914679ec 727
Lightvalve 173:68c7914679ec 728 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 729 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 730 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 731 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 732 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 733 } else {
Lightvalve 173:68c7914679ec 734
Lightvalve 177:8e9cf31d63f4 735 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 736 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 737
Lightvalve 173:68c7914679ec 738 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 739 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 740 d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3;
Lightvalve 177:8e9cf31d63f4 741 d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3;
Lightvalve 173:68c7914679ec 742
Lightvalve 173:68c7914679ec 743 G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 173:68c7914679ec 744 }
Lightvalve 173:68c7914679ec 745 }
Lightvalve 176:589ea3edcf3c 746 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 747 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 748 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 749 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 750 }
Lightvalve 177:8e9cf31d63f4 751
Lightvalve 175:2f7289dbd488 752 // Simultaneous Update
Lightvalve 175:2f7289dbd488 753 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 754 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 755 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 756 }
Lightvalve 179:d5377766d7ea 757 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 758 }
Lightvalve 175:2f7289dbd488 759 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 760 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 761 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 762 }
Lightvalve 179:d5377766d7ea 763 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 764 }
Lightvalve 175:2f7289dbd488 765 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 766 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 767 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 768 }
Lightvalve 179:d5377766d7ea 769 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 770 }
Lightvalve 170:42c938a40313 771 }
Lightvalve 170:42c938a40313 772
Lightvalve 170:42c938a40313 773 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 774 {
Lightvalve 170:42c938a40313 775 //Box muller method
Lightvalve 170:42c938a40313 776 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 777 static int n2_cached = 0;
Lightvalve 170:42c938a40313 778 if (!n2_cached) {
Lightvalve 170:42c938a40313 779 double x, y, r;
Lightvalve 170:42c938a40313 780 do {
Lightvalve 170:42c938a40313 781 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 782 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 783
Lightvalve 170:42c938a40313 784 r = x*x + y*y;
Lightvalve 170:42c938a40313 785 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 786 {
Lightvalve 170:42c938a40313 787 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 788 double n1 = x*d;
Lightvalve 170:42c938a40313 789 n2 = y*d;
Lightvalve 170:42c938a40313 790 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 791 n2_cached = 1;
Lightvalve 170:42c938a40313 792 return result;
Lightvalve 170:42c938a40313 793 }
Lightvalve 170:42c938a40313 794 } else {
Lightvalve 170:42c938a40313 795 n2_cached = 0;
Lightvalve 170:42c938a40313 796 return n2*stddev + mean;
Lightvalve 170:42c938a40313 797 }
Lightvalve 170:42c938a40313 798 }
Lightvalve 170:42c938a40313 799
Lightvalve 179:d5377766d7ea 800 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 801 {
Lightvalve 179:d5377766d7ea 802 float add = 0.0f;
Lightvalve 179:d5377766d7ea 803 float result;
Lightvalve 218:066030f7951f 804
Lightvalve 218:066030f7951f 805 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 806 add += x[i];
Lightvalve 179:d5377766d7ea 807 }
Lightvalve 179:d5377766d7ea 808 result = (float) add/size;
Lightvalve 179:d5377766d7ea 809 return result;
Lightvalve 179:d5377766d7ea 810 }
Lightvalve 179:d5377766d7ea 811 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 812 {
Lightvalve 179:d5377766d7ea 813 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 814 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 815
Lightvalve 218:066030f7951f 816 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 817 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 818 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 819 }
Lightvalve 179:d5377766d7ea 820 return resultDeb;
Lightvalve 218:066030f7951f 821 }
Lightvalve 218:066030f7951f 822
Lightvalve 173:68c7914679ec 823
Lightvalve 170:42c938a40313 824 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 825 {
Lightvalve 173:68c7914679ec 826 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 827 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 828 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 829 }
Lightvalve 170:42c938a40313 830 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 831 }
Lightvalve 173:68c7914679ec 832 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 833 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 834 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 835 }
Lightvalve 173:68c7914679ec 836 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 837 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 838 }
Lightvalve 173:68c7914679ec 839 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 840 }
Lightvalve 170:42c938a40313 841 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 842 {
Lightvalve 173:68c7914679ec 843 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 844 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 845 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 846 }
Lightvalve 170:42c938a40313 847 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 848 }
Lightvalve 173:68c7914679ec 849 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 850 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 851 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 852 }
Lightvalve 170:42c938a40313 853 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 854 }
Lightvalve 173:68c7914679ec 855 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 856 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 857 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 858 }
Lightvalve 173:68c7914679ec 859 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 860 }
Lightvalve 170:42c938a40313 861 }
Lightvalve 170:42c938a40313 862
Lightvalve 170:42c938a40313 863
GiJeongKim 0:51c43836c1d7 864 int main()
GiJeongKim 0:51c43836c1d7 865 {
Lightvalve 66:a8e6799dbce3 866
Lightvalve 65:a2d7c63419c2 867 HAL_Init();
Lightvalve 65:a2d7c63419c2 868 SystemClock_Config();
Lightvalve 169:645207e160ca 869
jobuuu 6:df07d3491e3a 870 /*********************************
jobuuu 1:e04e563be5ce 871 *** Initialization
jobuuu 6:df07d3491e3a 872 *********************************/
Lightvalve 69:3995ffeaa786 873 LED = 0;
Lightvalve 61:bc8c8270f0ab 874 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 875
GiJeongKim 0:51c43836c1d7 876 // i2c init
Lightvalve 8:5d2eebdad025 877 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 878 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 879 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 880 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 881 make_delay();
jobuuu 2:a1c0a37df760 882
GiJeongKim 0:51c43836c1d7 883 // // spi init
Lightvalve 170:42c938a40313 884 eeprom.format(8,3);
Lightvalve 170:42c938a40313 885 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 886 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 887 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 888 make_delay();
Lightvalve 21:e5f1a43ea6f9 889
Lightvalve 16:903b5a4433b4 890 //rom
Lightvalve 19:23b7c1ad8683 891 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 892 make_delay();
Lightvalve 13:747daba9cf59 893
GiJeongKim 0:51c43836c1d7 894 // ADC init
jobuuu 5:a4319f79457b 895 Init_ADC();
Lightvalve 11:82d8768d7351 896 make_delay();
jobuuu 2:a1c0a37df760 897
GiJeongKim 0:51c43836c1d7 898 // Pwm init
GiJeongKim 0:51c43836c1d7 899 Init_PWM();
GiJeongKim 0:51c43836c1d7 900 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 901 make_delay();
Lightvalve 13:747daba9cf59 902
Lightvalve 11:82d8768d7351 903 // TMR3 init
Lightvalve 11:82d8768d7351 904 Init_TMR3();
Lightvalve 11:82d8768d7351 905 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 906 make_delay();
Lightvalve 21:e5f1a43ea6f9 907
Lightvalve 50:3c630b5eba9f 908 // TMR2 init
Lightvalve 56:6f50d9d3bfee 909 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 910 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 911 // make_delay();
Lightvalve 21:e5f1a43ea6f9 912
GiJeongKim 0:51c43836c1d7 913 // CAN
jobuuu 2:a1c0a37df760 914 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 915 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 916 make_delay();
Lightvalve 34:bb2ca2fc2a8e 917
Lightvalve 23:59218d4a256d 918 //Timer priority
Lightvalve 23:59218d4a256d 919 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 920 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 921 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 922
Lightvalve 23:59218d4a256d 923 //can.reset();
Lightvalve 19:23b7c1ad8683 924 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 925
GiJeongKim 0:51c43836c1d7 926 // spi _ enc
GiJeongKim 0:51c43836c1d7 927 spi_enc_set_init();
Lightvalve 11:82d8768d7351 928 make_delay();
Lightvalve 13:747daba9cf59 929
Lightvalve 11:82d8768d7351 930 //DAC init
Lightvalve 58:2eade98630e2 931 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 932 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 933 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 934 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 935 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 936 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 937 }
Lightvalve 11:82d8768d7351 938 make_delay();
Lightvalve 13:747daba9cf59 939
Lightvalve 19:23b7c1ad8683 940 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 941 if(i%2==0)
Lightvalve 38:118df027d851 942 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 943 else
Lightvalve 38:118df027d851 944 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 945 }
Lightvalve 169:645207e160ca 946
Lightvalve 173:68c7914679ec 947 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 948 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 949 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 950 }
Lightvalve 179:d5377766d7ea 951 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 952 }
Lightvalve 173:68c7914679ec 953 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 954 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 955 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 956 }
Lightvalve 179:d5377766d7ea 957 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 958 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 959 }
Lightvalve 179:d5377766d7ea 960 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 961
Lightvalve 173:68c7914679ec 962 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 963 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 964 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 965 }
Lightvalve 179:d5377766d7ea 966 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 967 }
Lightvalve 173:68c7914679ec 968 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 969 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 970 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 971 }
Lightvalve 179:d5377766d7ea 972 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 973 }
Lightvalve 170:42c938a40313 974 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 975 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 976 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 977 }
Lightvalve 179:d5377766d7ea 978 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 979 }
Lightvalve 171:bfc1fd2629d8 980
Lightvalve 170:42c938a40313 981 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 982 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 983
jobuuu 6:df07d3491e3a 984 /************************************
jobuuu 1:e04e563be5ce 985 *** Program is operating!
