Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@238:e4bda4d06a7d, 2021-01-02 (annotated)

Committer:
Lightvalve
Date:
Sat Jan 02 14:14:10 2021 +0000
Revision:
238:e4bda4d06a7d
Parent:
237:aa3863117889
Child:
239:cfce386d54a3
210102-2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 238:e4bda4d06a7d 1 //210102_2 500Hz
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 238:e4bda4d06a7d 202 {-0.3518959879875183f,-2.1251461505889893f,0.9578704237937927f,0.07460802793502808f,0.4083598852157593f,-0.33242329955101013f,-0.24204020202159882f,0.022494137287139893f,-0.38182884454727173f,0.1710560917854309f,-2.528322696685791f,-0.2426120489835739f,0.07800555229187012f,-0.11454407125711441f,0.01825021021068096f,0.009743946604430676f},
Lightvalve 238:e4bda4d06a7d 203 {-0.23303905129432678f,-0.804778516292572f,0.6906189322471619f,-0.2855757474899292f,-0.4139590263366699f,0.13581739366054535f,-0.33242931962013245f,0.33744025230407715f,0.019223570823669434f,0.025203019380569458f,-1.1276214122772217f,-0.320360004901886f,0.07627367973327637f,0.3638472557067871f,-0.22867459058761597f,-0.05738162249326706f},
Lightvalve 238:e4bda4d06a7d 204 {0.054309576749801636f,-0.7303229570388794f,0.49206098914146423f,-0.3997206389904022f,0.37840962409973145f,-0.34793075919151306f,-0.3337523639202118f,-0.21087387204170227f,0.18194907903671265f,-0.15486115217208862f,-0.8989821672439575f,0.30253833532333374f,-0.10916683077812195f,0.13030478358268738f,-0.18056616187095642f,0.2971506416797638f},
Lightvalve 238:e4bda4d06a7d 205 {-0.28941866755485535f,0.2446109801530838f,-0.46654757857322693f,-0.3544938564300537f,-0.3382750153541565f,0.2435789406299591f,-0.4222949147224426f,0.2507844567298889f,0.405910849571228f,0.15534931421279907f,0.34066349267959595f,-0.21245330572128296f,-0.35986700654029846f,-0.4086453914642334f,-0.1359584480524063f,-0.043910399079322815f},
Lightvalve 238:e4bda4d06a7d 206 {0.260015070438385f,0.8124573230743408f,-1.0788320302963257f,-0.3760731518268585f,0.08130717277526855f,-0.20115602016448975f,0.35346728563308716f,0.05169829726219177f,0.39578813314437866f,0.3265618085861206f,1.216309666633606f,-0.23667936027050018f,0.3847886323928833f,0.34671658277511597f,-0.11835640668869019f,0.24839270114898682f},
Lightvalve 238:e4bda4d06a7d 207 {0.07367211580276489f,2.608402729034424f,-1.0843697786331177f,0.21967214345932007f,0.4170142412185669f,0.2488880604505539f,0.16131609678268433f,-0.05181002616882324f,0.03649970889091492f,0.3132137656211853f,2.998582124710083f,0.09743726253509521f,-0.004373282194137573f,0.3525773584842682f,0.557029664516449f,0.3808589279651642f},
Lightvalve 238:e4bda4d06a7d 208 {-0.1849803626537323f,-1.4194492101669312f,0.2884303331375122f,0.10853719711303711f,-0.34670042991638184f,-0.740264356136322f,-0.07871395349502563f,-0.3424152731895447f,-0.0723131000995636f,-0.09276700019836426f,0.9943693280220032f,0.389578640460968f,0.1583765149116516f,0.24901455640792847f,-0.7847456932067871f,0.1223604679107666f},
Lightvalve 238:e4bda4d06a7d 209 {0.3363311290740967f,-0.4067698121070862f,-0.02620851993560791f,0.2931549549102783f,-0.2531799077987671f,-0.9080274701118469f,-0.15988385677337646f,-0.16074800491333008f,-0.3888390362262726f,-0.03829273581504822f,0.11360064893960953f,0.10224229097366333f,-0.03030523657798767f,0.03509645536541939f,-0.521731436252594f,-0.3460908532142639f},
Lightvalve 238:e4bda4d06a7d 210 {-0.008942186832427979f,1.1105962991714478f,-0.671557605266571f,-0.26002514362335205f,0.369967520236969f,-0.24057142436504364f,0.06158176064491272f,0.3959408402442932f,-0.011539667844772339f,-0.3851383328437805f,-0.3947003483772278f,-0.17132225632667542f,-0.3491899371147156f,-0.46284326910972595f,-0.17836196720600128f,-0.24563594162464142f},
Lightvalve 238:e4bda4d06a7d 211 {-0.23328730463981628f,0.35019075870513916f,-0.2301672101020813f,-0.14789578318595886f,-0.1547950804233551f,-0.7104281187057495f,-0.09938845038414001f,0.10942506790161133f,-0.3328583538532257f,0.32593780755996704f,-0.40518099069595337f,0.023979008197784424f,0.025072604417800903f,-0.15603505074977875f,-0.6085611581802368f,-0.1102939173579216f},
Lightvalve 238:e4bda4d06a7d 212 {-0.2889084219932556f,0.12334237992763519f,-0.5145155787467957f,0.358765184879303f,-0.4070855379104614f,-0.7773963212966919f,-0.14795801043510437f,0.12666010856628418f,0.2193526029586792f,0.2858560085296631f,-0.19010424613952637f,0.1697249412536621f,-0.35532402992248535f,-0.0628834143280983f,-0.31453782320022583f,0.2916713356971741f},
Lightvalve 238:e4bda4d06a7d 213 {-0.349159836769104f,0.030708426609635353f,-0.40978947281837463f,-0.09636816382408142f,-0.3470844030380249f,-0.09358976781368256f,-0.24872183799743652f,-0.3441091775894165f,-0.20228171348571777f,-0.3132234513759613f,0.08386483788490295f,-0.07488018274307251f,0.11759966611862183f,0.10155253857374191f,-0.036618586629629135f,-0.26413699984550476f},
Lightvalve 238:e4bda4d06a7d 214 {0.38546842336654663f,0.09445425868034363f,-0.31732892990112305f,-0.41764265298843384f,-0.4134422838687897f,-0.2819118797779083f,0.298126757144928f,-0.39963799715042114f,-0.06526103615760803f,0.03604122996330261f,-0.16092178225517273f,0.10018378496170044f,-0.30289945006370544f,0.1449190378189087f,-0.32029521465301514f,0.1898711621761322f},
Lightvalve 238:e4bda4d06a7d 215 {-0.42283523082733154f,-0.020677033811807632f,-0.14639773964881897f,-0.14728012681007385f,-0.37331435084342957f,-0.010911340825259686f,-0.09241300821304321f,-0.04799109697341919f,-0.17356249690055847f,-0.053030580282211304f,0.03796953335404396f,-0.1204785406589508f,-0.3399311900138855f,0.1689886450767517f,0.024542465806007385f,-0.3244054317474365f},
Lightvalve 238:e4bda4d06a7d 216 {0.2842629551887512f,0.04571804404258728f,-0.36305925250053406f,-0.1726883053779602f,-0.16769343614578247f,-0.005845157895237207f,-0.18842191994190216f,0.35883063077926636f,-0.32441917061805725f,0.3678022027015686f,-0.0007546943961642683f,0.40828412771224976f,-0.006959974765777588f,-0.0738314613699913f,-0.1639222353696823f,-0.40338003635406494f},
Lightvalve 238:e4bda4d06a7d 217 {0.30670469999313354f,0.07693452388048172f,-0.5587960481643677f,-0.24774791300296783f,0.2930166721343994f,-0.20219700038433075f,-0.2875429093837738f,0.34532618522644043f,-0.07908278703689575f,0.264565646648407f,-0.21800287067890167f,-0.3748716115951538f,0.24430310726165771f,0.11504218727350235f,-0.4921426773071289f,-0.20791341364383698f},
Lightvalve 238:e4bda4d06a7d 218 {0.06869709491729736f,0.10434605181217194f,-1.194109559059143f,-0.3430131673812866f,-0.4249112606048584f,-0.6899720430374146f,-0.2120281457901001f,-0.19189448654651642f,0.18253427743911743f,-0.026109665632247925f,0.08355401456356049f,-0.045375317335128784f,0.24209386110305786f,-0.2877775728702545f,-0.16289275884628296f,-0.25002139806747437f},
Lightvalve 65:a2d7c63419c2 219 };
Lightvalve 65:a2d7c63419c2 220
Lightvalve 169:645207e160ca 221 const float h2[16][16] = {
Lightvalve 234:1cdc45c27ba7 222 {-0.055980950593948364f,0.23325034976005554f,0.1310378611087799f,0.3538874685764313f,-0.3786364793777466f,0.3037426769733429f,-0.17743819952011108f,0.03198641538619995f,-0.25820767879486084f,-0.025972992181777954f,-0.1812897026538849f,-0.19700877368450165f,-0.23905162513256073f,0.3336930572986603f,-0.2611466646194458f,-0.14968061447143555f},
Lightvalve 238:e4bda4d06a7d 223 {2.181116819381714f,0.3085605204105377f,-3.144991159439087f,-2.2185215950012207f,-4.109997272491455f,-0.1610606461763382f,-2.240370512008667f,-1.6167747974395752f,0.017681539058685303f,0.2273702323436737f,-0.2186730057001114f,-0.09930881857872009f,-2.2488934993743896f,-1.3848117589950562f,-0.21292872726917267f,3.2248332500457764f},
Lightvalve 238:e4bda4d06a7d 224 {-0.3623126149177551f,0.3188628852367401f,-0.03786222264170647f,-0.476299524307251f,-0.2641295790672302f,0.09450580924749374f,0.27832698822021484f,-0.43250858783721924f,-0.214284285902977f,0.229490727186203f,-0.29371505975723267f,-0.13699811697006226f,-0.1143852099776268f,0.31666550040245056f,0.056768983602523804f,-0.31956174969673157f},
Lightvalve 234:1cdc45c27ba7 225 {-0.28563398122787476f,0.07789990305900574f,0.40358296036720276f,0.3720850646495819f,-0.03832319378852844f,-0.1494518518447876f,-0.11764177680015564f,0.34294649958610535f,0.054388612508773804f,0.3634087145328522f,0.1569826900959015f,0.28783395886421204f,-0.13846668601036072f,0.12138035893440247f,-0.3007376194000244f,0.12193700671195984f},
Lightvalve 234:1cdc45c27ba7 226 {0.1812863051891327f,0.25741907954216003f,-0.005224883556365967f,0.3340524137020111f,0.024127095937728882f,0.11559751629829407f,0.13140985369682312f,-0.02607312798500061f,0.060811251401901245f,0.1730591356754303f,0.4128219783306122f,0.03628826141357422f,-0.040624260902404785f,0.2442089021205902f,-0.39249828457832336f,-0.21546570956707f},
Lightvalve 238:e4bda4d06a7d 227 {0.38054773211479187f,-0.3289546072483063f,0.11872139573097229f,0.011792738921940327f,0.13209199905395508f,-0.3606753945350647f,0.14968658983707428f,-0.2645246684551239f,-0.04667779803276062f,0.17989537119865417f,-0.191977858543396f,0.26149240136146545f,-0.8504789471626282f,0.31812718510627747f,-0.4196912348270416f,-1.2892576456069946f},
Lightvalve 234:1cdc45c27ba7 228 {0.03675055503845215f,-0.05131736397743225f,-0.2540779709815979f,-0.4151476323604584f,-0.3318796753883362f,0.2645241320133209f,0.06107431650161743f,-0.3474422097206116f,0.4012340009212494f,0.12852928042411804f,0.2119675576686859f,0.39421865344047546f,-0.14612942934036255f,0.4053405821323395f,-0.15860587358474731f,-0.00642770528793335f},
Lightvalve 234:1cdc45c27ba7 229 {-0.011466562747955322f,-0.293976753950119f,-0.2703247666358948f,0.13940533995628357f,-0.3086448609828949f,-0.10881850123405457f,-0.18203827738761902f,-0.3606947958469391f,0.05907437205314636f,0.17521318793296814f,0.16556969285011292f,-0.017545759677886963f,0.4063515365123749f,0.1637323796749115f,0.0436977744102478f,0.21962454915046692f},
Lightvalve 234:1cdc45c27ba7 230 {0.1453019678592682f,0.31070712208747864f,0.10406997799873352f,-0.34301185607910156f,-0.14203324913978577f,0.1393299400806427f,-0.07359349727630615f,-0.4255761206150055f,-0.24196511507034302f,0.4100019037723541f,-0.2432931661605835f,0.4171271026134491f,0.26163145899772644f,0.24838712811470032f,-0.31029027700424194f,0.24932292103767395f},
Lightvalve 234:1cdc45c27ba7 231 {-0.09909564256668091f,-0.22814129292964935f,0.18748918175697327f,-0.08129695057868958f,0.17022588849067688f,0.2918822467327118f,-0.3036908507347107f,-0.09228748083114624f,0.024910658597946167f,-0.4239048957824707f,0.050207048654556274f,-0.4021540582180023f,0.4068380892276764f,-0.20195016264915466f,0.35390153527259827f,0.03321918845176697f},
Lightvalve 238:e4bda4d06a7d 232 {2.5735208988189697f,0.11061021685600281f,-3.2202746868133545f,-2.7903010845184326f,-2.936795711517334f,-0.11638280749320984f,-5.107576370239258f,-1.809484839439392f,-0.4787689447402954f,0.08167347311973572f,0.41236647963523865f,-0.19175507128238678f,2.21515154838562f,-0.5713793039321899f,0.2710213363170624f,-1.6538140773773193f},
Lightvalve 238:e4bda4d06a7d 233 {-0.34519389271736145f,-0.39544427394866943f,-0.40945154428482056f,0.07407739758491516f,0.167315274477005f,-0.011973470449447632f,0.15575703978538513f,0.40950825810432434f,-0.11885038018226624f,0.2575679123401642f,-0.36203885078430176f,0.2510797083377838f,0.17554739117622375f,-0.00162506103515625f,0.10656675696372986f,-0.06925976276397705f},
Lightvalve 234:1cdc45c27ba7 234 {-0.01594102382659912f,-0.19719429314136505f,0.2015570104122162f,0.23486098647117615f,0.36742570996284485f,0.19432035088539124f,-0.24415965378284454f,0.16870906949043274f,-0.1409781575202942f,-0.15576940774917603f,-0.05214834213256836f,-0.16751256585121155f,0.12201771140098572f,0.031148135662078857f,-0.22613362967967987f,-0.3668502867221832f},
Lightvalve 238:e4bda4d06a7d 235 {-0.05192098021507263f,-0.10105487704277039f,0.3711637258529663f,-0.0472770594060421f,-0.24895545840263367f,-0.25230804085731506f,-0.2747898995876312f,-0.351117342710495f,-0.12873445451259613f,-0.19223688542842865f,-0.13938084244728088f,-0.1388394832611084f,-0.23949918150901794f,-0.09070570021867752f,0.04871204495429993f,0.19552254676818848f},
Lightvalve 238:e4bda4d06a7d 236 {0.21080316603183746f,-0.008572280406951904f,-0.03737782686948776f,-0.28281503915786743f,0.08954202383756638f,-0.18616867065429688f,0.11446665227413177f,-0.3023848533630371f,0.2700979709625244f,0.11613044142723083f,-0.22509463131427765f,-0.3847343325614929f,-0.5302433371543884f,-0.635601282119751f,0.06784489750862122f,-1.7143038511276245f},
Lightvalve 238:e4bda4d06a7d 237 {0.0037284016143530607f,-0.35415053367614746f,-0.3869246244430542f,0.03833930939435959f,-0.0686471089720726f,0.028057783842086792f,-0.1726951152086258f,-0.017146753147244453f,0.2555997669696808f,0.021969109773635864f,-0.42253369092941284f,-0.02782580256462097f,-0.2685992419719696f,0.02458290010690689f,-0.08373728394508362f,0.3027627468109131f},
Lightvalve 65:a2d7c63419c2 238 };
Lightvalve 65:a2d7c63419c2 239
Lightvalve 169:645207e160ca 240 const float h3[16][16] = {
Lightvalve 238:e4bda4d06a7d 241 {-0.47308632731437683f,-0.23931001126766205f,-0.21735721826553345f,2.3161330223083496f,-0.21907491981983185f,1.5115737915039062f,1.0680909156799316f,0.0904630720615387f,-1.6634345054626465f,-0.029280925169587135f,-0.8094367384910583f,-0.10159772634506226f,0.9360268712043762f,-0.16623181104660034f,-0.060674071311950684f,0.6031628847122192f},
Lightvalve 234:1cdc45c27ba7 242 {0.11036357283592224f,-0.3038245439529419f,0.057057321071624756f,0.08777192234992981f,-0.35503754019737244f,-0.29007279872894287f,-0.33918139338493347f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.3337714970111847f,-0.37158891558647156f,0.33698758482933044f,0.16647490859031677f,-0.3480874300003052f,-0.2740727365016937f},
Lightvalve 238:e4bda4d06a7d 243 {-0.7185184955596924f,0.003037691116333008f,0.20150816440582275f,1.7220784425735474f,0.05568113923072815f,-0.35398170351982117f,-2.5921132564544678f,-0.08465918898582458f,0.9186620712280273f,0.00491095008328557f,0.24447709321975708f,0.3004753887653351f,0.13091936707496643f,-0.5775905251502991f,0.08652284741401672f,-0.8730464577674866f},