jobuuu 6:df07d3491e3a 986 *************************************/
GiJeongKim 0:51c43836c1d7 987 while(1) {
Lightvalve 169:645207e160ca 988
Lightvalve 171:bfc1fd2629d8 989 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 990 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 991 // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5);
Lightvalve 171:bfc1fd2629d8 992 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 993 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 994 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 995 // }
Lightvalve 169:645207e160ca 996
Lightvalve 171:bfc1fd2629d8 997
Lightvalve 171:bfc1fd2629d8 998 //i2c
Lightvalve 180:02be1711ee0b 999 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 1000 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 1001
Lightvalve 177:8e9cf31d63f4 1002 //timer_while ++;
Lightvalve 169:645207e160ca 1003
Lightvalve 170:42c938a40313 1004 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1005
Lightvalve 73:f80dc3970c99 1006 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1007 LED = 0;
Lightvalve 73:f80dc3970c99 1008 }
Lightvalve 169:645207e160ca 1009
Lightvalve 73:f80dc3970c99 1010 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1011
Lightvalve 162:9dd4f35e9de8 1012 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1013 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1014 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1015 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1016 }
Lightvalve 162:9dd4f35e9de8 1017
Lightvalve 162:9dd4f35e9de8 1018 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1019 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1020 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1021 }
Lightvalve 162:9dd4f35e9de8 1022 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1023 ind = ind + 1;
Lightvalve 169:645207e160ca 1024
Lightvalve 162:9dd4f35e9de8 1025 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1026 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1027 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1028 // }
Lightvalve 162:9dd4f35e9de8 1029
Lightvalve 162:9dd4f35e9de8 1030 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1031 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1032 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1033 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1034 }
Lightvalve 208:408f9f15c486 1035 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1036 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1037 ind = ind + 1;
Lightvalve 238:e4bda4d06a7d 1038 for(int i=0; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1039 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1040 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1041 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1042 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1043 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1044 }
Lightvalve 169:645207e160ca 1045
Lightvalve 112:8dcb1600cb90 1046 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1047 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1048 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1049 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1050
Lightvalve 112:8dcb1600cb90 1051 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1052 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1053 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1054 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1055 }
Lightvalve 66:a8e6799dbce3 1056 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1057 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1058 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1059 }
Lightvalve 66:a8e6799dbce3 1060 }
Lightvalve 65:a2d7c63419c2 1061
Lightvalve 112:8dcb1600cb90 1062 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1063 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1064 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1065 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1066 }
Lightvalve 66:a8e6799dbce3 1067 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1068 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1069 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1070 }
Lightvalve 66:a8e6799dbce3 1071 }
Lightvalve 65:a2d7c63419c2 1072
Lightvalve 112:8dcb1600cb90 1073 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1074 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1075 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1076 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1077 }
Lightvalve 66:a8e6799dbce3 1078 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1079 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1080 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1081 }
Lightvalve 65:a2d7c63419c2 1082 }
Lightvalve 66:a8e6799dbce3 1083
Lightvalve 66:a8e6799dbce3 1084 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1085 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1086 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1087 }
Lightvalve 66:a8e6799dbce3 1088 output = output + bout[index2];
Lightvalve 169:645207e160ca 1089
Lightvalve 66:a8e6799dbce3 1090 }
Lightvalve 73:f80dc3970c99 1091 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1092 output_normalized = output;
Lightvalve 68:328e1be06f5d 1093 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1094
Lightvalve 66:a8e6799dbce3 1095 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1096 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1097 } else {
Lightvalve 66:a8e6799dbce3 1098 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1099 }
Lightvalve 87:471334725012 1100
Lightvalve 169:645207e160ca 1101
Lightvalve 69:3995ffeaa786 1102 if(LED==1) {
Lightvalve 69:3995ffeaa786 1103 LED=0;
Lightvalve 69:3995ffeaa786 1104 } else
Lightvalve 69:3995ffeaa786 1105 LED = 1;
Lightvalve 169:645207e160ca 1106
Lightvalve 65:a2d7c63419c2 1107 }
Lightvalve 171:bfc1fd2629d8 1108
Lightvalve 171:bfc1fd2629d8 1109
Lightvalve 170:42c938a40313 1110 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1111 switch (Update_Case) {
Lightvalve 170:42c938a40313 1112 case 0: {
Lightvalve 170:42c938a40313 1113 break;
Lightvalve 170:42c938a40313 1114 }
Lightvalve 170:42c938a40313 1115 case 1: {
Lightvalve 170:42c938a40313 1116 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1117 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1118 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1119 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1120 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1121 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1122 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1123 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1124 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1125 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1126 }
Lightvalve 173:68c7914679ec 1127 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1128 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1129 }
Lightvalve 175:2f7289dbd488 1130 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1131
Lightvalve 175:2f7289dbd488 1132 pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]);
Lightvalve 170:42c938a40313 1133 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1134 pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old);
Lightvalve 179:d5377766d7ea 1135 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1136 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1137 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1138 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1139 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1140 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1141 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1142 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1143 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1144 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1145 }
Lightvalve 179:d5377766d7ea 1146 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1147 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1148 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1149 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1150 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1151 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1152 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1153 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1154 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1155 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1156 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1157 } else {
Lightvalve 175:2f7289dbd488 1158 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1159 }
Lightvalve 175:2f7289dbd488 1160 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1161 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1162 }
Lightvalve 170:42c938a40313 1163 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1164 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1165 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1166 }
Lightvalve 170:42c938a40313 1167 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1168
Lightvalve 171:bfc1fd2629d8 1169
Lightvalve 170:42c938a40313 1170 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1171 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1172 //Update Networks
Lightvalve 170:42c938a40313 1173 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1174 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1175 }
Lightvalve 170:42c938a40313 1176 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1177 Update_Case = 0;
Lightvalve 170:42c938a40313 1178 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1179
Lightvalve 170:42c938a40313 1180 break;
Lightvalve 170:42c938a40313 1181 }
Lightvalve 170:42c938a40313 1182 case 2: {
Lightvalve 170:42c938a40313 1183 //Network apply to next Network
Lightvalve 170:42c938a40313 1184 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1185 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1186 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1187 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1188 Update_Case = 0;
Lightvalve 170:42c938a40313 1189 break;
Lightvalve 170:42c938a40313 1190 }
Lightvalve 169:645207e160ca 1191
Lightvalve 170:42c938a40313 1192 }
GiJeongKim 0:51c43836c1d7 1193 }
jobuuu 1:e04e563be5ce 1194 }
jobuuu 1:e04e563be5ce 1195
Lightvalve 33:91b17819ec30 1196 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1197 {
Lightvalve 14:8e7590227d22 1198
Lightvalve 13:747daba9cf59 1199 int i = 0;
Lightvalve 48:889798ff9329 1200 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1201 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1202 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 1203 if(i==0) {
Lightvalve 50:3c630b5eba9f 1204 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1205 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1206 } else {
Lightvalve 57:f4819de54e7a 1207 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 1208 }
Lightvalve 14:8e7590227d22 1209 } else {
Lightvalve 50:3c630b5eba9f 1210 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1211 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1212 } else {
Lightvalve 57:f4819de54e7a 1213 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 1214 }
Lightvalve 13:747daba9cf59 1215 }
Lightvalve 13:747daba9cf59 1216 break;
Lightvalve 13:747daba9cf59 1217 }
Lightvalve 13:747daba9cf59 1218 }
Lightvalve 14:8e7590227d22 1219 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1220 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1221 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1222 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1223 }
Lightvalve 36:a46e63505ed8 1224
Lightvalve 57:f4819de54e7a 1225 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1226 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1227
Lightvalve 13:747daba9cf59 1228 }
jobuuu 6:df07d3491e3a 1229
jobuuu 6:df07d3491e3a 1230
Lightvalve 30:8d561f16383b 1231 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1232 {
Lightvalve 13:747daba9cf59 1233 int i = 0;
Lightvalve 13:747daba9cf59 1234
Lightvalve 38:118df027d851 1235 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1236 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1237 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1238 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1239 }
Lightvalve 38:118df027d851 1240
Lightvalve 89:a7b45368ea0f 1241 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1242 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1243 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1244 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1245 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1246 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1247
Lightvalve 13:747daba9cf59 1248 VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve 14:8e7590227d22 1249
Lightvalve 18:b8adf1582ea3 1250 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1251 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 1252 if(i==0) {
Lightvalve 48:889798ff9329 1253 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 1254 } else {
Lightvalve 48:889798ff9329 1255 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 1256 }
Lightvalve 13:747daba9cf59 1257 break;
Lightvalve 13:747daba9cf59 1258 }
Lightvalve 13:747daba9cf59 1259 }
Lightvalve 59:f308b1656d9c 1260 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1261 }
Lightvalve 13:747daba9cf59 1262