Lightvalve 238:e4bda4d06a7d 244 {-0.7724634408950806f,-0.38710832595825195f,-0.385213702917099f,1.27706778049469f,0.08946844935417175f,-0.25208818912506104f,-3.024667501449585f,0.4122363030910492f,4.1424736976623535f,0.2446650266647339f,-0.07782027870416641f,0.4110986292362213f,-0.9979023933410645f,-0.22728054225444794f,0.27305224537849426f,-1.0079478025436401f},
Lightvalve 238:e4bda4d06a7d 245 {-0.3673178553581238f,0.40231046080589294f,-0.25313520431518555f,-1.0560710430145264f,0.036378175020217896f,-0.8391821384429932f,1.2921353578567505f,-0.08570799231529236f,-2.1447486877441406f,-0.45917364954948425f,-0.2728309631347656f,-0.4229513108730316f,-0.4328535795211792f,-0.23151369392871857f,-0.2544192671775818f,-1.7699350118637085f},
Lightvalve 238:e4bda4d06a7d 246 {0.36151543259620667f,0.294185608625412f,-0.3519742488861084f,0.20271971821784973f,-0.3015052080154419f,0.12646296620368958f,-0.24303214251995087f,-0.019414573907852173f,-0.4198485016822815f,0.4040032625198364f,0.015861472114920616f,0.001658409833908081f,-0.03472591191530228f,0.3993215262889862f,0.15392538905143738f,-0.18781545758247375f},
Lightvalve 238:e4bda4d06a7d 247 {-0.3414195477962494f,-0.02554568648338318f,-0.3260969817638397f,1.3361738920211792f,-0.38453540205955505f,-3.037968397140503f,0.2976421117782593f,0.12387624382972717f,0.6290162205696106f,0.028297509998083115f,0.3265913724899292f,-0.32796353101730347f,-1.2643392086029053f,0.049302369356155396f,-0.27088475227355957f,-2.0581226348876953f},
Lightvalve 238:e4bda4d06a7d 248 {-0.0027340210508555174f,0.33974209427833557f,0.33129456639289856f,-0.0405692532658577f,-0.14358049631118774f,-3.108658790588379f,-0.051437605172395706f,-0.3003333508968353f,1.6291449069976807f,-0.45957863330841064f,0.6322370171546936f,-0.2890920341014862f,-2.9362692832946777f,0.36012205481529236f,0.048003822565078735f,-1.0506584644317627f},
Lightvalve 238:e4bda4d06a7d 249 {-0.25820738077163696f,0.35453304648399353f,-0.11379697918891907f,0.30470696091651917f,0.041274964809417725f,-0.7796241044998169f,-0.28509995341300964f,0.0019084513187408447f,0.24652251601219177f,-0.43211859464645386f,0.2325243353843689f,-0.3197441101074219f,-0.3447761535644531f,-0.30194157361984253f,-0.4068881571292877f,-0.3959891200065613f},
Lightvalve 234:1cdc45c27ba7 250 {-0.14576366543769836f,0.22098979353904724f,-0.13502129912376404f,0.1006976068019867f,0.12987366318702698f,0.11301741003990173f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.24499371647834778f,0.39862415194511414f,0.3811538517475128f,-0.23332324624061584f,0.011877655982971191f,-0.23860150575637817f},
Lightvalve 234:1cdc45c27ba7 251 {-0.2709399461746216f,-0.006022721529006958f,0.0457797646522522f,-0.38090792298316956f,-0.03321319818496704f,-0.4148826003074646f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.20706263184547424f,0.3545852601528168f,-0.3647043704986572f,0.42127421498298645f,-0.39804020524024963f,-0.2870290279388428f},
Lightvalve 234:1cdc45c27ba7 252 {0.33538809418678284f,0.3494977056980133f,0.3954955041408539f,0.3170476257801056f,0.0033026933670043945f,0.3035760819911957f,-0.18492193520069122f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.3952759802341461f,-0.15237495303153992f,0.0820283591747284f,-0.3793424367904663f,0.2430708110332489f,0.24988999962806702f},
Lightvalve 238:e4bda4d06a7d 253 {-1.0500675439834595f,-0.3249392807483673f,-0.4535083472728729f,2.057072401046753f,-0.37393757700920105f,-0.21931661665439606f,-1.0528806447982788f,-0.2947862446308136f,-3.6776044368743896f,0.20209933817386627f,-0.18137118220329285f,-0.2837170362472534f,-0.1660894900560379f,-0.3244445323944092f,-0.15901821851730347f,-1.026604413986206f},
Lightvalve 238:e4bda4d06a7d 254 {-0.37168949842453003f,0.26506301760673523f,-0.2018718123435974f,0.6366439461708069f,0.07545611262321472f,-1.3864915370941162f,-0.04185379296541214f,-0.21416273713111877f,-0.29859498143196106f,0.11903741210699081f,0.654847264289856f,-0.25593626499176025f,0.1936173141002655f,0.27643296122550964f,-0.23556609451770782f,-0.40933671593666077f},
Lightvalve 234:1cdc45c27ba7 255 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 238:e4bda4d06a7d 256 {-0.7243497967720032f,0.23135335743427277f,-0.10216440260410309f,-3.6326980590820312f,0.29976895451545715f,-0.6830623745918274f,-0.5977881550788879f,0.31089308857917786f,-0.565390944480896f,-0.0013483756920322776f,0.158188134431839f,-0.11613789200782776f,-4.947762489318848f,-0.17856179177761078f,0.22754064202308655f,-1.3521616458892822f},
Lightvalve 66:a8e6799dbce3 257 };
Lightvalve 65:a2d7c63419c2 258
Lightvalve 238:e4bda4d06a7d 259 const float hout[16] = { -0.045611947774887085f,-0.15912550687789917f,-0.04981964826583862f,-0.8075408339500427f,-0.20271384716033936f,0.5076689720153809f,1.0469098091125488f,0.4165375232696533f,0.6030735373497009f,-0.011516942642629147f,-0.06300389021635056f,0.5489715337753296f,1.0496944189071655f,0.2974213659763336f,-0.480579137802124f,-0.05665197968482971f };
Lightvalve 238:e4bda4d06a7d 260
Lightvalve 238:e4bda4d06a7d 261 const float b1[16] = { -0.31192219257354736f,0.14445270597934723f,1.51518976688385f,-0.407010555267334f,-0.8632325530052185f,1.673356294631958f,-0.8388656973838806f,-0.8200502991676331f,-0.2854437828063965f,-1.6282782554626465f,0.16608421504497528f,-0.11242429167032242f,-1.5856122970581055f,-0.6225414872169495f,1.2964599132537842f,-0.36238235235214233f };
Lightvalve 238:e4bda4d06a7d 262
Lightvalve 238:e4bda4d06a7d 263 const float b2[16] = { -0.7045032382011414f,-1.3118138313293457f,0.34750038385391235f,0.8406327366828918f,1.1306852102279663f,-0.18282939493656158f,0.9559371471405029f,0.11955782771110535f,-0.2355985939502716f,-1.6486880779266357f,-0.22539173066616058f,-2.15936541557312f,0.5265071392059326f,0.05940842255949974f,-0.6625781655311584f,-0.42927393317222595f };
Lightvalve 238:e4bda4d06a7d 264
Lightvalve 238:e4bda4d06a7d 265 const float b3[16] = { 0.09913776069879532f,-0.3432619571685791f,-0.02780051715672016f,-1.2432283163070679f,-0.4563063681125641f,-1.0692328214645386f,0.9115550518035889f,-0.7025120258331299f,1.0864026546478271f,-0.6153391003608704f,-0.4015882909297943f,-0.7519525289535522f,-0.6367574334144592f,0.016570651903748512f,-0.45795938372612f,-0.15335814654827118f };
Lightvalve 238:e4bda4d06a7d 266
Lightvalve 238:e4bda4d06a7d 267 const float bout[1] = { -0.4850784242153168f };
Lightvalve 225:278b48b86f27 268
Lightvalve 225:278b48b86f27 269 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 65:a2d7c63419c2 270
Lightvalve 170:42c938a40313 271 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 272 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 273
Lightvalve 170:42c938a40313 274 //Critic Networks
Lightvalve 173:68c7914679ec 275 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 276 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 277 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 278 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 279 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 280 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 281
Lightvalve 170:42c938a40313 282 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 283 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 284 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 285 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 286 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 287 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 288 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 289
Lightvalve 170:42c938a40313 290 //Actor Networks
Lightvalve 173:68c7914679ec 291 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 292 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 293 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 294 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 295 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 296 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 297
Lightvalve 170:42c938a40313 298 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 299 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 300 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 301 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 302 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 303 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 304 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 305
Lightvalve 87:471334725012 306 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 307 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 308
Lightvalve 179:d5377766d7ea 309 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 310 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 311 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 312 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 313 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 314
Lightvalve 170:42c938a40313 315 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 316 {
Lightvalve 173:68c7914679ec 317 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 318 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 319 float output = 0.0f;
Lightvalve 173:68c7914679ec 320 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 321 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 322 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 323 }
Lightvalve 173:68c7914679ec 324 //ReLU
Lightvalve 173:68c7914679ec 325 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 326 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 327 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 328 output1[index2] = 0;
Lightvalve 173:68c7914679ec 329 }
Lightvalve 173:68c7914679ec 330 //tanh
Lightvalve 173:68c7914679ec 331 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 332 }
Lightvalve 173:68c7914679ec 333 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 334 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 335 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 336 }
Lightvalve 173:68c7914679ec 337 //ReLU
Lightvalve 173:68c7914679ec 338 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 339 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 340 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 341 output2[index2] = 0;
Lightvalve 173:68c7914679ec 342 }
Lightvalve 173:68c7914679ec 343 //tanh
Lightvalve 173:68c7914679ec 344 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 345 }
Lightvalve 170:42c938a40313 346 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 347 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 348 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 349 }
Lightvalve 173:68c7914679ec 350 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 351 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 352 }
Lightvalve 170:42c938a40313 353 return output;
Lightvalve 170:42c938a40313 354 }
Lightvalve 170:42c938a40313 355
Lightvalve 170:42c938a40313 356
Lightvalve 170:42c938a40313 357 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 358 {
Lightvalve 173:68c7914679ec 359 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 360 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 361 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 362
Lightvalve 173:68c7914679ec 363 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 364 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 365 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 366 }
Lightvalve 178:1074553d2f6f 367 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 368 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 369 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 370 output1[index2] = 0;
Lightvalve 173:68c7914679ec 371 }
Lightvalve 173:68c7914679ec 372 }
Lightvalve 173:68c7914679ec 373 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 374 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 375 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 376 }
Lightvalve 178:1074553d2f6f 377 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 378 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 379 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 380 output2[index2] = 0;
Lightvalve 173:68c7914679ec 381 }
Lightvalve 173:68c7914679ec 382 }
Lightvalve 173:68c7914679ec 383 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 384 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 385 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 386 }
Lightvalve 178:1074553d2f6f 387 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 388 }
Lightvalve 178:1074553d2f6f 389
Lightvalve 178:1074553d2f6f 390 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 391 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 392 //Softplus
Lightvalve 173:68c7914679ec 393 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 394 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 395 logging2 = mean;
Lightvalve 179:d5377766d7ea 396 logging4 = deviation;
Lightvalve 173:68c7914679ec 397 }
Lightvalve 173:68c7914679ec 398
Lightvalve 173:68c7914679ec 399
Lightvalve 173:68c7914679ec 400 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 401 {
Lightvalve 173:68c7914679ec 402 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 403 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 404 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 405
Lightvalve 173:68c7914679ec 406 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 407 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 408 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 409 }
Lightvalve 170:42c938a40313 410 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 411 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 412 output1[index2] = 0;
Lightvalve 170:42c938a40313 413 }
Lightvalve 170:42c938a40313 414 }
Lightvalve 173:68c7914679ec 415 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 416 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 417 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 418 }
Lightvalve 173:68c7914679ec 419 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 420 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 421 output2[index2] = 0;
Lightvalve 170:42c938a40313 422 }
Lightvalve 170:42c938a40313 423 }
Lightvalve 170:42c938a40313 424 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 425 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 426 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 427 }
Lightvalve 170:42c938a40313 428 }
Lightvalve 173:68c7914679ec 429 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 430 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 431 //Softplus
Lightvalve 173:68c7914679ec 432 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 433 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 434 }
Lightvalve 170:42c938a40313 435
Lightvalve 170:42c938a40313 436 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 437 {
Lightvalve 170:42c938a40313 438 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 439 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 440 return grad_mean;
Lightvalve 170:42c938a40313 441 }
Lightvalve 170:42c938a40313 442
Lightvalve 170:42c938a40313 443 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 444 {
Lightvalve 170:42c938a40313 445 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 446 grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation));
Lightvalve 170:42c938a40313 447 return grad_dev;
Lightvalve 170:42c938a40313 448 }
Lightvalve 170:42c938a40313 449
Lightvalve 173:68c7914679ec 450 float ReLU(float x)
Lightvalve 173:68c7914679ec 451 {
Lightvalve 173:68c7914679ec 452 if (x >= 0) {
Lightvalve 173:68c7914679ec 453 return x;
Lightvalve 173:68c7914679ec 454 } else {
Lightvalve 173:68c7914679ec 455 return 0.0f;
Lightvalve 173:68c7914679ec 456 }
Lightvalve 173:68c7914679ec 457 }
Lightvalve 173:68c7914679ec 458
Lightvalve 170:42c938a40313 459 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 460 {
Lightvalve 173:68c7914679ec 461 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 462 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 463 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 464 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 465 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 466 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 467 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 468 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 469 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 470 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 471 }
Lightvalve 173:68c7914679ec 472 }
Lightvalve 170:42c938a40313 473 }
Lightvalve 177:8e9cf31d63f4 474 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 475 }
Lightvalve 170:42c938a40313 476 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 477 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 478 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 479 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 480 }
Lightvalve 173:68c7914679ec 481 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 482 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 483 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 484 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 485 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 486 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 487 }
Lightvalve 173:68c7914679ec 488 }
Lightvalve 173:68c7914679ec 489 }
Lightvalve 177:8e9cf31d63f4 490 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 491 }
Lightvalve 173:68c7914679ec 492 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 493 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 494 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 495 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 496 }
Lightvalve 173:68c7914679ec 497
Lightvalve 175:2f7289dbd488 498
Lightvalve 173:68c7914679ec 499 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 500 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 501 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 502 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 503 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 504 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 505 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 506 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 507 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 508 }
Lightvalve 173:68c7914679ec 509 }
Lightvalve 177:8e9cf31d63f4 510 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 511 }
Lightvalve 173:68c7914679ec 512 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 513 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 514 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 515 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 516 }
Lightvalve 173:68c7914679ec 517 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 518 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 519 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 520 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 521 }
Lightvalve 177:8e9cf31d63f4 522 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 523 }
Lightvalve 173:68c7914679ec 524 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 525 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 526 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 527 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 528 }
Lightvalve 173:68c7914679ec 529
Lightvalve 173:68c7914679ec 530 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 531 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 532 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 533 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 534 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 535 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 536 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 537 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 538 }
Lightvalve 177:8e9cf31d63f4 539 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 540 }
Lightvalve 173:68c7914679ec 541 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 542 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 543 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 544 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 545 }
Lightvalve 173:68c7914679ec 546 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 547 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 548 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 549 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 550 }
Lightvalve 173:68c7914679ec 551 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 552 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 553 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 554 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 555 }
Lightvalve 173:68c7914679ec 556
Lightvalve 173:68c7914679ec 557 // Simultaneous Update
Lightvalve 173:68c7914679ec 558 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 559 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 560 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 561 }
Lightvalve 179:d5377766d7ea 562 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 563 }
Lightvalve 173:68c7914679ec 564 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 565 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 566 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 567 }
Lightvalve 179:d5377766d7ea 568 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 569 }
Lightvalve 170:42c938a40313 570 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 571 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 572 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 573 }
Lightvalve 179:d5377766d7ea 574 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 575 }
Lightvalve 170:42c938a40313 576 }
Lightvalve 170:42c938a40313 577
Lightvalve 173:68c7914679ec 578 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 579 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 580 {
Lightvalve 218:066030f7951f 581
Lightvalve 173:68c7914679ec 582
Lightvalve 173:68c7914679ec 583 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 584 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 585
Lightvalve 173:68c7914679ec 586 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 587 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 588 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 589 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 590 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 591 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 592 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 593 } else {
Lightvalve 173:68c7914679ec 594 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 595 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 596 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 597 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 598 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 599 }
Lightvalve 171:bfc1fd2629d8 600 }
Lightvalve 170:42c938a40313 601 }
Lightvalve 170:42c938a40313 602 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 603 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 604 d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1;
Lightvalve 177:8e9cf31d63f4 605 d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1;
Lightvalve 173:68c7914679ec 606
Lightvalve 173:68c7914679ec 607 G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 608 }
Lightvalve 170:42c938a40313 609 }
Lightvalve 176:589ea3edcf3c 610 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 611 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 612 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 613 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 614 }
Lightvalve 173:68c7914679ec 615
Lightvalve 173:68c7914679ec 616 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 617 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 618 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 619 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 620 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 621 } else {
Lightvalve 173:68c7914679ec 622 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 623 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 624 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 625 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 626 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 627 }
Lightvalve 171:bfc1fd2629d8 628 }
Lightvalve 170:42c938a40313 629 }
Lightvalve 170:42c938a40313 630 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 631 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 632 d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1;
Lightvalve 177:8e9cf31d63f4 633 d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1;
Lightvalve 173:68c7914679ec 634
Lightvalve 173:68c7914679ec 635 G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 636 }
Lightvalve 170:42c938a40313 637 }
Lightvalve 176:589ea3edcf3c 638 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 639 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 640 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 641 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 642 }
Lightvalve 170:42c938a40313 643
Lightvalve 173:68c7914679ec 644 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 645 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 646
Lightvalve 173:68c7914679ec 647 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 648 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 649 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 650 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 651 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 652 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 653 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 654 } else {
Lightvalve 173:68c7914679ec 655 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 656 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 657 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 658 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 659 }
Lightvalve 170:42c938a40313 660 }
Lightvalve 173:68c7914679ec 661
Lightvalve 170:42c938a40313 662 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 663 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 664 d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2;
Lightvalve 177:8e9cf31d63f4 665 d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2;
Lightvalve 173:68c7914679ec 666
Lightvalve 173:68c7914679ec 667 G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 668 }
Lightvalve 170:42c938a40313 669 }
Lightvalve 176:589ea3edcf3c 670 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 671 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 672 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 673 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 674 }
Lightvalve 173:68c7914679ec 675
Lightvalve 173:68c7914679ec 676 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 677 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 678 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 679 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 680 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 681 } else {
Lightvalve 170:42c938a40313 682
Lightvalve 173:68c7914679ec 683 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 684 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 685 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 686 }
Lightvalve 173:68c7914679ec 687 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 688 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 689 d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2;
Lightvalve 177:8e9cf31d63f4 690 d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2;
Lightvalve 173:68c7914679ec 691
Lightvalve 173:68c7914679ec 692 G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 170:42c938a40313 693 }
Lightvalve 170:42c938a40313 694 }
Lightvalve 176:589ea3edcf3c 695 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 696 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 697 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 698 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 699 }