Lightvalve 14:8e7590227d22 1263 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1264 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve 34:bb2ca2fc2a8e 1265 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1266 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1267 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1268 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1269 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1270 }; // duty
Lightvalve 67:c2812cf26c38 1271 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 1272 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1273 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1274 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1275 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1276 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1277 }; // mV
Lightvalve 13:747daba9cf59 1278
Lightvalve 30:8d561f16383b 1279 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1280 {
Lightvalve 30:8d561f16383b 1281 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1282 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1283 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1284 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1285 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1286 } else {
Lightvalve 13:747daba9cf59 1287 int idx = 0;
Lightvalve 13:747daba9cf59 1288 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1289 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1290 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1291 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1292 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1293 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1294 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1295 break;
Lightvalve 13:747daba9cf59 1296 }
Lightvalve 13:747daba9cf59 1297 }
Lightvalve 13:747daba9cf59 1298 }
Lightvalve 14:8e7590227d22 1299
Lightvalve 13:747daba9cf59 1300 return PWM_duty;
Lightvalve 13:747daba9cf59 1301 }
jobuuu 6:df07d3491e3a 1302
Lightvalve 57:f4819de54e7a 1303
Lightvalve 57:f4819de54e7a 1304
Lightvalve 57:f4819de54e7a 1305
Lightvalve 57:f4819de54e7a 1306
jobuuu 2:a1c0a37df760 1307 /*******************************************************************************
jobuuu 2:a1c0a37df760 1308 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1309 *******************************************************************************/
jobuuu 2:a1c0a37df760 1310
Lightvalve 51:b46bed7fec80 1311 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1312 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1313 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1314 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1315 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1316 {
Lightvalve 19:23b7c1ad8683 1317 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1318
Lightvalve 21:e5f1a43ea6f9 1319 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1320 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1321 ********************************************************/
Lightvalve 13:747daba9cf59 1322
Lightvalve 57:f4819de54e7a 1323 //Encoder
Lightvalve 57:f4819de54e7a 1324 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1325 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1326 }
Lightvalve 61:bc8c8270f0ab 1327
Lightvalve 61:bc8c8270f0ab 1328 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1329 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1330 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1331 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1332 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1333 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1334 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1335
Lightvalve 67:c2812cf26c38 1336
Lightvalve 67:c2812cf26c38 1337 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1338 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1339 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1340 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1341 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1342
Lightvalve 17:1865016ca2e7 1343
Lightvalve 58:2eade98630e2 1344 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1345 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1346 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1347 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1348 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1349 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1350 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1351 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1352 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1353
Lightvalve 58:2eade98630e2 1354 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1355 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 1356 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1357 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 1358 }
Lightvalve 58:2eade98630e2 1359 }
Lightvalve 61:bc8c8270f0ab 1360
Lightvalve 58:2eade98630e2 1361 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1362 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1363 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1364 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1365 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1366 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1367 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 1368 //
Lightvalve 58:2eade98630e2 1369 //
Lightvalve 58:2eade98630e2 1370 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1371 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1372 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1373 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1374 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1375
Lightvalve 17:1865016ca2e7 1376
Lightvalve 21:e5f1a43ea6f9 1377 //Current
Lightvalve 21:e5f1a43ea6f9 1378 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1379 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1380 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1381 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1382 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1383 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1384 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1385
Lightvalve 57:f4819de54e7a 1386 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1387 }
Lightvalve 11:82d8768d7351 1388 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1389 }
Lightvalve 19:23b7c1ad8683 1390
Lightvalve 19:23b7c1ad8683 1391
Lightvalve 18:b8adf1582ea3 1392 int j =0;
Lightvalve 54:647072f5307a 1393 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1394 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1395 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1396 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 1397
Lightvalve 11:82d8768d7351 1398 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1399 {
Lightvalve 19:23b7c1ad8683 1400 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1401
Lightvalve 57:f4819de54e7a 1402 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1403 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1404 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1405 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1406 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1407 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1408 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1409 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1410 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1411 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1412 }
Lightvalve 50:3c630b5eba9f 1413
Lightvalve 50:3c630b5eba9f 1414 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1415 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1416 cnt_trans++;
Lightvalve 46:2694daea349b 1417 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1418 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1419 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1420 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1421 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1422 cnt_trans++;
Lightvalve 46:2694daea349b 1423 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1424 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1425 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1426 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1427 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1428 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1429 } else {
Lightvalve 58:2eade98630e2 1430 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1431 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1432 }
Lightvalve 45:35fa6884d0c6 1433
Lightvalve 50:3c630b5eba9f 1434
Lightvalve 57:f4819de54e7a 1435 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1436 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1437
Lightvalve 57:f4819de54e7a 1438 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1439 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1440 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1441 } else {
Lightvalve 57:f4819de54e7a 1442 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1443 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1444 }
Lightvalve 56:6f50d9d3bfee 1445
Lightvalve 56:6f50d9d3bfee 1446
Lightvalve 56:6f50d9d3bfee 1447
Lightvalve 57:f4819de54e7a 1448 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1449
Lightvalve 57:f4819de54e7a 1450 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1451 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1452 break;
Lightvalve 13:747daba9cf59 1453 }
Lightvalve 14:8e7590227d22 1454
Lightvalve 14:8e7590227d22 1455 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1456 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1457 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1458 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1459
Lightvalve 14:8e7590227d22 1460 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1461 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1462 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1463
Lightvalve 84:c355d3e52bf1 1464 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1465
Lightvalve 30:8d561f16383b 1466 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1467 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1468
Lightvalve 16:903b5a4433b4 1469 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1470 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1471 }
Lightvalve 13:747daba9cf59 1472 } else {
Lightvalve 58:2eade98630e2 1473 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1474 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1475 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1476 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1477
Lightvalve 170:42c938a40313 1478 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1479 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1480
Lightvalve 30:8d561f16383b 1481 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1482
Lightvalve 13:747daba9cf59 1483 }
Lightvalve 14:8e7590227d22 1484 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1485 break;
Lightvalve 19:23b7c1ad8683 1486 }
Lightvalve 14:8e7590227d22 1487
Lightvalve 50:3c630b5eba9f 1488 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1489 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1490 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1491 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1492 // }
Lightvalve 50:3c630b5eba9f 1493 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1494 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1495 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1496 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1497 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1498 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1499 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1500 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1501 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1502 // }
Lightvalve 50:3c630b5eba9f 1503 //
Lightvalve 50:3c630b5eba9f 1504 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1505 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 1506 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1507 //
Lightvalve 50:3c630b5eba9f 1508 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1509 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1510 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1511 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1512 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1513 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1514 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1515 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1516 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1517 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1518 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1519 //
Lightvalve 50:3c630b5eba9f 1520 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1521 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1522 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1523 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1524 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1525 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1526 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1527 //
Lightvalve 50:3c630b5eba9f 1528 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1529 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1530 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1531 // } else {