Lightvalve 173:68c7914679ec 700
Lightvalve 173:68c7914679ec 701 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 702 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 703
Lightvalve 173:68c7914679ec 704 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 705 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 706 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 707 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 708 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 709 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 710 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 711 } else {
Lightvalve 173:68c7914679ec 712 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 713 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 714 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 715 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 716 }
Lightvalve 173:68c7914679ec 717 }
Lightvalve 173:68c7914679ec 718 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 719 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 720 d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3;
Lightvalve 177:8e9cf31d63f4 721 d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3;
Lightvalve 173:68c7914679ec 722
Lightvalve 173:68c7914679ec 723 G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 173:68c7914679ec 724 }
Lightvalve 173:68c7914679ec 725 }
Lightvalve 176:589ea3edcf3c 726 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 727 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 728 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 729 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 730 }
Lightvalve 173:68c7914679ec 731
Lightvalve 173:68c7914679ec 732 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 733 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 734 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 735 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 736 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 737 } else {
Lightvalve 173:68c7914679ec 738
Lightvalve 177:8e9cf31d63f4 739 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 740 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 741
Lightvalve 173:68c7914679ec 742 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 743 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 744 d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3;
Lightvalve 177:8e9cf31d63f4 745 d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3;
Lightvalve 173:68c7914679ec 746
Lightvalve 173:68c7914679ec 747 G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve 173:68c7914679ec 748 }
Lightvalve 173:68c7914679ec 749 }
Lightvalve 176:589ea3edcf3c 750 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 751 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 752 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 753 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 754 }
Lightvalve 177:8e9cf31d63f4 755
Lightvalve 175:2f7289dbd488 756 // Simultaneous Update
Lightvalve 175:2f7289dbd488 757 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 758 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 759 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 760 }
Lightvalve 179:d5377766d7ea 761 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 762 }
Lightvalve 175:2f7289dbd488 763 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 764 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 765 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 766 }
Lightvalve 179:d5377766d7ea 767 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 768 }
Lightvalve 175:2f7289dbd488 769 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 770 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 771 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 772 }
Lightvalve 179:d5377766d7ea 773 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 774 }
Lightvalve 170:42c938a40313 775 }
Lightvalve 170:42c938a40313 776
Lightvalve 170:42c938a40313 777 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 778 {
Lightvalve 170:42c938a40313 779 //Box muller method
Lightvalve 170:42c938a40313 780 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 781 static int n2_cached = 0;
Lightvalve 170:42c938a40313 782 if (!n2_cached) {
Lightvalve 170:42c938a40313 783 double x, y, r;
Lightvalve 170:42c938a40313 784 do {
Lightvalve 170:42c938a40313 785 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 786 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 787
Lightvalve 170:42c938a40313 788 r = x*x + y*y;
Lightvalve 170:42c938a40313 789 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 790 {
Lightvalve 170:42c938a40313 791 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 792 double n1 = x*d;
Lightvalve 170:42c938a40313 793 n2 = y*d;
Lightvalve 170:42c938a40313 794 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 795 n2_cached = 1;
Lightvalve 170:42c938a40313 796 return result;
Lightvalve 170:42c938a40313 797 }
Lightvalve 170:42c938a40313 798 } else {
Lightvalve 170:42c938a40313 799 n2_cached = 0;
Lightvalve 170:42c938a40313 800 return n2*stddev + mean;
Lightvalve 170:42c938a40313 801 }
Lightvalve 170:42c938a40313 802 }
Lightvalve 170:42c938a40313 803
Lightvalve 179:d5377766d7ea 804 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 805 {
Lightvalve 179:d5377766d7ea 806 float add = 0.0f;
Lightvalve 179:d5377766d7ea 807 float result;
Lightvalve 218:066030f7951f 808
Lightvalve 218:066030f7951f 809 for (int i=0; i<size; i++) {
Lightvalve 179:d5377766d7ea 810 add += x[i];
Lightvalve 179:d5377766d7ea 811 }
Lightvalve 179:d5377766d7ea 812 result = (float) add/size;
Lightvalve 179:d5377766d7ea 813 return result;
Lightvalve 179:d5377766d7ea 814 }
Lightvalve 179:d5377766d7ea 815 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 816 {
Lightvalve 179:d5377766d7ea 817 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 818 float resultDeb = 0.0f;
Lightvalve 218:066030f7951f 819
Lightvalve 218:066030f7951f 820 for (int k=0; k<size; k++) {
Lightvalve 179:d5377766d7ea 821 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 822 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 823 }
Lightvalve 179:d5377766d7ea 824 return resultDeb;
Lightvalve 218:066030f7951f 825 }
Lightvalve 218:066030f7951f 826
Lightvalve 173:68c7914679ec 827
Lightvalve 170:42c938a40313 828 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 829 {
Lightvalve 173:68c7914679ec 830 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 831 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 832 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 833 }
Lightvalve 170:42c938a40313 834 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 835 }
Lightvalve 173:68c7914679ec 836 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 837 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 838 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 839 }
Lightvalve 173:68c7914679ec 840 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 841 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 842 }
Lightvalve 173:68c7914679ec 843 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 844 }
Lightvalve 170:42c938a40313 845 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 846 {
Lightvalve 173:68c7914679ec 847 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 848 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 849 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 850 }
Lightvalve 170:42c938a40313 851 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 852 }
Lightvalve 173:68c7914679ec 853 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 854 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 855 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 856 }
Lightvalve 170:42c938a40313 857 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 858 }
Lightvalve 173:68c7914679ec 859 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 860 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 861 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 862 }
Lightvalve 173:68c7914679ec 863 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 864 }
Lightvalve 170:42c938a40313 865 }
Lightvalve 170:42c938a40313 866
Lightvalve 170:42c938a40313 867
GiJeongKim 0:51c43836c1d7 868 int main()
GiJeongKim 0:51c43836c1d7 869 {
Lightvalve 66:a8e6799dbce3 870
Lightvalve 65:a2d7c63419c2 871 HAL_Init();
Lightvalve 65:a2d7c63419c2 872 SystemClock_Config();
Lightvalve 169:645207e160ca 873
jobuuu 6:df07d3491e3a 874 /*********************************
jobuuu 1:e04e563be5ce 875 *** Initialization
jobuuu 6:df07d3491e3a 876 *********************************/
Lightvalve 69:3995ffeaa786 877 LED = 0;
Lightvalve 61:bc8c8270f0ab 878 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 879
GiJeongKim 0:51c43836c1d7 880 // i2c init
Lightvalve 8:5d2eebdad025 881 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 882 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 883 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 884 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 885 make_delay();
jobuuu 2:a1c0a37df760 886
GiJeongKim 0:51c43836c1d7 887 // // spi init
Lightvalve 170:42c938a40313 888 eeprom.format(8,3);
Lightvalve 170:42c938a40313 889 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 890 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 891 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 892 make_delay();
Lightvalve 21:e5f1a43ea6f9 893
Lightvalve 16:903b5a4433b4 894 //rom
Lightvalve 19:23b7c1ad8683 895 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 896 make_delay();
Lightvalve 13:747daba9cf59 897
GiJeongKim 0:51c43836c1d7 898 // ADC init
jobuuu 5:a4319f79457b 899 Init_ADC();
Lightvalve 11:82d8768d7351 900 make_delay();
jobuuu 2:a1c0a37df760 901
GiJeongKim 0:51c43836c1d7 902 // Pwm init
GiJeongKim 0:51c43836c1d7 903 Init_PWM();
GiJeongKim 0:51c43836c1d7 904 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 905 make_delay();
Lightvalve 13:747daba9cf59 906
Lightvalve 11:82d8768d7351 907 // TMR3 init
Lightvalve 11:82d8768d7351 908 Init_TMR3();
Lightvalve 11:82d8768d7351 909 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 910 make_delay();
Lightvalve 21:e5f1a43ea6f9 911
Lightvalve 50:3c630b5eba9f 912 // TMR2 init
Lightvalve 56:6f50d9d3bfee 913 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 914 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 915 // make_delay();
Lightvalve 21:e5f1a43ea6f9 916
GiJeongKim 0:51c43836c1d7 917 // CAN
jobuuu 2:a1c0a37df760 918 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 919 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 920 make_delay();
Lightvalve 34:bb2ca2fc2a8e 921
Lightvalve 23:59218d4a256d 922 //Timer priority
Lightvalve 23:59218d4a256d 923 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 924 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 925 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 926
Lightvalve 23:59218d4a256d 927 //can.reset();
Lightvalve 19:23b7c1ad8683 928 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 929
GiJeongKim 0:51c43836c1d7 930 // spi _ enc
GiJeongKim 0:51c43836c1d7 931 spi_enc_set_init();
Lightvalve 11:82d8768d7351 932 make_delay();
Lightvalve 13:747daba9cf59 933
Lightvalve 11:82d8768d7351 934 //DAC init
Lightvalve 58:2eade98630e2 935 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 936 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 937 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 938 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 939 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 940 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 941 }
Lightvalve 11:82d8768d7351 942 make_delay();
Lightvalve 13:747daba9cf59 943
Lightvalve 19:23b7c1ad8683 944 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 945 if(i%2==0)
Lightvalve 38:118df027d851 946 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 947 else
Lightvalve 38:118df027d851 948 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 949 }
Lightvalve 169:645207e160ca 950
Lightvalve 173:68c7914679ec 951 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 952 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 953 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 954 }
Lightvalve 179:d5377766d7ea 955 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 956 }
Lightvalve 173:68c7914679ec 957 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 958 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 959 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 960 }
Lightvalve 179:d5377766d7ea 961 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 962 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 963 }
Lightvalve 179:d5377766d7ea 964 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 965
Lightvalve 173:68c7914679ec 966 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 967 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 968 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 969 }
Lightvalve 179:d5377766d7ea 970 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 971 }
Lightvalve 173:68c7914679ec 972 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 973 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 974 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 975 }
Lightvalve 179:d5377766d7ea 976 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 977 }
Lightvalve 170:42c938a40313 978 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 979 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 980 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 981 }
Lightvalve 179:d5377766d7ea 982 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 983 }
Lightvalve 171:bfc1fd2629d8 984
Lightvalve 170:42c938a40313 985 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 986 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 987
jobuuu 6:df07d3491e3a 988 /************************************
jobuuu 1:e04e563be5ce 989 *** Program is operating!
jobuuu 6:df07d3491e3a 990 *************************************/
GiJeongKim 0:51c43836c1d7 991 while(1) {
Lightvalve 169:645207e160ca 992
Lightvalve 171:bfc1fd2629d8 993 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 994 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 995 // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5);
Lightvalve 171:bfc1fd2629d8 996 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 997 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 998 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 999 // }
Lightvalve 169:645207e160ca 1000
Lightvalve 171:bfc1fd2629d8 1001
Lightvalve 171:bfc1fd2629d8 1002 //i2c
Lightvalve 180:02be1711ee0b 1003 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 1004 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 1005
Lightvalve 177:8e9cf31d63f4 1006 //timer_while ++;
Lightvalve 169:645207e160ca 1007
Lightvalve 170:42c938a40313 1008 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1009
Lightvalve 73:f80dc3970c99 1010 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1011 LED = 0;
Lightvalve 73:f80dc3970c99 1012 }
Lightvalve 169:645207e160ca 1013
Lightvalve 73:f80dc3970c99 1014 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1015
Lightvalve 162:9dd4f35e9de8 1016 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1017 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1018 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1019 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1020 }
Lightvalve 162:9dd4f35e9de8 1021
Lightvalve 162:9dd4f35e9de8 1022 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1023 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1024 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1025 }
Lightvalve 162:9dd4f35e9de8 1026 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1027 ind = ind + 1;
Lightvalve 169:645207e160ca 1028
Lightvalve 162:9dd4f35e9de8 1029 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1030 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1031 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1032 // }
Lightvalve 162:9dd4f35e9de8 1033
Lightvalve 162:9dd4f35e9de8 1034 for(int i=0; i<numpast_f; i++) {
Lightvalve 208:408f9f15c486 1035 // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 208:408f9f15c486 1036 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1037 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1038 }
Lightvalve 208:408f9f15c486 1039 // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1040 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 220:153c6f5e1c44 1041 ind = ind + 1;
Lightvalve 238:e4bda4d06a7d 1042 for(int i=0; i<numfuture_f; i++) {
Lightvalve 208:408f9f15c486 1043 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 228:83e3a91aa1c6 1044 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve 206:2e4d0c287578 1045 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 228:83e3a91aa1c6 1046 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1047 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1048 }
Lightvalve 169:645207e160ca 1049
Lightvalve 112:8dcb1600cb90 1050 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1051 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1052 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1053 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1054
Lightvalve 112:8dcb1600cb90 1055 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1056 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1057 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1058 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1059 }
Lightvalve 66:a8e6799dbce3 1060 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1061 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1062 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1063 }
Lightvalve 66:a8e6799dbce3 1064 }
Lightvalve 65:a2d7c63419c2 1065
Lightvalve 112:8dcb1600cb90 1066 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1067 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1068 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1069 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1070 }
Lightvalve 66:a8e6799dbce3 1071 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1072 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1073 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1074 }
Lightvalve 66:a8e6799dbce3 1075 }
Lightvalve 65:a2d7c63419c2 1076
Lightvalve 112:8dcb1600cb90 1077 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1078 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1079 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1080 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1081 }
Lightvalve 66:a8e6799dbce3 1082 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1083 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1084 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1085 }
Lightvalve 65:a2d7c63419c2 1086 }
Lightvalve 66:a8e6799dbce3 1087
Lightvalve 66:a8e6799dbce3 1088 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1089 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1090 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1091 }
Lightvalve 66:a8e6799dbce3 1092 output = output + bout[index2];
Lightvalve 169:645207e160ca 1093
Lightvalve 66:a8e6799dbce3 1094 }
Lightvalve 73:f80dc3970c99 1095 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1096 output_normalized = output;
Lightvalve 68:328e1be06f5d 1097 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1098
Lightvalve 66:a8e6799dbce3 1099 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1100 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1101 } else {
Lightvalve 66:a8e6799dbce3 1102 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1103 }
Lightvalve 87:471334725012 1104
Lightvalve 169:645207e160ca 1105
Lightvalve 69:3995ffeaa786 1106 if(LED==1) {
Lightvalve 69:3995ffeaa786 1107 LED=0;
Lightvalve 69:3995ffeaa786 1108 } else
Lightvalve 69:3995ffeaa786 1109 LED = 1;
Lightvalve 169:645207e160ca 1110
Lightvalve 65:a2d7c63419c2 1111 }
Lightvalve 171:bfc1fd2629d8 1112
Lightvalve 171:bfc1fd2629d8 1113
Lightvalve 170:42c938a40313 1114 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1115 switch (Update_Case) {
Lightvalve 170:42c938a40313 1116 case 0: {
Lightvalve 170:42c938a40313 1117 break;
Lightvalve 170:42c938a40313 1118 }
Lightvalve 170:42c938a40313 1119 case 1: {
Lightvalve 170:42c938a40313 1120 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1121 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1122 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1123 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1124 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1125 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1126 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1127 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1128 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1129 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1130 }
Lightvalve 173:68c7914679ec 1131 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1132 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1133 }
Lightvalve 175:2f7289dbd488 1134 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1135
Lightvalve 175:2f7289dbd488 1136 pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]);
Lightvalve 170:42c938a40313 1137 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1138 pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old);
Lightvalve 179:d5377766d7ea 1139 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1140 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1141 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1142 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1143 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1144 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1145 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1146 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1147 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1148 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1149 }
Lightvalve 179:d5377766d7ea 1150 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1151 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1152 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1153 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1154 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1155 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1156 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1157 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1158 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1159 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1160 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1161 } else {
Lightvalve 175:2f7289dbd488 1162 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1163 }
Lightvalve 175:2f7289dbd488 1164 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1165 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1166 }
Lightvalve 170:42c938a40313 1167 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1168 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1169 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1170 }
Lightvalve 170:42c938a40313 1171 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1172
Lightvalve 171:bfc1fd2629d8 1173
Lightvalve 170:42c938a40313 1174 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1175 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1176 //Update Networks
Lightvalve 170:42c938a40313 1177 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1178 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1179 }
Lightvalve 170:42c938a40313 1180 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1181 Update_Case = 0;
Lightvalve 170:42c938a40313 1182 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1183
Lightvalve 170:42c938a40313 1184 break;
Lightvalve 170:42c938a40313 1185 }
Lightvalve 170:42c938a40313 1186 case 2: {
Lightvalve 170:42c938a40313 1187 //Network apply to next Network
Lightvalve 170:42c938a40313 1188 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1189 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1190 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1191 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1192 Update_Case = 0;
Lightvalve 170:42c938a40313 1193 break;
Lightvalve 170:42c938a40313 1194 }
Lightvalve 169:645207e160ca 1195
Lightvalve 170:42c938a40313 1196 }
GiJeongKim 0:51c43836c1d7 1197 }
jobuuu 1:e04e563be5ce 1198 }
jobuuu 1:e04e563be5ce 1199
Lightvalve 33:91b17819ec30 1200 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1201 {
Lightvalve 14:8e7590227d22 1202
Lightvalve 13:747daba9cf59 1203 int i = 0;
Lightvalve 48:889798ff9329 1204 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1205 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1206 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 1207 if(i==0) {
Lightvalve 50:3c630b5eba9f 1208 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1209 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1210 } else {
Lightvalve 57:f4819de54e7a 1211 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 1212 }
Lightvalve 14:8e7590227d22 1213 } else {
Lightvalve 50:3c630b5eba9f 1214 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1215 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1216 } else {
Lightvalve 57:f4819de54e7a 1217 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 1218 }
Lightvalve 13:747daba9cf59 1219 }
Lightvalve 13:747daba9cf59 1220 break;
Lightvalve 13:747daba9cf59 1221 }
Lightvalve 13:747daba9cf59 1222 }
Lightvalve 14:8e7590227d22 1223 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1224 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1225 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1226 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1227 }
Lightvalve 36:a46e63505ed8 1228
Lightvalve 57:f4819de54e7a 1229 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1230 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1231
Lightvalve 13:747daba9cf59 1232 }
jobuuu 6:df07d3491e3a 1233
jobuuu 6:df07d3491e3a 1234
Lightvalve 30:8d561f16383b 1235 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1236 {
Lightvalve 13:747daba9cf59 1237 int i = 0;
Lightvalve 13:747daba9cf59 1238
Lightvalve 38:118df027d851 1239 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1240 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1241 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1242 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1243 }
Lightvalve 38:118df027d851 1244
Lightvalve 89:a7b45368ea0f 1245 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1246 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1247 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1248 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1249 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1250 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1251
Lightvalve 13:747daba9cf59 1252 VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve 14:8e7590227d22 1253
Lightvalve 18:b8adf1582ea3 1254 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1255 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 1256 if(i==0) {
Lightvalve 48:889798ff9329 1257 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 1258 } else {
Lightvalve 48:889798ff9329 1259 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 1260 }
Lightvalve 13:747daba9cf59 1261 break;
Lightvalve 13:747daba9cf59 1262 }
Lightvalve 13:747daba9cf59 1263 }
Lightvalve 59:f308b1656d9c 1264 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1265 }
Lightvalve 13:747daba9cf59 1266
Lightvalve 14:8e7590227d22 1267 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1268 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve 34:bb2ca2fc2a8e 1269 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1270 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1271 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1272 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1273 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1274 }; // duty
Lightvalve 67:c2812cf26c38 1275 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 1276 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1277 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1278 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1279 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1280 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1281 }; // mV
Lightvalve 13:747daba9cf59 1282
Lightvalve 30:8d561f16383b 1283 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1284 {
Lightvalve 30:8d561f16383b 1285 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1286 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1287 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1288 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1289 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1290 } else {
Lightvalve 13:747daba9cf59 1291 int idx = 0;
Lightvalve 13:747daba9cf59 1292 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1293 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1294 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1295 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1296 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1297 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1298 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1299 break;
Lightvalve 13:747daba9cf59 1300 }
Lightvalve 13:747daba9cf59 1301 }
Lightvalve 13:747daba9cf59 1302 }
Lightvalve 14:8e7590227d22 1303
Lightvalve 13:747daba9cf59 1304 return PWM_duty;
Lightvalve 13:747daba9cf59 1305 }
jobuuu 6:df07d3491e3a 1306
Lightvalve 57:f4819de54e7a 1307
Lightvalve 57:f4819de54e7a 1308
Lightvalve 57:f4819de54e7a 1309
Lightvalve 57:f4819de54e7a 1310
jobuuu 2:a1c0a37df760 1311 /*******************************************************************************
jobuuu 2:a1c0a37df760 1312 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1313 *******************************************************************************/
jobuuu 2:a1c0a37df760 1314
Lightvalve 51:b46bed7fec80 1315 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1316 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1317 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1318 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1319 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1320 {
Lightvalve 19:23b7c1ad8683 1321 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1322
Lightvalve 21:e5f1a43ea6f9 1323 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1324 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1325 ********************************************************/
Lightvalve 13:747daba9cf59 1326
Lightvalve 57:f4819de54e7a 1327 //Encoder
Lightvalve 57:f4819de54e7a 1328 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1329 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1330 }
Lightvalve 61:bc8c8270f0ab 1331
Lightvalve 61:bc8c8270f0ab 1332 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1333 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1334 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1335 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1336 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1337 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1338 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1339
Lightvalve 67:c2812cf26c38 1340
Lightvalve 67:c2812cf26c38 1341 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1342 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1343 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1344 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1345 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1346
Lightvalve 17:1865016ca2e7 1347
Lightvalve 58:2eade98630e2 1348 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1349 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1350 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1351 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1352 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1353 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1354 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1355 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1356 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1357
Lightvalve 58:2eade98630e2 1358 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1359 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 1360 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1361 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 1362 }
Lightvalve 58:2eade98630e2 1363 }
Lightvalve 61:bc8c8270f0ab 1364
Lightvalve 58:2eade98630e2 1365 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1366 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1367 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1368 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1369 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1370 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1371 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 1372 //
Lightvalve 58:2eade98630e2 1373 //
Lightvalve 58:2eade98630e2 1374 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1375 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1376 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1377 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1378 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1379
Lightvalve 17:1865016ca2e7 1380
Lightvalve 21:e5f1a43ea6f9 1381 //Current
Lightvalve 21:e5f1a43ea6f9 1382 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1383 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1384 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1385 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1386 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1387 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1388 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1389
Lightvalve 57:f4819de54e7a 1390 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1391 }
Lightvalve 11:82d8768d7351 1392 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1393 }
Lightvalve 19:23b7c1ad8683 1394
Lightvalve 19:23b7c1ad8683 1395
Lightvalve 18:b8adf1582ea3 1396 int j =0;
Lightvalve 54:647072f5307a 1397 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1398 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1399 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1400 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 1401
Lightvalve 11:82d8768d7351 1402 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1403 {
Lightvalve 19:23b7c1ad8683 1404 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1405
Lightvalve 57:f4819de54e7a 1406 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1407 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1408 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1409 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1410 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1411 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1412 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1413 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1414 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1415 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1416 }
Lightvalve 50:3c630b5eba9f 1417
Lightvalve 50:3c630b5eba9f 1418 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1419 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1420 cnt_trans++;
Lightvalve 46:2694daea349b 1421 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1422 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1423 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1424 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1425 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1426 cnt_trans++;
Lightvalve 46:2694daea349b 1427 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1428 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1429 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1430 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1431 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1432 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1433 } else {
Lightvalve 58:2eade98630e2 1434 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1435 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1436 }
Lightvalve 45:35fa6884d0c6 1437
Lightvalve 50:3c630b5eba9f 1438
Lightvalve 57:f4819de54e7a 1439 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1440 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1441
Lightvalve 57:f4819de54e7a 1442 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1443 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1444 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1445 } else {
Lightvalve 57:f4819de54e7a 1446 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1447 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1448 }
Lightvalve 56:6f50d9d3bfee 1449
Lightvalve 56:6f50d9d3bfee 1450
Lightvalve 56:6f50d9d3bfee 1451
Lightvalve 57:f4819de54e7a 1452 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1453
Lightvalve 57:f4819de54e7a 1454 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1455 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1456 break;
Lightvalve 13:747daba9cf59 1457 }
Lightvalve 14:8e7590227d22 1458
Lightvalve 14:8e7590227d22 1459 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1460 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1461 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1462 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1463
Lightvalve 14:8e7590227d22 1464 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1465 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1466 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1467
Lightvalve 84:c355d3e52bf1 1468 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1469