Lightvalve 50:3c630b5eba9f 1532 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1533 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1534 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1535 // }
Lightvalve 50:3c630b5eba9f 1536 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1537 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1538 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1539 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1540 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1541 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1542 // }
Lightvalve 50:3c630b5eba9f 1543 // } else {
Lightvalve 50:3c630b5eba9f 1544 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1545 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1546 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1547 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1548 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1549 // }
Lightvalve 50:3c630b5eba9f 1550 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1551 //
Lightvalve 50:3c630b5eba9f 1552 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1553 //
Lightvalve 50:3c630b5eba9f 1554 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1555 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1556 //
Lightvalve 50:3c630b5eba9f 1557 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1558 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1559 // }
Lightvalve 50:3c630b5eba9f 1560 // }
Lightvalve 50:3c630b5eba9f 1561 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1562 // break;
Lightvalve 50:3c630b5eba9f 1563 // }
Lightvalve 14:8e7590227d22 1564
Lightvalve 14:8e7590227d22 1565 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1566 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1567 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1568 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1569 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1570 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1571 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1572 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1573 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1574 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1575 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1576 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1577 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1578 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1579 }
Lightvalve 29:69f3f5445d6d 1580 cnt_findhome++;
Lightvalve 14:8e7590227d22 1581
Lightvalve 29:69f3f5445d6d 1582 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1583 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1584 } else {
Lightvalve 29:69f3f5445d6d 1585 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1586 }
Lightvalve 19:23b7c1ad8683 1587
Lightvalve 57:f4819de54e7a 1588 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1589 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1590 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1591 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1592
Lightvalve 59:f308b1656d9c 1593 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1594 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1595 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1596 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1597 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1598
Lightvalve 59:f308b1656d9c 1599 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1600 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1601
Lightvalve 34:bb2ca2fc2a8e 1602
Lightvalve 29:69f3f5445d6d 1603 } else {
Lightvalve 29:69f3f5445d6d 1604 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1605 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1606 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1607 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1608 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1609 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1610 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1611 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1612 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1613 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1614 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1615
Lightvalve 67:c2812cf26c38 1616
Lightvalve 67:c2812cf26c38 1617 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1618 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1619 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1620 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1621 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1622 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1623 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1624
Lightvalve 169:645207e160ca 1625
Lightvalve 29:69f3f5445d6d 1626 }
Lightvalve 29:69f3f5445d6d 1627 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1628 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1629 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 67:c2812cf26c38 1630 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1631 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1632
Lightvalve 29:69f3f5445d6d 1633 // input for position control
Lightvalve 169:645207e160ca 1634
Lightvalve 67:c2812cf26c38 1635 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1636 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1637
Lightvalve 67:c2812cf26c38 1638 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1639 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1640 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1641 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1642
Lightvalve 67:c2812cf26c38 1643 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1644
Lightvalve 67:c2812cf26c38 1645 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1646 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1647 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1648
Lightvalve 67:c2812cf26c38 1649 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1650 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1651 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1652
Lightvalve 69:3995ffeaa786 1653 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1654 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 1655 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1656 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1657 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 1658 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1659 }
Lightvalve 67:c2812cf26c38 1660 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1661 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1662
Lightvalve 67:c2812cf26c38 1663 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1664
Lightvalve 67:c2812cf26c38 1665
Lightvalve 67:c2812cf26c38 1666
Lightvalve 67:c2812cf26c38 1667 } else {
Lightvalve 67:c2812cf26c38 1668 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1669 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 67:c2812cf26c38 1670
Lightvalve 67:c2812cf26c38 1671 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1672 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1673 } else {
Lightvalve 67:c2812cf26c38 1674 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1675 }
Lightvalve 67:c2812cf26c38 1676
Lightvalve 67:c2812cf26c38 1677 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1678
Lightvalve 67:c2812cf26c38 1679 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1680
Lightvalve 67:c2812cf26c38 1681 }
Lightvalve 67:c2812cf26c38 1682
Lightvalve 67:c2812cf26c38 1683
Lightvalve 169:645207e160ca 1684
Lightvalve 169:645207e160ca 1685
Lightvalve 59:f308b1656d9c 1686 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1687 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1688 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1689 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1690 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1691
Lightvalve 29:69f3f5445d6d 1692 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1693 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1694 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1695 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1696 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1697 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1698 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1699 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1700 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1701 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1702 }
Lightvalve 13:747daba9cf59 1703 }
Lightvalve 19:23b7c1ad8683 1704
Lightvalve 13:747daba9cf59 1705 break;
Lightvalve 13:747daba9cf59 1706 }
Lightvalve 14:8e7590227d22 1707
Lightvalve 50:3c630b5eba9f 1708 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1709 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1710 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1711 // else {
Lightvalve 50:3c630b5eba9f 1712 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1713 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1714 // }
Lightvalve 50:3c630b5eba9f 1715 // }
Lightvalve 50:3c630b5eba9f 1716 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1717 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1718 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1719 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1720 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1721 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1722 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1723 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1724 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1725 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1726 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1727 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1728 // }
Lightvalve 50:3c630b5eba9f 1729 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1730 // }
Lightvalve 50:3c630b5eba9f 1731 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1732 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1733 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1734 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1735 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1736 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1737 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1738 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1739 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1740 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1741 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1742 // }
Lightvalve 50:3c630b5eba9f 1743 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1744 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1745 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1746 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1747 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1748 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1749 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 1750 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1751 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1752 // }
Lightvalve 50:3c630b5eba9f 1753 // }
Lightvalve 50:3c630b5eba9f 1754 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1755 //
Lightvalve 50:3c630b5eba9f 1756 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1757 //
Lightvalve 50:3c630b5eba9f 1758 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1759 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1760 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1761 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1762 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1763 // }
Lightvalve 50:3c630b5eba9f 1764 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1765 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1766 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1767 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1768 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1769 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1770 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1771 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1772 // }
Lightvalve 50:3c630b5eba9f 1773 //
Lightvalve 50:3c630b5eba9f 1774 // }
Lightvalve 50:3c630b5eba9f 1775 // break;
Lightvalve 50:3c630b5eba9f 1776 // }
Lightvalve 50:3c630b5eba9f 1777 //
Lightvalve 50:3c630b5eba9f 1778 // }
Lightvalve 14:8e7590227d22 1779 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1780 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1781 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1782 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1783 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1784
Lightvalve 14:8e7590227d22 1785 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1786 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1787 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1788 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1789 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1790
Lightvalve 38:118df027d851 1791 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1792 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1793 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1794
Lightvalve 30:8d561f16383b 1795 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1796 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1797 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1798 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1799
Lightvalve 30:8d561f16383b 1800 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1801 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1802 }
Lightvalve 13:747daba9cf59 1803 } else {
Lightvalve 57:f4819de54e7a 1804 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1805 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1806 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1807 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1808 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1809 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1810
Lightvalve 170:42c938a40313 1811 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1812 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1813 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1814
Lightvalve 30:8d561f16383b 1815 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1816 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1817 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1818 }
Lightvalve 14:8e7590227d22 1819 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1820 break;
Lightvalve 13:747daba9cf59 1821 }
Lightvalve 14:8e7590227d22 1822
Lightvalve 50:3c630b5eba9f 1823 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1824 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1825 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1826 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1827 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1828 // }
Lightvalve 50:3c630b5eba9f 1829 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1830 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1831 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1832 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1833 // }
Lightvalve 50:3c630b5eba9f 1834 // } else {
Lightvalve 50:3c630b5eba9f 1835 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1836 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1837 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1838 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1839 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1840 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1841 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1842 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1843 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1844 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1845 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1846 //
Lightvalve 50:3c630b5eba9f 1847 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1848 //
Lightvalve 50:3c630b5eba9f 1849 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1850 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1851 // }
Lightvalve 50:3c630b5eba9f 1852 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1853 // break;
Lightvalve 50:3c630b5eba9f 1854 // }
Lightvalve 19:23b7c1ad8683 1855
Lightvalve 50:3c630b5eba9f 1856 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1857 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 1858 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1859 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1860 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1861 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1862 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1863 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1864 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1865 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1866 // }
Lightvalve 50:3c630b5eba9f 1867 // break;
Lightvalve 50:3c630b5eba9f 1868 // }
Lightvalve 14:8e7590227d22 1869
Lightvalve 14:8e7590227d22 1870 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1871 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1872 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1873
Lightvalve 14:8e7590227d22 1874 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1875 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1876 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1877 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1878 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1879 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1880 data_num = 0;
Lightvalve 14:8e7590227d22 1881 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1882 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1883 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1884 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1885 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1886 } else {
Lightvalve 13:747daba9cf59 1887 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1888 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1889 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1890 }
Lightvalve 14:8e7590227d22 1891
Lightvalve 17:1865016ca2e7 1892 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1893 int i;
Lightvalve 13:747daba9cf59 1894 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1895 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1896 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1897 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1898 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1899 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1900 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1901 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1902 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1903 }
Lightvalve 13:747daba9cf59 1904 }
Lightvalve 170:42c938a40313 1905 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1906 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1907 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1908 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1909 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1910 }
Lightvalve 13:747daba9cf59 1911 ID_index = 0;
Lightvalve 57:f4819de54e7a 1912 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1913 }
Lightvalve 14:8e7590227d22 1914
Lightvalve 14:8e7590227d22 1915
Lightvalve 13:747daba9cf59 1916 break;
Lightvalve 13:747daba9cf59 1917 }
Lightvalve 14:8e7590227d22 1918
Lightvalve 14:8e7590227d22 1919 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1920 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1921 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1922 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1923 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1924 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1925 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1926 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1927 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1928 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1929 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1930 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1931 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1932 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1933 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1934 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1935 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1936 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1937 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1938 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1939 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1940 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1941 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1942 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1943 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1944 data_num = 0;
Lightvalve 14:8e7590227d22 1945
Lightvalve 30:8d561f16383b 1946 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1947 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1948 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1949
Lightvalve 30:8d561f16383b 1950 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1951 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1952 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1953
Lightvalve 30:8d561f16383b 1954 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1955 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1956 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1957 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1958
Lightvalve 60:64181f1d3e60 1959 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1960 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1961 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1962 DZ_case = -1;
Lightvalve 14:8e7590227d22 1963 } else {
Lightvalve 13:747daba9cf59 1964 DZ_case = 0;
Lightvalve 13:747daba9cf59 1965 }
Lightvalve 61:bc8c8270f0ab 1966
Lightvalve 60:64181f1d3e60 1967 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1968
Lightvalve 13:747daba9cf59 1969 first_check = 1;
Lightvalve 13:747daba9cf59 1970 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1971 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1972 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1973 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1974 DZ_index = 1;
Lightvalve 14:8e7590227d22 1975
Lightvalve 13:747daba9cf59 1976 }
Lightvalve 19:23b7c1ad8683 1977 } else {
Lightvalve 14:8e7590227d22 1978 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1979 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1980 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1981 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1982 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1983 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1984 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1985 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1986 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1987 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1988 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1989 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1990 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1991 }
Lightvalve 14:8e7590227d22 1992 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1993
Lightvalve 30:8d561f16383b 1994 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1995 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1996 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1997
Lightvalve 14:8e7590227d22 1998 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1999 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2000 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2001 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2002 } else {
Lightvalve 13:747daba9cf59 2003 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2004 }
Lightvalve 14:8e7590227d22 2005
Lightvalve 13:747daba9cf59 2006 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2007 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2008 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2009 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2010 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2011 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2012 DZ_index = 1;
Lightvalve 13:747daba9cf59 2013 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2014 }
Lightvalve 13:747daba9cf59 2015 }
Lightvalve 14:8e7590227d22 2016 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2017 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2018 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 2019 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2020 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2021 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2022 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2023 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2024 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2025 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2026 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2027 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2028 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2029 }
Lightvalve 14:8e7590227d22 2030 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2031
Lightvalve 30:8d561f16383b 2032 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2033 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2034 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2035 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2036 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2037
Lightvalve 14:8e7590227d22 2038 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2039 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2040 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2041 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2042 } else {
Lightvalve 60:64181f1d3e60 2043 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2044 }
Lightvalve 14:8e7590227d22 2045
Lightvalve 13:747daba9cf59 2046 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2047 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2048 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2049 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2050 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2051 first_check = 0;
Lightvalve 33:91b17819ec30 2052 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2053 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2054
Lightvalve 170:42c938a40313 2055 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2056 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2057 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2058 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2059
Lightvalve 60:64181f1d3e60 2060 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2061 DZ_index = 1;
Lightvalve 13:747daba9cf59 2062 }
Lightvalve 13:747daba9cf59 2063 }