Lightvalve 30:8d561f16383b 1470 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1471 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1472
Lightvalve 16:903b5a4433b4 1473 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1474 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1475 }
Lightvalve 13:747daba9cf59 1476 } else {
Lightvalve 58:2eade98630e2 1477 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1478 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1479 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1480 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1481
Lightvalve 170:42c938a40313 1482 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1483 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1484
Lightvalve 30:8d561f16383b 1485 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1486
Lightvalve 13:747daba9cf59 1487 }
Lightvalve 14:8e7590227d22 1488 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1489 break;
Lightvalve 19:23b7c1ad8683 1490 }
Lightvalve 14:8e7590227d22 1491
Lightvalve 50:3c630b5eba9f 1492 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1493 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1494 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1495 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1496 // }
Lightvalve 50:3c630b5eba9f 1497 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1498 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1499 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1500 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1501 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1502 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1503 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1504 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1505 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1506 // }
Lightvalve 50:3c630b5eba9f 1507 //
Lightvalve 50:3c630b5eba9f 1508 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1509 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 1510 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1511 //
Lightvalve 50:3c630b5eba9f 1512 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1513 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1514 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1515 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1516 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1517 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1518 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1519 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1520 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1521 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1522 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1523 //
Lightvalve 50:3c630b5eba9f 1524 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1525 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1526 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1527 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1528 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1529 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1530 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1531 //
Lightvalve 50:3c630b5eba9f 1532 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1533 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1534 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1535 // } else {
Lightvalve 50:3c630b5eba9f 1536 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1537 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1538 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1539 // }
Lightvalve 50:3c630b5eba9f 1540 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1541 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1542 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1543 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1544 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1545 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1546 // }
Lightvalve 50:3c630b5eba9f 1547 // } else {
Lightvalve 50:3c630b5eba9f 1548 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1549 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1550 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1551 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1552 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1553 // }
Lightvalve 50:3c630b5eba9f 1554 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1555 //
Lightvalve 50:3c630b5eba9f 1556 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1557 //
Lightvalve 50:3c630b5eba9f 1558 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1559 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1560 //
Lightvalve 50:3c630b5eba9f 1561 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1562 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1563 // }
Lightvalve 50:3c630b5eba9f 1564 // }
Lightvalve 50:3c630b5eba9f 1565 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1566 // break;
Lightvalve 50:3c630b5eba9f 1567 // }
Lightvalve 14:8e7590227d22 1568
Lightvalve 14:8e7590227d22 1569 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1570 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1571 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1572 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1573 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1574 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1575 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1576 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1577 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1578 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1579 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1580 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1581 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1582 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1583 }
Lightvalve 29:69f3f5445d6d 1584 cnt_findhome++;
Lightvalve 14:8e7590227d22 1585
Lightvalve 29:69f3f5445d6d 1586 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1587 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1588 } else {
Lightvalve 29:69f3f5445d6d 1589 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1590 }
Lightvalve 19:23b7c1ad8683 1591
Lightvalve 57:f4819de54e7a 1592 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1593 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1594 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1595 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1596
Lightvalve 59:f308b1656d9c 1597 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1598 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1599 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1600 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1601 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1602
Lightvalve 59:f308b1656d9c 1603 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1604 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1605
Lightvalve 34:bb2ca2fc2a8e 1606
Lightvalve 29:69f3f5445d6d 1607 } else {
Lightvalve 29:69f3f5445d6d 1608 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1609 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1610 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1611 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1612 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1613 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1614 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1615 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1616 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1617 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1618 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1619
Lightvalve 67:c2812cf26c38 1620
Lightvalve 67:c2812cf26c38 1621 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1622 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1623 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1624 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1625 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1626 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1627 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1628
Lightvalve 169:645207e160ca 1629
Lightvalve 29:69f3f5445d6d 1630 }
Lightvalve 29:69f3f5445d6d 1631 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1632 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1633 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 67:c2812cf26c38 1634 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1635 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1636
Lightvalve 29:69f3f5445d6d 1637 // input for position control
Lightvalve 169:645207e160ca 1638
Lightvalve 67:c2812cf26c38 1639 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1640 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1641
Lightvalve 67:c2812cf26c38 1642 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1643 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1644 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1645 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1646
Lightvalve 67:c2812cf26c38 1647 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1648
Lightvalve 67:c2812cf26c38 1649 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1650 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1651 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1652
Lightvalve 67:c2812cf26c38 1653 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1654 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1655 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1656
Lightvalve 69:3995ffeaa786 1657 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1658 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 1659 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1660 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1661 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 1662 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1663 }
Lightvalve 67:c2812cf26c38 1664 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1665 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1666
Lightvalve 67:c2812cf26c38 1667 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1668
Lightvalve 67:c2812cf26c38 1669
Lightvalve 67:c2812cf26c38 1670
Lightvalve 67:c2812cf26c38 1671 } else {
Lightvalve 67:c2812cf26c38 1672 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1673 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 67:c2812cf26c38 1674
Lightvalve 67:c2812cf26c38 1675 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1676 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1677 } else {
Lightvalve 67:c2812cf26c38 1678 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1679 }
Lightvalve 67:c2812cf26c38 1680
Lightvalve 67:c2812cf26c38 1681 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1682
Lightvalve 67:c2812cf26c38 1683 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1684
Lightvalve 67:c2812cf26c38 1685 }
Lightvalve 67:c2812cf26c38 1686
Lightvalve 67:c2812cf26c38 1687
Lightvalve 169:645207e160ca 1688
Lightvalve 169:645207e160ca 1689
Lightvalve 59:f308b1656d9c 1690 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1691 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1692 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1693 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1694 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1695
Lightvalve 29:69f3f5445d6d 1696 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1697 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1698 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1699 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1700 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1701 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1702 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1703 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1704 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1705 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1706 }
Lightvalve 13:747daba9cf59 1707 }
Lightvalve 19:23b7c1ad8683 1708
Lightvalve 13:747daba9cf59 1709 break;
Lightvalve 13:747daba9cf59 1710 }
Lightvalve 14:8e7590227d22 1711
Lightvalve 50:3c630b5eba9f 1712 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1713 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1714 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1715 // else {
Lightvalve 50:3c630b5eba9f 1716 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1717 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1718 // }
Lightvalve 50:3c630b5eba9f 1719 // }
Lightvalve 50:3c630b5eba9f 1720 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1721 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1722 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1723 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1724 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1725 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1726 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1727 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1728 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1729 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1730 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1731 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1732 // }
Lightvalve 50:3c630b5eba9f 1733 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1734 // }
Lightvalve 50:3c630b5eba9f 1735 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1736 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1737 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1738 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1739 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1740 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1741 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1742 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1743 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1744 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1745 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1746 // }
Lightvalve 50:3c630b5eba9f 1747 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1748 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1749 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1750 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1751 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1752 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1753 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 1754 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1755 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1756 // }
Lightvalve 50:3c630b5eba9f 1757 // }
Lightvalve 50:3c630b5eba9f 1758 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1759 //
Lightvalve 50:3c630b5eba9f 1760 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1761 //
Lightvalve 50:3c630b5eba9f 1762 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1763 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1764 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1765 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1766 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1767 // }
Lightvalve 50:3c630b5eba9f 1768 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1769 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1770 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1771 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1772 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1773 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1774 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1775 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1776 // }
Lightvalve 50:3c630b5eba9f 1777 //
Lightvalve 50:3c630b5eba9f 1778 // }
Lightvalve 50:3c630b5eba9f 1779 // break;
Lightvalve 50:3c630b5eba9f 1780 // }
Lightvalve 50:3c630b5eba9f 1781 //
Lightvalve 50:3c630b5eba9f 1782 // }
Lightvalve 14:8e7590227d22 1783 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1784 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1785 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1786 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1787 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1788
Lightvalve 14:8e7590227d22 1789 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1790 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1791 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1792 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1793 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1794
Lightvalve 38:118df027d851 1795 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1796 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1797 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1798
Lightvalve 30:8d561f16383b 1799 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1800 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1801 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1802 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1803
Lightvalve 30:8d561f16383b 1804 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1805 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1806 }
Lightvalve 13:747daba9cf59 1807 } else {
Lightvalve 57:f4819de54e7a 1808 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1809 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1810 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1811 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1812 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1813 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1814
Lightvalve 170:42c938a40313 1815 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1816 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1817 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1818
Lightvalve 30:8d561f16383b 1819 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1820 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1821 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1822 }
Lightvalve 14:8e7590227d22 1823 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1824 break;
Lightvalve 13:747daba9cf59 1825 }
Lightvalve 14:8e7590227d22 1826
Lightvalve 50:3c630b5eba9f 1827 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1828 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1829 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1830 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1831 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1832 // }
Lightvalve 50:3c630b5eba9f 1833 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1834 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1835 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1836 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1837 // }
Lightvalve 50:3c630b5eba9f 1838 // } else {
Lightvalve 50:3c630b5eba9f 1839 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1840 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1841 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1842 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1843 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1844 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1845 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1846 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1847 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1848 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1849 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1850 //
Lightvalve 50:3c630b5eba9f 1851 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1852 //
Lightvalve 50:3c630b5eba9f 1853 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1854 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1855 // }
Lightvalve 50:3c630b5eba9f 1856 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1857 // break;
Lightvalve 50:3c630b5eba9f 1858 // }
Lightvalve 19:23b7c1ad8683 1859
Lightvalve 50:3c630b5eba9f 1860 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1861 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 1862 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1863 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1864 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1865 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1866 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1867 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1868 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1869 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1870 // }
Lightvalve 50:3c630b5eba9f 1871 // break;
Lightvalve 50:3c630b5eba9f 1872 // }
Lightvalve 14:8e7590227d22 1873
Lightvalve 14:8e7590227d22 1874 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1875 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1876 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1877
Lightvalve 14:8e7590227d22 1878 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1879 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1880 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1881 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1882 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1883 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1884 data_num = 0;
Lightvalve 14:8e7590227d22 1885 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1886 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1887 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1888 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1889 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1890 } else {
Lightvalve 13:747daba9cf59 1891 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1892 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1893 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1894 }
Lightvalve 14:8e7590227d22 1895
Lightvalve 17:1865016ca2e7 1896 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1897 int i;
Lightvalve 13:747daba9cf59 1898 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1899 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1900 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1901 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1902 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1903 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1904 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1905 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1906 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1907 }
Lightvalve 13:747daba9cf59 1908 }
Lightvalve 170:42c938a40313 1909 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1910 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1911 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1912 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1913 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1914 }
Lightvalve 13:747daba9cf59 1915 ID_index = 0;
Lightvalve 57:f4819de54e7a 1916 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1917 }
Lightvalve 14:8e7590227d22 1918
Lightvalve 14:8e7590227d22 1919
Lightvalve 13:747daba9cf59 1920 break;
Lightvalve 13:747daba9cf59 1921 }
Lightvalve 14:8e7590227d22 1922
Lightvalve 14:8e7590227d22 1923 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1924 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1925 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1926 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1927 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1928 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1929 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1930 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1931 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1932 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1933 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1934 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1935 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1936 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1937 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1938 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1939 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1940 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1941 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1942 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1943 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1944 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1945 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1946 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1947 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1948 data_num = 0;