Lightvalve 14:8e7590227d22 2064 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2065 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2066 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 2067 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2068 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2069 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2070 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2071 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2072 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2073 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2074 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2075 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2076 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2077 }
Lightvalve 14:8e7590227d22 2078 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2079
Lightvalve 30:8d561f16383b 2080 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2081 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2082 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2083
Lightvalve 14:8e7590227d22 2084 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2085 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2086 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2087 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2088 } else {
Lightvalve 13:747daba9cf59 2089 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2090 }
Lightvalve 13:747daba9cf59 2091 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2092 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2093 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2094 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2095 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2096 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2097 DZ_index = 1;
Lightvalve 13:747daba9cf59 2098 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2099 }
Lightvalve 13:747daba9cf59 2100 }
Lightvalve 14:8e7590227d22 2101 } else {
Lightvalve 30:8d561f16383b 2102 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2103 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 2104 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2105 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2106 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2107 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2108 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2109 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2110 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2111 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2112 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2113 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2114 }
Lightvalve 14:8e7590227d22 2115 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2116
Lightvalve 30:8d561f16383b 2117 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2118 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2119 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2120 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2121 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2122
Lightvalve 60:64181f1d3e60 2123 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2124 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2125 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2126 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2127 } else {
Lightvalve 13:747daba9cf59 2128 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2129 }
Lightvalve 14:8e7590227d22 2130
Lightvalve 13:747daba9cf59 2131 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2132 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2133 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2134 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2135 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2136 first_check = 0;
Lightvalve 33:91b17819ec30 2137 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2138 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2139
Lightvalve 170:42c938a40313 2140 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2141 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2142 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2143 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2144
Lightvalve 57:f4819de54e7a 2145 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2146 DZ_index = 1;
Lightvalve 13:747daba9cf59 2147 }
Lightvalve 13:747daba9cf59 2148 }
Lightvalve 13:747daba9cf59 2149 }
Lightvalve 14:8e7590227d22 2150 }
Lightvalve 13:747daba9cf59 2151 break;
Lightvalve 13:747daba9cf59 2152 }
Lightvalve 14:8e7590227d22 2153
Lightvalve 14:8e7590227d22 2154 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2155 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2156 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2157 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2158 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2159 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2160 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2161 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2162 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2163 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2164 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2165 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2166 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2167 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2168 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2169 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2170 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2171 first_check = 1;
Lightvalve 13:747daba9cf59 2172 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2173 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2174 ID_index = 0;
Lightvalve 13:747daba9cf59 2175 max_check = 0;
Lightvalve 13:747daba9cf59 2176 min_check = 0;
Lightvalve 13:747daba9cf59 2177 }
Lightvalve 14:8e7590227d22 2178 } else {
Lightvalve 30:8d561f16383b 2179 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2180 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 2181 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2182 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2183 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2184 data_num = 0;
Lightvalve 57:f4819de54e7a 2185 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2186
Lightvalve 14:8e7590227d22 2187 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2188 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2189 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2190 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2191 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2192 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2193 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2194 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2195 one_period_end = 1;
Lightvalve 13:747daba9cf59 2196 }
Lightvalve 30:8d561f16383b 2197 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2198 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2199 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2200 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2201 }
Lightvalve 14:8e7590227d22 2202
Lightvalve 14:8e7590227d22 2203 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2204 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2205 max_check = 1;
Lightvalve 14:8e7590227d22 2206 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2207 min_check = 1;
Lightvalve 13:747daba9cf59 2208 }
Lightvalve 13:747daba9cf59 2209 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2210
Lightvalve 13:747daba9cf59 2211 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2212 one_period_end = 0;
Lightvalve 13:747daba9cf59 2213 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2214 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2215 }
Lightvalve 14:8e7590227d22 2216
Lightvalve 14:8e7590227d22 2217 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2218
Lightvalve 13:747daba9cf59 2219 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2220 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2221 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2222 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2223 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2224 }
Lightvalve 13:747daba9cf59 2225 ID_index = 0;
Lightvalve 13:747daba9cf59 2226 first_check = 0;
Lightvalve 13:747daba9cf59 2227 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2228 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2229 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2230 }
Lightvalve 13:747daba9cf59 2231 }
Lightvalve 13:747daba9cf59 2232 break;
Lightvalve 13:747daba9cf59 2233 }
Lightvalve 58:2eade98630e2 2234
Lightvalve 57:f4819de54e7a 2235 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2236 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2237 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2238 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2239 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2240 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2241 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2242 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2243 }
Lightvalve 57:f4819de54e7a 2244 break;
Lightvalve 57:f4819de54e7a 2245 }
Lightvalve 58:2eade98630e2 2246
Lightvalve 169:645207e160ca 2247 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2248 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2249 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2250 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2251 } else {
Lightvalve 169:645207e160ca 2252 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2253 }
Lightvalve 169:645207e160ca 2254 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2255 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2256 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2257 } else {
Lightvalve 169:645207e160ca 2258 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2259 }
Lightvalve 58:2eade98630e2 2260
Lightvalve 169:645207e160ca 2261 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2262 cnt_freq_test++;
Lightvalve 169:645207e160ca 2263 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2264 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2265 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2266 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2267 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2268 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2269 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2270 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2271 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2272 }
Lightvalve 169:645207e160ca 2273 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2274 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2275
Lightvalve 169:645207e160ca 2276 }
Lightvalve 169:645207e160ca 2277 break;
Lightvalve 169:645207e160ca 2278 }
Lightvalve 169:645207e160ca 2279 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2280 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2281 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2282 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2283 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2284 // }
Lightvalve 169:645207e160ca 2285 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2286 // }
Lightvalve 169:645207e160ca 2287
Lightvalve 169:645207e160ca 2288 break;
Lightvalve 169:645207e160ca 2289 }
Lightvalve 169:645207e160ca 2290 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2291 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2292 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2293 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2294 break;
Lightvalve 169:645207e160ca 2295 }
Lightvalve 170:42c938a40313 2296
Lightvalve 169:645207e160ca 2297 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2298 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2299 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2300 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2301 } else {
Lightvalve 169:645207e160ca 2302 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2303 }
Lightvalve 169:645207e160ca 2304 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2305 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2306 } else {
Lightvalve 169:645207e160ca 2307 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2308 }
Lightvalve 169:645207e160ca 2309 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2310 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2311 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2312 } else {
Lightvalve 169:645207e160ca 2313 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2314 }
Lightvalve 169:645207e160ca 2315
Lightvalve 169:645207e160ca 2316 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2317 cnt_step_test++;
Lightvalve 170:42c938a40313 2318 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2319 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2320 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2321 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2322 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2323 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2324 }
Lightvalve 169:645207e160ca 2325 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2326 // {
Lightvalve 169:645207e160ca 2327 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2328 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2329 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2330 // }
Lightvalve 170:42c938a40313 2331
Lightvalve 169:645207e160ca 2332 break;