Lightvalve 14:8e7590227d22 1949
Lightvalve 30:8d561f16383b 1950 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1951 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1952 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1953
Lightvalve 30:8d561f16383b 1954 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1955 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1956 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1957
Lightvalve 30:8d561f16383b 1958 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1959 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1960 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1961 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1962
Lightvalve 60:64181f1d3e60 1963 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1964 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1965 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1966 DZ_case = -1;
Lightvalve 14:8e7590227d22 1967 } else {
Lightvalve 13:747daba9cf59 1968 DZ_case = 0;
Lightvalve 13:747daba9cf59 1969 }
Lightvalve 61:bc8c8270f0ab 1970
Lightvalve 60:64181f1d3e60 1971 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1972
Lightvalve 13:747daba9cf59 1973 first_check = 1;
Lightvalve 13:747daba9cf59 1974 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1975 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1976 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1977 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1978 DZ_index = 1;
Lightvalve 14:8e7590227d22 1979
Lightvalve 13:747daba9cf59 1980 }
Lightvalve 19:23b7c1ad8683 1981 } else {
Lightvalve 14:8e7590227d22 1982 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1983 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1984 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1985 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1986 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1987 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1988 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1989 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1990 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1991 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1992 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1993 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1994 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1995 }
Lightvalve 14:8e7590227d22 1996 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1997
Lightvalve 30:8d561f16383b 1998 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1999 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2000 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2001
Lightvalve 14:8e7590227d22 2002 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2003 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2004 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2005 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2006 } else {
Lightvalve 13:747daba9cf59 2007 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2008 }
Lightvalve 14:8e7590227d22 2009
Lightvalve 13:747daba9cf59 2010 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2011 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2012 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2013 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2014 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2015 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2016 DZ_index = 1;
Lightvalve 13:747daba9cf59 2017 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2018 }
Lightvalve 13:747daba9cf59 2019 }
Lightvalve 14:8e7590227d22 2020 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2021 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2022 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 2023 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2024 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2025 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2026 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2027 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2028 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2029 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2030 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2031 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2032 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2033 }
Lightvalve 14:8e7590227d22 2034 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2035
Lightvalve 30:8d561f16383b 2036 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2037 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2038 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2039 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2040 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2041
Lightvalve 14:8e7590227d22 2042 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2043 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2044 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2045 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2046 } else {
Lightvalve 60:64181f1d3e60 2047 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2048 }
Lightvalve 14:8e7590227d22 2049
Lightvalve 13:747daba9cf59 2050 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2051 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2052 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2053 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2054 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2055 first_check = 0;
Lightvalve 33:91b17819ec30 2056 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2057 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2058
Lightvalve 170:42c938a40313 2059 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2060 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2061 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2062 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2063
Lightvalve 60:64181f1d3e60 2064 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2065 DZ_index = 1;
Lightvalve 13:747daba9cf59 2066 }
Lightvalve 13:747daba9cf59 2067 }
Lightvalve 14:8e7590227d22 2068 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2069 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2070 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 2071 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2072 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2073 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2074 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2075 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2076 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2077 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2078 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2079 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2080 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2081 }
Lightvalve 14:8e7590227d22 2082 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2083
Lightvalve 30:8d561f16383b 2084 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2085 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2086 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2087
Lightvalve 14:8e7590227d22 2088 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2089 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2090 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2091 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2092 } else {
Lightvalve 13:747daba9cf59 2093 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2094 }
Lightvalve 13:747daba9cf59 2095 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2096 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2097 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2098 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2099 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2100 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2101 DZ_index = 1;
Lightvalve 13:747daba9cf59 2102 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2103 }
Lightvalve 13:747daba9cf59 2104 }
Lightvalve 14:8e7590227d22 2105 } else {
Lightvalve 30:8d561f16383b 2106 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2107 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 2108 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2109 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2110 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2111 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2112 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2113 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2114 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2115 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2116 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2117 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2118 }
Lightvalve 14:8e7590227d22 2119 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2120
Lightvalve 30:8d561f16383b 2121 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2122 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2123 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2124 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2125 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2126
Lightvalve 60:64181f1d3e60 2127 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2128 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2129 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2130 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2131 } else {
Lightvalve 13:747daba9cf59 2132 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2133 }
Lightvalve 14:8e7590227d22 2134
Lightvalve 13:747daba9cf59 2135 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2136 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2137 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2138 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2139 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2140 first_check = 0;
Lightvalve 33:91b17819ec30 2141 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2142 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2143
Lightvalve 170:42c938a40313 2144 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2145 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2146 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2147 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2148
Lightvalve 57:f4819de54e7a 2149 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2150 DZ_index = 1;
Lightvalve 13:747daba9cf59 2151 }
Lightvalve 13:747daba9cf59 2152 }
Lightvalve 13:747daba9cf59 2153 }
Lightvalve 14:8e7590227d22 2154 }
Lightvalve 13:747daba9cf59 2155 break;
Lightvalve 13:747daba9cf59 2156 }
Lightvalve 14:8e7590227d22 2157
Lightvalve 14:8e7590227d22 2158 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2159 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2160 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2161 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2162 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2163 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2164 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2165 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2166 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2167 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2168 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2169 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2170 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2171 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2172 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2173 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2174 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2175 first_check = 1;
Lightvalve 13:747daba9cf59 2176 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2177 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2178 ID_index = 0;
Lightvalve 13:747daba9cf59 2179 max_check = 0;
Lightvalve 13:747daba9cf59 2180 min_check = 0;
Lightvalve 13:747daba9cf59 2181 }
Lightvalve 14:8e7590227d22 2182 } else {
Lightvalve 30:8d561f16383b 2183 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2184 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 2185 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2186 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2187 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2188 data_num = 0;
Lightvalve 57:f4819de54e7a 2189 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2190
Lightvalve 14:8e7590227d22 2191 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2192 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2193 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2194 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2195 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2196 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2197 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2198 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2199 one_period_end = 1;
Lightvalve 13:747daba9cf59 2200 }
Lightvalve 30:8d561f16383b 2201 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2202 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2203 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2204 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2205 }
Lightvalve 14:8e7590227d22 2206
Lightvalve 14:8e7590227d22 2207 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2208 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2209 max_check = 1;
Lightvalve 14:8e7590227d22 2210 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2211 min_check = 1;
Lightvalve 13:747daba9cf59 2212 }
Lightvalve 13:747daba9cf59 2213 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2214
Lightvalve 13:747daba9cf59 2215 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2216 one_period_end = 0;
Lightvalve 13:747daba9cf59 2217 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2218 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2219 }
Lightvalve 14:8e7590227d22 2220
Lightvalve 14:8e7590227d22 2221 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2222
Lightvalve 13:747daba9cf59 2223 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2224 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2225 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2226 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2227 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2228 }
Lightvalve 13:747daba9cf59 2229 ID_index = 0;
Lightvalve 13:747daba9cf59 2230 first_check = 0;
Lightvalve 13:747daba9cf59 2231 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2232 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2233 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2234 }
Lightvalve 13:747daba9cf59 2235 }
Lightvalve 13:747daba9cf59 2236 break;
Lightvalve 13:747daba9cf59 2237 }
Lightvalve 58:2eade98630e2 2238
Lightvalve 57:f4819de54e7a 2239 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2240 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2241 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2242 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2243 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2244 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2245 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2246 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2247 }
Lightvalve 57:f4819de54e7a 2248 break;
Lightvalve 57:f4819de54e7a 2249 }
Lightvalve 58:2eade98630e2 2250
Lightvalve 169:645207e160ca 2251 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2252 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2253 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2254 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2255 } else {
Lightvalve 169:645207e160ca 2256 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2257 }
Lightvalve 169:645207e160ca 2258 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2259 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2260 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2261 } else {
Lightvalve 169:645207e160ca 2262 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2263 }
Lightvalve 58:2eade98630e2 2264
Lightvalve 169:645207e160ca 2265 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2266 cnt_freq_test++;
Lightvalve 169:645207e160ca 2267 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2268 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2269 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2270 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2271 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2272 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2273 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2274 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2275 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2276 }
Lightvalve 169:645207e160ca 2277 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2278 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2279
Lightvalve 169:645207e160ca 2280 }
Lightvalve 169:645207e160ca 2281 break;
Lightvalve 169:645207e160ca 2282 }
Lightvalve 169:645207e160ca 2283 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2284 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2285 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2286 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2287 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2288 // }
Lightvalve 169:645207e160ca 2289 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2290 // }
Lightvalve 169:645207e160ca 2291
Lightvalve 169:645207e160ca 2292 break;
Lightvalve 169:645207e160ca 2293 }
Lightvalve 169:645207e160ca 2294 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2295 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2296 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2297 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2298 break;
Lightvalve 169:645207e160ca 2299 }
Lightvalve 170:42c938a40313 2300
Lightvalve 169:645207e160ca 2301 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2302 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2303 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2304 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2305 } else {
Lightvalve 169:645207e160ca 2306 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2307 }
Lightvalve 169:645207e160ca 2308 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2309 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2310 } else {
Lightvalve 169:645207e160ca 2311 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2312 }
Lightvalve 169:645207e160ca 2313 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2314 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2315 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2316 } else {
Lightvalve 169:645207e160ca 2317 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2318 }
Lightvalve 169:645207e160ca 2319
Lightvalve 169:645207e160ca 2320 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2321 cnt_step_test++;
Lightvalve 170:42c938a40313 2322 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2323 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2324 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2325 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2326 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2327 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2328 }
Lightvalve 169:645207e160ca 2329 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2330 // {
Lightvalve 169:645207e160ca 2331 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2332 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2333 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2334 // }
Lightvalve 170:42c938a40313 2335
Lightvalve 169:645207e160ca 2336 break;
Lightvalve 169:645207e160ca 2337 }
Lightvalve 57:f4819de54e7a 2338
Lightvalve 57:f4819de54e7a 2339 default:
Lightvalve 57:f4819de54e7a 2340 break;
Lightvalve 57:f4819de54e7a 2341 }
Lightvalve 57:f4819de54e7a 2342
Lightvalve 57:f4819de54e7a 2343 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2344
Lightvalve 57:f4819de54e7a 2345 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2346 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2347 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2348 break;
Lightvalve 57:f4819de54e7a 2349 }
Lightvalve 57:f4819de54e7a 2350
Lightvalve 57:f4819de54e7a 2351 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2352 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 225:278b48b86f27 2353 ////For Test LIMC//////////////////////////////////////////
Lightvalve 233:0a37cdd59651 2354 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 233:0a37cdd59651 2355 // for(int i=0; i<9; i++){
Lightvalve 233:0a37cdd59651 2356 // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 233:0a37cdd59651 2357 // }
Lightvalve 233:0a37cdd59651 2358 // valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 233:0a37cdd59651 2359 // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 225:278b48b86f27 2360 ////////////////////////////////////////////////////////////
Lightvalve 225:278b48b86f27 2361
Lightvalve 59:f308b1656d9c 2362 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2363 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2364 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2365 } else {
Lightvalve 67:c2812cf26c38 2366 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2367 }
Lightvalve 57:f4819de54e7a 2368 break;
Lightvalve 57:f4819de54e7a 2369 }
Lightvalve 57:f4819de54e7a 2370
Lightvalve 57:f4819de54e7a 2371 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2372
Lightvalve 57:f4819de54e7a 2373 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2374 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2375 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2376 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2377
Lightvalve 67:c2812cf26c38 2378 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2379 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2380 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2381 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2382
Lightvalve 139:15621998925b 2383 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2384 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2385
Lightvalve 57:f4819de54e7a 2386 // torque feedback
Lightvalve 67:c2812cf26c38 2387 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2388 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2389
Lightvalve 57:f4819de54e7a 2390 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2391
Lightvalve 57:f4819de54e7a 2392 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2393 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2394 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2395
Lightvalve 57:f4819de54e7a 2396 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2397 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2398 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2399
Lightvalve 69:3995ffeaa786 2400 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2401 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2402 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2403 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2404 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2405 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2406 }
Lightvalve 57:f4819de54e7a 2407 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2408 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2409
Lightvalve 57:f4819de54e7a 2410 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2411 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2412 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2413 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 2414 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2415 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2416 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2417 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 2418 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2419 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2420 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2421 }
Lightvalve 57:f4819de54e7a 2422 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2423 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2424 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2425 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2426 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2427
Lightvalve 57:f4819de54e7a 2428 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2429
Lightvalve 67:c2812cf26c38 2430 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2431 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2432 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2433 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2434 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2435 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2436 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2437 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2438 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2439 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2440 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2441 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2442 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2443 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2444 }
Lightvalve 67:c2812cf26c38 2445 }
Lightvalve 57:f4819de54e7a 2446
Lightvalve 57:f4819de54e7a 2447 } else {
Lightvalve 57:f4819de54e7a 2448 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2449 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2450 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2451
Lightvalve 209:ebc69d6ee6f1 2452 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 2453
Lightvalve 72:3436ce769b1e 2454 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 169:645207e160ca 2455
Lightvalve 72:3436ce769b1e 2456 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2457
Lightvalve 169:645207e160ca 2458
Lightvalve 72:3436ce769b1e 2459 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2460 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2461 } else {
Lightvalve 72:3436ce769b1e 2462 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2463 }
Lightvalve 57:f4819de54e7a 2464
Lightvalve 57:f4819de54e7a 2465 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2466 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2467 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2468 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2469 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2470 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2471 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2472 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2473 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2474 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2475 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2476 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2477 }
Lightvalve 57:f4819de54e7a 2478 }
Lightvalve 61:bc8c8270f0ab 2479
Lightvalve 57:f4819de54e7a 2480 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2481
Lightvalve 67:c2812cf26c38 2482 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2483 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2484
Lightvalve 57:f4819de54e7a 2485 }
Lightvalve 169:645207e160ca 2486
Lightvalve 72:3436ce769b1e 2487 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2488
Lightvalve 133:22ab22818e01 2489
Lightvalve 57:f4819de54e7a 2490 break;
Lightvalve 57:f4819de54e7a 2491 }
Lightvalve 58:2eade98630e2 2492
Lightvalve 57:f4819de54e7a 2493 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2494 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2495 break;
Lightvalve 57:f4819de54e7a 2496 }
Lightvalve 169:645207e160ca 2497
Lightvalve 138:a843f32ced33 2498 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2499
Lightvalve 169:645207e160ca 2500
Lightvalve 139:15621998925b 2501 float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 2502 float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 218:066030f7951f 2503
Lightvalve 170:42c938a40313 2504 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2505
Lightvalve 218:066030f7951f 2506 //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 218:066030f7951f 2507 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 2508
Lightvalve 138:a843f32ced33 2509 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2510 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2511 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2512 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2513 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2514 } else {
Lightvalve 138:a843f32ced33 2515 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2516 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2517 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2518 } else {
Lightvalve 138:a843f32ced33 2519 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2520 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2521 }
Lightvalve 138:a843f32ced33 2522 }
Lightvalve 138:a843f32ced33 2523 float tau = 0.01f;
Lightvalve 142:43026242815a 2524 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 2525
Lightvalve 138:a843f32ced33 2526 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2527 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2528 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2529 } else {
Lightvalve 138:a843f32ced33 2530 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2531 }
Lightvalve 138:a843f32ced33 2532 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2533 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2534
Lightvalve 139:15621998925b 2535 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2536
Lightvalve 138:a843f32ced33 2537 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2538 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2539 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2540
Lightvalve 138:a843f32ced33 2541 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2542 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2543
Lightvalve 212:ec41f1449ef9 2544 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 2545 float k4 = 10.0f;
Lightvalve 142:43026242815a 2546 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 2547 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 2548 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2549 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2550 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2551
Lightvalve 139:15621998925b 2552 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2553 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2554 } else {
Lightvalve 139:15621998925b 2555 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2556 }
Lightvalve 169:645207e160ca 2557
Lightvalve 138:a843f32ced33 2558 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2559 x_4_des_old = x_4_des;
Lightvalve 212:ec41f1449ef9 2560 float V_input = 0.0f;
Lightvalve 139:15621998925b 2561 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 2562 // //V_out LPF
Lightvalve 212:ec41f1449ef9 2563 // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
Lightvalve 212:ec41f1449ef9 2564 // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
Lightvalve 212:ec41f1449ef9 2565
Lightvalve 218:066030f7951f 2566 // float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve 218:066030f7951f 2567 // 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 2568 // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2569 //
Lightvalve 218:066030f7951f 2570 // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve 218:066030f7951f 2571 // else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve 218:066030f7951f 2572
Lightvalve 218:066030f7951f 2573 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 2574 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 2575 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 2576
Lightvalve 218:066030f7951f 2577 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 2578 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 2579
Lightvalve 169:645207e160ca 2580 break;
Lightvalve 138:a843f32ced33 2581 }
Lightvalve 171:bfc1fd2629d8 2582
Lightvalve 170:42c938a40313 2583 case MODE_RL: {
Lightvalve 170:42c938a40313 2584 //t.reset();
Lightvalve 170:42c938a40313 2585 //t.start();
Lightvalve 170:42c938a40313 2586
Lightvalve 170:42c938a40313 2587 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2588 // else LED = 0;
Lightvalve 170:42c938a40313 2589
Lightvalve 170:42c938a40313 2590 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2591 //Gather Data on each loop
Lightvalve 170:42c938a40313 2592 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2593 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2594 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2595 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2596 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2597 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2598 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2599 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2600 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2601 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2602 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2603 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2604 }
Lightvalve 173:68c7914679ec 2605 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2606 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2607 }
Lightvalve 173:68c7914679ec 2608 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2609 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2610 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2611 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2612 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2613
Lightvalve 179:d5377766d7ea 2614 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2615 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2616 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2617 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2618 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2619 }
Lightvalve 171:bfc1fd2629d8 2620
Lightvalve 170:42c938a40313 2621 RL_timer++;
Lightvalve 170:42c938a40313 2622
Lightvalve 170:42c938a40313 2623
Lightvalve 170:42c938a40313 2624 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2625 RL_timer = 0;
Lightvalve 170:42c938a40313 2626 batch++;
Lightvalve 170:42c938a40313 2627 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2628 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2629 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2630 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2631 }
Lightvalve 170:42c938a40313 2632 Update_Case = 1;
Lightvalve 170:42c938a40313 2633 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2634 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2635
Lightvalve 170:42c938a40313 2636 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2637 batch = 0;
Lightvalve 170:42c938a40313 2638 RL_timer = 0;
Lightvalve 170:42c938a40313 2639 Update_Case = 2;
Lightvalve 170:42c938a40313 2640 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2641 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2642 }
Lightvalve 170:42c938a40313 2643 }
Lightvalve 170:42c938a40313 2644 }
Lightvalve 170:42c938a40313 2645
Lightvalve 170:42c938a40313 2646 else {
Lightvalve 170:42c938a40313 2647 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2648 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2649 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2650 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2651 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2652 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2653 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2654 //logging1 = action;
Lightvalve 179:d5377766d7ea 2655 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2656 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2657 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2658 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2659 virt_pos = 70.0f;
Lightvalve 218:066030f7951f 2660 } else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2661 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2662 }
Lightvalve 170:42c938a40313 2663
Lightvalve 170:42c938a40313 2664 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2665 }
Lightvalve 170:42c938a40313 2666
Lightvalve 170:42c938a40313 2667 //t.stop();
Lightvalve 170:42c938a40313 2668 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2669
Lightvalve 170:42c938a40313 2670 break;
Lightvalve 170:42c938a40313 2671 }
Lightvalve 14:8e7590227d22 2672
Lightvalve 12:6f2531038ea4 2673 default:
Lightvalve 12:6f2531038ea4 2674 break;
Lightvalve 12:6f2531038ea4 2675 }
Lightvalve 14:8e7590227d22 2676
Lightvalve 57:f4819de54e7a 2677
Lightvalve 57:f4819de54e7a 2678 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2679
Lightvalve 57:f4819de54e7a 2680 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2681 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2682 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2683 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2684 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2685 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2686
Lightvalve 57:f4819de54e7a 2687 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2688 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2689
Lightvalve 57:f4819de54e7a 2690
Lightvalve 57:f4819de54e7a 2691 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2692 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2693 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2694 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2695 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2696 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2697
Lightvalve 57:f4819de54e7a 2698 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2699 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2700 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2701 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2702 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2703 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2704 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2705 }
Lightvalve 57:f4819de54e7a 2706
Lightvalve 57:f4819de54e7a 2707 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2708
Lightvalve 67:c2812cf26c38 2709 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2710 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2711 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2712 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2713 // 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 2714 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2715 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2716
Lightvalve 57:f4819de54e7a 2717 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2718 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2719 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2720 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2721 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2722 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2723 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2724 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2725 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2726 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2727 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2728 }
Lightvalve 57:f4819de54e7a 2729 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2730 } else {
Lightvalve 57:f4819de54e7a 2731 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2732 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2733 }
Lightvalve 57:f4819de54e7a 2734
Lightvalve 57:f4819de54e7a 2735 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2736 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2737 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2738 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2739 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2740 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2741 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2742
Lightvalve 57:f4819de54e7a 2743 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2744
Lightvalve 57:f4819de54e7a 2745 } else {
Lightvalve 57:f4819de54e7a 2746 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2747 }
Lightvalve 57:f4819de54e7a 2748
Lightvalve 57:f4819de54e7a 2749 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2750 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2751 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2752
Lightvalve 57:f4819de54e7a 2753 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2754 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2755 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2756 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2757 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2758 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2759 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2760 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2761
Lightvalve 89:a7b45368ea0f 2762 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2763 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2764 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2765 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2766
Lightvalve 135:79885a39c161 2767 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2768 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2769 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2770 }
Lightvalve 169:645207e160ca 2771
Lightvalve 67:c2812cf26c38 2772 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2773 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2774 // else V_out = V_out;
Lightvalve 169:645207e160ca 2775
jobuuu 7:e9086c72bb22 2776 /*******************************************************
jobuuu 7:e9086c72bb22 2777 *** PWM
jobuuu 7:e9086c72bb22 2778 ********************************************************/
Lightvalve 169:645207e160ca 2779 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2780 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2781 }
Lightvalve 169:645207e160ca 2782
Lightvalve 49:e7bcfc244d40 2783 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2784 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2785 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2786 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2787 }
Lightvalve 49:e7bcfc244d40 2788 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2789
Lightvalve 19:23b7c1ad8683 2790 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2791 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2792 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2793
Lightvalve 30:8d561f16383b 2794 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2795 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2796 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2797 } else {
jobuuu 2:a1c0a37df760 2798 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2799 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2800 }
Lightvalve 13:747daba9cf59 2801
jobuuu 1:e04e563be5ce 2802 //pwm
Lightvalve 30:8d561f16383b 2803 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2804 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2805
Lightvalve 61:bc8c8270f0ab 2806
Lightvalve 233:0a37cdd59651 2807
Lightvalve 233:0a37cdd59651 2808 /*
Lightvalve 237:aa3863117889 2809 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 233:0a37cdd59651 2810
Lightvalve 54:647072f5307a 2811 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2812 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2813 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2814 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2815 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2816 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2817 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 2818 }
Lightvalve 57:f4819de54e7a 2819 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2820 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2821 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 2822 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2823 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 2824 }
Lightvalve 52:8ea76864368a 2825 }
Lightvalve 52:8ea76864368a 2826 }
Lightvalve 233:0a37cdd59651 2827
Lightvalve 56:6f50d9d3bfee 2828 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2829 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2830 }
Lightvalve 58:2eade98630e2 2831
Lightvalve 58:2eade98630e2 2832
Lightvalve 171:bfc1fd2629d8 2833 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2834 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2835 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2836 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2837 } else {
Lightvalve 131:d08121ac87ba 2838 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2839 }
Lightvalve 169:645207e160ca 2840 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2841 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2842 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2843 } else {
Lightvalve 169:645207e160ca 2844 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2845 }
Lightvalve 169:645207e160ca 2846
Lightvalve 169:645207e160ca 2847
Lightvalve 169:645207e160ca 2848 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2849 }
Lightvalve 58:2eade98630e2 2850
Lightvalve 57:f4819de54e7a 2851 //If it doesn't rest, below can can not work.
Lightvalve 233:0a37cdd59651 2852 for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2853 ;
Lightvalve 57:f4819de54e7a 2854 }
Lightvalve 58:2eade98630e2 2855
Lightvalve 169:645207e160ca 2856 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2857 //PWM
Lightvalve 209:ebc69d6ee6f1 2858 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 209:ebc69d6ee6f1 2859 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2860 }
Lightvalve 179:d5377766d7ea 2861
Lightvalve 56:6f50d9d3bfee 2862 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2863 //valve position
Lightvalve 212:ec41f1449ef9 2864 //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 2865 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 54:647072f5307a 2866 }
Lightvalve 237:aa3863117889 2867
Lightvalve 233:0a37cdd59651 2868
Lightvalve 20:806196fda269 2869
Lightvalve 54:647072f5307a 2870 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 237:aa3863117889 2871 if (flag_data_request[1] == HIGH) {
Lightvalve 237:aa3863117889 2872 CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 237:aa3863117889 2873 }
Lightvalve 237:aa3863117889 2874 if (flag_delay_test == 1){
Lightvalve 237:aa3863117889 2875 CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 237:aa3863117889 2876 }
Lightvalve 52:8ea76864368a 2877
Lightvalve 54:647072f5307a 2878 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2879 }
Lightvalve 54:647072f5307a 2880 TMR2_COUNT_CAN_TX++;
Lightvalve 237:aa3863117889 2881
Lightvalve 237:aa3863117889 2882 */
Lightvalve 237:aa3863117889 2883
Lightvalve 20:806196fda269 2884 }
Lightvalve 52:8ea76864368a 2885 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2886
Lightvalve 58:2eade98630e2 2887 }