Lightvalve 169:645207e160ca 2333 }
Lightvalve 57:f4819de54e7a 2334
Lightvalve 57:f4819de54e7a 2335 default:
Lightvalve 57:f4819de54e7a 2336 break;
Lightvalve 57:f4819de54e7a 2337 }
Lightvalve 57:f4819de54e7a 2338
Lightvalve 57:f4819de54e7a 2339 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2340
Lightvalve 57:f4819de54e7a 2341 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2342 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2343 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2344 break;
Lightvalve 57:f4819de54e7a 2345 }
Lightvalve 57:f4819de54e7a 2346
Lightvalve 57:f4819de54e7a 2347 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2348 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2349 ////For Test LIMC//////////////////////////////////////////
Lightvalve 233:0a37cdd59651 2350 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 233:0a37cdd59651 2351 // for(int i=0; i<9; i++){
Lightvalve 233:0a37cdd59651 2352 // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 233:0a37cdd59651 2353 // }
Lightvalve 233:0a37cdd59651 2354 // valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 233:0a37cdd59651 2355 // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2356 ////////////////////////////////////////////////////////////
Lightvalve 225:278b48b86f27 2357
Lightvalve 59:f308b1656d9c 2358 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2359 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2360 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2361 } else {
Lightvalve 67:c2812cf26c38 2362 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2363 }
Lightvalve 57:f4819de54e7a 2364 break;
Lightvalve 57:f4819de54e7a 2365 }
Lightvalve 57:f4819de54e7a 2366
Lightvalve 57:f4819de54e7a 2367 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2368
Lightvalve 57:f4819de54e7a 2369 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2370 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2371 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2372 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2373
Lightvalve 67:c2812cf26c38 2374 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2375 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2376 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2377 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2378
Lightvalve 139:15621998925b 2379 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2380 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2381
Lightvalve 57:f4819de54e7a 2382 // torque feedback
Lightvalve 67:c2812cf26c38 2383 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2384 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2385
Lightvalve 57:f4819de54e7a 2386 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2387
Lightvalve 57:f4819de54e7a 2388 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2389 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2390 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2391
Lightvalve 57:f4819de54e7a 2392 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2393 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2394 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2395
Lightvalve 69:3995ffeaa786 2396 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2397 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2398 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2399 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2400 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2401 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2402 }
Lightvalve 57:f4819de54e7a 2403 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2404 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2405
Lightvalve 57:f4819de54e7a 2406 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2407 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2408 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2409 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 2410 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2411 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2412 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2413 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 2414 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2415 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2416 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2417 }
Lightvalve 57:f4819de54e7a 2418 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2419 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2420 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2421 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2422 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2423
Lightvalve 57:f4819de54e7a 2424 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2425
Lightvalve 67:c2812cf26c38 2426 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2427 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2428 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2429 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2430 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2431 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2432 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2433 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2434 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2435 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2436 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2437 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2438 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2439 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2440 }
Lightvalve 67:c2812cf26c38 2441 }
Lightvalve 57:f4819de54e7a 2442
Lightvalve 57:f4819de54e7a 2443 } else {
Lightvalve 57:f4819de54e7a 2444 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2445 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2446 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2447
Lightvalve 209:ebc69d6ee6f1 2448 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 2449
Lightvalve 72:3436ce769b1e 2450 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 169:645207e160ca 2451
Lightvalve 72:3436ce769b1e 2452 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2453
Lightvalve 169:645207e160ca 2454
Lightvalve 72:3436ce769b1e 2455 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2456 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2457 } else {
Lightvalve 72:3436ce769b1e 2458 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2459 }
Lightvalve 57:f4819de54e7a 2460
Lightvalve 57:f4819de54e7a 2461 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2462 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2463 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2464 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2465 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2466 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2467 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2468 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2469 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2470 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2471 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2472 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2473 }
Lightvalve 57:f4819de54e7a 2474 }
Lightvalve 61:bc8c8270f0ab 2475
Lightvalve 57:f4819de54e7a 2476 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2477
Lightvalve 67:c2812cf26c38 2478 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2479 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2480
Lightvalve 57:f4819de54e7a 2481 }
Lightvalve 169:645207e160ca 2482
Lightvalve 72:3436ce769b1e 2483 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2484
Lightvalve 133:22ab22818e01 2485
Lightvalve 57:f4819de54e7a 2486 break;
Lightvalve 57:f4819de54e7a 2487 }
Lightvalve 58:2eade98630e2 2488
Lightvalve 57:f4819de54e7a 2489 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2490 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2491 break;
Lightvalve 57:f4819de54e7a 2492 }
Lightvalve 169:645207e160ca 2493
Lightvalve 138:a843f32ced33 2494 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2495
Lightvalve 169:645207e160ca 2496
Lightvalve 139:15621998925b 2497 float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 2498 float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 218:066030f7951f 2499
Lightvalve 170:42c938a40313 2500 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2501
Lightvalve 218:066030f7951f 2502 //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 218:066030f7951f 2503 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2504
Lightvalve 138:a843f32ced33 2505 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2506 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2507 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2508 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2509 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2510 } else {
Lightvalve 138:a843f32ced33 2511 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2512 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2513 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2514 } else {
Lightvalve 138:a843f32ced33 2515 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2516 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2517 }
Lightvalve 138:a843f32ced33 2518 }
Lightvalve 138:a843f32ced33 2519 float tau = 0.01f;
Lightvalve 142:43026242815a 2520 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 2521
Lightvalve 138:a843f32ced33 2522 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2523 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2524 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2525 } else {
Lightvalve 138:a843f32ced33 2526 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2527 }
Lightvalve 138:a843f32ced33 2528 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2529 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2530
Lightvalve 139:15621998925b 2531 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2532
Lightvalve 138:a843f32ced33 2533 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2534 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2535 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2536
Lightvalve 138:a843f32ced33 2537 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2538 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2539
Lightvalve 212:ec41f1449ef9 2540 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2541 float k4 = 10.0f;
Lightvalve 142:43026242815a 2542 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2543 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2544 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2545 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2546 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2547
Lightvalve 139:15621998925b 2548 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2549 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2550 } else {
Lightvalve 139:15621998925b 2551 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2552 }
Lightvalve 169:645207e160ca 2553
Lightvalve 138:a843f32ced33 2554 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2555 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2556 float V_input = 0.0f;
Lightvalve 139:15621998925b 2557 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 2558 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2559 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2560 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2561
Lightvalve 218:066030f7951f 2562 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2563 // 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 2564 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2565 //
Lightvalve 218:066030f7951f 2566 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2567 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2568
Lightvalve 218:066030f7951f 2569 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2570 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2571 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2572
Lightvalve 218:066030f7951f 2573 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2574 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2575
Lightvalve 169:645207e160ca 2576 break;
Lightvalve 138:a843f32ced33 2577 }
Lightvalve 171:bfc1fd2629d8 2578
Lightvalve 170:42c938a40313 2579 case MODE_RL: {
Lightvalve 170:42c938a40313 2580 //t.reset();
Lightvalve 170:42c938a40313 2581 //t.start();
Lightvalve 170:42c938a40313 2582
Lightvalve 170:42c938a40313 2583 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2584 // else LED = 0;
Lightvalve 170:42c938a40313 2585
Lightvalve 170:42c938a40313 2586 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2587 //Gather Data on each loop
Lightvalve 170:42c938a40313 2588 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2589 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2590 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2591 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2592 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2593 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2594 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2595 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2596 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2597 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2598 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2599 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2600 }
Lightvalve 173:68c7914679ec 2601 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2602 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2603 }
Lightvalve 173:68c7914679ec 2604 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2605 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2606 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2607 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2608 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2609
Lightvalve 179:d5377766d7ea 2610 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2611 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2612 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2613 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2614 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2615 }
Lightvalve 171:bfc1fd2629d8 2616
Lightvalve 170:42c938a40313 2617 RL_timer++;
Lightvalve 170:42c938a40313 2618
Lightvalve 170:42c938a40313 2619
Lightvalve 170:42c938a40313 2620 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2621 RL_timer = 0;
Lightvalve 170:42c938a40313 2622 batch++;
Lightvalve 170:42c938a40313 2623 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2624 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2625 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2626 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2627 }
Lightvalve 170:42c938a40313 2628 Update_Case = 1;
Lightvalve 170:42c938a40313 2629 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2630 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2631
Lightvalve 170:42c938a40313 2632 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2633 batch = 0;
Lightvalve 170:42c938a40313 2634 RL_timer = 0;
Lightvalve 170:42c938a40313 2635 Update_Case = 2;
Lightvalve 170:42c938a40313 2636 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2637 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2638 }
Lightvalve 170:42c938a40313 2639 }
Lightvalve 170:42c938a40313 2640 }
Lightvalve 170:42c938a40313 2641
Lightvalve 170:42c938a40313 2642 else {
Lightvalve 170:42c938a40313 2643 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2644 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2645 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2646 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2647 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2648 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2649 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2650 //logging1 = action;
Lightvalve 179:d5377766d7ea 2651 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2652 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2653 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2654 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2655 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2656 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2657 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2658 }
Lightvalve 170:42c938a40313 2659
Lightvalve 170:42c938a40313 2660 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2661 }
Lightvalve 170:42c938a40313 2662
Lightvalve 170:42c938a40313 2663 //t.stop();
Lightvalve 170:42c938a40313 2664 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2665
Lightvalve 170:42c938a40313 2666 break;
Lightvalve 170:42c938a40313 2667 }
Lightvalve 14:8e7590227d22 2668
Lightvalve 12:6f2531038ea4 2669 default:
Lightvalve 12:6f2531038ea4 2670 break;
Lightvalve 12:6f2531038ea4 2671 }
Lightvalve 14:8e7590227d22 2672
Lightvalve 57:f4819de54e7a 2673
Lightvalve 57:f4819de54e7a 2674 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2675
Lightvalve 57:f4819de54e7a 2676 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2677 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2678 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2679 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2680 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2681 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2682
Lightvalve 57:f4819de54e7a 2683 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2684 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2685
Lightvalve 57:f4819de54e7a 2686
Lightvalve 57:f4819de54e7a 2687 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2688 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2689 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2690 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2691 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2692 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2693
Lightvalve 57:f4819de54e7a 2694 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2695 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2696 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2697 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2698 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2699 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2700 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2701 }
Lightvalve 57:f4819de54e7a 2702
Lightvalve 57:f4819de54e7a 2703 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2704
Lightvalve 67:c2812cf26c38 2705 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2706 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2707 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2708 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2709 // 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 2710 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2711 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2712
Lightvalve 57:f4819de54e7a 2713 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2714 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2715 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2716 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2717 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2718 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2719 } else 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 }
Lightvalve 57:f4819de54e7a 2725 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2726 } else {
Lightvalve 57:f4819de54e7a 2727 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2728 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2729 }
Lightvalve 57:f4819de54e7a 2730
Lightvalve 57:f4819de54e7a 2731 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2732 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2733 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2734 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2735 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2736 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2737 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2738
Lightvalve 57:f4819de54e7a 2739 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2740
Lightvalve 57:f4819de54e7a 2741 } else {
Lightvalve 57:f4819de54e7a 2742 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2743 }
Lightvalve 57:f4819de54e7a 2744
Lightvalve 57:f4819de54e7a 2745 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2746 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2747 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2748
Lightvalve 57:f4819de54e7a 2749 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2750 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2751 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2752 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2753 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2754 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2755 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2756 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2757
Lightvalve 89:a7b45368ea0f 2758 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2759 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2760 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2761 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2762
Lightvalve 135:79885a39c161 2763 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2764 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2765 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2766 }
Lightvalve 169:645207e160ca 2767
Lightvalve 67:c2812cf26c38 2768 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2769 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2770 // else V_out = V_out;
Lightvalve 169:645207e160ca 2771
jobuuu 7:e9086c72bb22 2772 /*******************************************************
jobuuu 7:e9086c72bb22 2773 *** PWM
jobuuu 7:e9086c72bb22 2774 ********************************************************/
Lightvalve 169:645207e160ca 2775 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2776 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2777 }
Lightvalve 169:645207e160ca 2778
Lightvalve 49:e7bcfc244d40 2779 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2780 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2781 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2782 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2783 }
Lightvalve 49:e7bcfc244d40 2784 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2785
Lightvalve 19:23b7c1ad8683 2786 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2787 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2788 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2789
Lightvalve 30:8d561f16383b 2790 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2791 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2792 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2793 } else {
jobuuu 2:a1c0a37df760 2794 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2795 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2796 }
Lightvalve 13:747daba9cf59 2797
jobuuu 1:e04e563be5ce 2798 //pwm
Lightvalve 30:8d561f16383b 2799 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2800 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2801
Lightvalve 61:bc8c8270f0ab 2802
Lightvalve 233:0a37cdd59651 2803
Lightvalve 233:0a37cdd59651 2804 /*
Lightvalve 237:aa3863117889 2805 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 233:0a37cdd59651 2806
Lightvalve 54:647072f5307a 2807 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2808 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2809 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2810 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2811 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2812 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2813 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 2814 }
Lightvalve 57:f4819de54e7a 2815 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2816 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2817 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 2818 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2819 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 2820 }
Lightvalve 52:8ea76864368a 2821 }
Lightvalve 52:8ea76864368a 2822 }
Lightvalve 233:0a37cdd59651 2823
Lightvalve 56:6f50d9d3bfee 2824 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2825 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2826 }
Lightvalve 58:2eade98630e2 2827
Lightvalve 58:2eade98630e2 2828
Lightvalve 171:bfc1fd2629d8 2829 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2830 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2831 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2832 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2833 } else {
Lightvalve 131:d08121ac87ba 2834 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2835 }
Lightvalve 169:645207e160ca 2836 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2837 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2838 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2839 } else {
Lightvalve 169:645207e160ca 2840 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2841 }
Lightvalve 169:645207e160ca 2842
Lightvalve 169:645207e160ca 2843
Lightvalve 169:645207e160ca 2844 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2845 }
Lightvalve 58:2eade98630e2 2846
Lightvalve 57:f4819de54e7a 2847 //If it doesn't rest, below can can not work.
Lightvalve 233:0a37cdd59651 2848 for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2849 ;
Lightvalve 57:f4819de54e7a 2850 }
Lightvalve 58:2eade98630e2 2851
Lightvalve 169:645207e160ca 2852 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2853 //PWM
Lightvalve 209:ebc69d6ee6f1 2854 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 209:ebc69d6ee6f1 2855 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2856 }
Lightvalve 179:d5377766d7ea 2857
Lightvalve 56:6f50d9d3bfee 2858 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2859 //valve position
Lightvalve 212:ec41f1449ef9 2860 //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 2861 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 54:647072f5307a 2862 }
Lightvalve 237:aa3863117889 2863
Lightvalve 233:0a37cdd59651 2864
Lightvalve 20:806196fda269 2865
Lightvalve 54:647072f5307a 2866 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 237:aa3863117889 2867 if (flag_data_request[1] == HIGH) {
Lightvalve 237:aa3863117889 2868 CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 237:aa3863117889 2869 }
Lightvalve 237:aa3863117889 2870 if (flag_delay_test == 1){
Lightvalve 237:aa3863117889 2871 CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 237:aa3863117889 2872 }
Lightvalve 52:8ea76864368a 2873
Lightvalve 54:647072f5307a 2874 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2875 }
Lightvalve 54:647072f5307a 2876 TMR2_COUNT_CAN_TX++;
Lightvalve 237:aa3863117889 2877
Lightvalve 237:aa3863117889 2878 */
Lightvalve 237:aa3863117889 2879
Lightvalve 20:806196fda269 2880 }
Lightvalve 52:8ea76864368a 2881 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2882
Lightvalve 58:2eade98630e2 2883 }