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Diff: main.cpp
- Revision:
- 50:3c630b5eba9f
- Parent:
- 49:e7bcfc244d40
- Child:
- 51:b46bed7fec80
diff -r e7bcfc244d40 -r 3c630b5eba9f main.cpp --- a/main.cpp Wed Feb 05 08:35:58 2020 +0000 +++ b/main.cpp Thu Feb 13 05:16:15 2020 +0000 @@ -109,7 +109,7 @@ MODE_NO_ACT = 0, //0 MODE_VALVE_POSITION_CONTROL, //1 MODE_JOINT_CONTROL, //2 - + MODE_VALVE_OPEN_LOOP, //3 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 @@ -179,7 +179,7 @@ TIM3->CR1 ^= TIM_CR1_UDIS; make_delay(); - // TMR5 init + // TMR2 init Init_TMR2(); TIM2->CR1 ^= TIM_CR1_UDIS; make_delay(); @@ -220,17 +220,14 @@ *************************************/ while(1) { if(timer_while==1000) { - //pc.printf("cmd %d\n "); //i2c read_field(i2c_slave_addr1); if(DIR_VALVE_ENC < 0) value = 1023 - value; - // if(LED==1) { // LED=0; // } else // LED = 1; timer_while = 0; - } timer_while ++; } @@ -244,15 +241,15 @@ for(i=0; i<VALVE_POS_NUM; i++) { if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) { if(i==0) { - if(JOINT_VEL[i+1] == JOINT_VEL[i]){ + if(JOINT_VEL[i+1] == JOINT_VEL[i]) { Ref_Valve_Pos_FF = DDV_CENTER; - }else{ + } else { Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER; } } else { - if(JOINT_VEL[i+1] == JOINT_VEL[i-1]){ - Ref_Valve_Pos_FF = DDV_CENTER; - }else{ + if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { + Ref_Valve_Pos_FF = DDV_CENTER; + } else { 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])) + DDV_CENTER + (float) (10*ID_index_array[i-1]); } } @@ -267,7 +264,7 @@ Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER); return Ref_Valve_Pos_FF; - + } @@ -290,36 +287,6 @@ 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; - - - -// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0]) -// { -// if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) { -// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]); -// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) { -// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1]; -// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) { -// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3]; -// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) { -// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5]; -// }else -// VALVE_PWM_RAW_FF = 12000.0; -// } -// else -// { -// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) { -// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2]; -// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) { -// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4]; -// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) { -// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6]; -// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) { -// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8]; -// }else -// VALVE_PWM_RAW_FF = -12000.0; -// } - for(i=0; i<24; i++) { if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { if(i==0) { @@ -330,11 +297,7 @@ break; } } - if(vel.sen>=0.0f) - V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; - else - V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; // - (float) FLOWFORCE_GAIN * 0.01f * vel.sen / 30.0f; - //V_out = VALVE_PWM_RAW_FB; + V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; } #define LT_MAX_IDX 57 @@ -411,7 +374,7 @@ float pres_A_new = ((float)ADC1->DR); pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 - + //Pressure sensor 1B //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); @@ -426,7 +389,7 @@ // a1=ADC2->DR; //int raw_cur = ADC3->DR; //while((ADC3->SR & 0b10)); - float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); // f_cutoff : 500Hz + float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*200.0f)); // f_cutoff : 500Hz float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); //cur.sen = raw_cur; @@ -453,31 +416,28 @@ { if (TIM3->SR & TIM_SR_UIF ) { ENC_UPDATE(); - - if(MODE_POS_FT_TRANS == 1){ + + if(MODE_POS_FT_TRANS == 1) { alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; cnt_trans++; torq.err_sum = 0; if((float)cnt_trans * DT_TMR3 > 3.0f) MODE_POS_FT_TRANS = 2; - } - else if(MODE_POS_FT_TRANS == 3){ + } else if(MODE_POS_FT_TRANS == 3) { alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; cnt_trans++; torq.err_sum = 0; if((float) cnt_trans * DT_TMR3 > 3.0f ) MODE_POS_FT_TRANS = 0; - } - else if(MODE_POS_FT_TRANS == 2){ + } else if(MODE_POS_FT_TRANS == 2) { alpha_trans = 1.0; cnt_trans = 0; - } - else{ + } else { alpha_trans = 0.0; cnt_trans = 0; } - + // CONTROL LOOP ------------------------------------------------------------ @@ -493,34 +453,34 @@ } case MODE_JOINT_CONTROL: { - + float VALVE_POS_RAW_FORCE_FB = 0.0f; - + pos.err = pos.ref - pos.sen; //[pulse] vel.err = vel.ref - vel.sen; //[pulse/s] double torq_ref = 0.0f; torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N] - + // torque feedback torq.err = torq_ref - torq.sen; //[pulse] torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse] if (torq.err_sum > 1000) torq.err_sum = 1000; if (torq.err_sum<-1000) torq.err_sum = -1000; - + VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f - + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref)); + + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref)); if (VALVE_POS_RAW_FORCE_FB >= 0) { valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; - } else{ + } else { valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; } VALVE_POS_CONTROL(valve_pos.ref); break; } - + case MODE_VALVE_OPEN_LOOP: { V_out = (float) Vout.ref; break; @@ -538,8 +498,7 @@ pos.err_sum += pos.err; if (pos.err_sum > 1000) pos.err_sum = 1000; if (pos.err_sum<-1000) pos.err_sum = -1000; - VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff; - VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f; + VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum/(float) ENC_PULSE_PER_POSITION + (float) D_GAIN_JOINT_POSITION * pos.err_diff/(float) ENC_PULSE_PER_POSITION; //Ref_Joint_Vel = Ref_Vel_Test; @@ -574,272 +533,272 @@ break; } - case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: { - - break; - } - - case MODE_JOINT_POSITION_PRES_CONTROL_PWM: { - pos.err = pos.ref - (float) pos.sen; - pos.err_diff = pos.err - pos.err_old; - pos.err_old = pos.err; - pos.err_sum += pos.err; - if (pos.err_sum > 1000) pos.err_sum = 1000; - if (pos.err_sum<-1000) pos.err_sum = -1000; - VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f; - - torq.err = torq.ref - torq.sen; - torq.err_diff = torq.err - torq.err_old; - torq.err_old = torq.err; - torq.err_sum += torq.err; - if (torq.err_sum > 1000) torq.err_sum = 1000; - if (torq.err_sum<-1000) torq.err_sum = -1000; - VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; - - VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f; - - V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ; +// case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: { +// +// break; +// } - CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f; - CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L)) - if (DIR_VALVE > 0) { - if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f; - else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5; - else VALVE_FF_VOLTAGE = 0; - } else { - if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f; - else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5; - else VALVE_FF_VOLTAGE = 0; - } - // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f; +// case MODE_JOINT_POSITION_PRES_CONTROL_PWM: { +// pos.err = pos.ref - (float) pos.sen; +// pos.err_diff = pos.err - pos.err_old; +// pos.err_old = pos.err; +// pos.err_sum += pos.err; +// if (pos.err_sum > 1000) pos.err_sum = 1000; +// if (pos.err_sum<-1000) pos.err_sum = -1000; +// VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff)/(float) ENC_PULSE_PER_POSITION; +// +// torq.err = torq.ref - torq.sen; +// torq.err_diff = torq.err - torq.err_old; +// torq.err_old = torq.err; +// torq.err_sum += torq.err; +// if (torq.err_sum > 1000) torq.err_sum = 1000; +// if (torq.err_sum<-1000) torq.err_sum = -1000; +// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; +// +// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f; +// +// V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ; +// +// CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f; +// CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L)) +// if (DIR_VALVE > 0) { +// if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f; +// else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5; +// else VALVE_FF_VOLTAGE = 0; +// } else { +// if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f; +// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f; +// else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5; +// else VALVE_FF_VOLTAGE = 0; +// } +// // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f; +// +// if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.)) +// else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f; +// +// V_out = V_out + VALVE_FF_VOLTAGE; +// break; +// } - if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.)) - else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f; - - V_out = V_out + VALVE_FF_VOLTAGE; - break; - } - - case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: { - - pos.err = pos.ref - (float) pos.sen; - pos.err_diff = pos.err - pos.err_old; - pos.err_old = pos.err; - pos.err_sum += pos.err; - if (pos.err_sum > 1000) pos.err_sum = 1000; - if (pos.err_sum<-1000) pos.err_sum = -1000; - VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f; +// case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: { +// +// pos.err = pos.ref - (float) pos.sen; +// pos.err_diff = pos.err - pos.err_old; +// pos.err_old = pos.err; +// pos.err_sum += pos.err; +// if (pos.err_sum > 1000) pos.err_sum = 1000; +// if (pos.err_sum<-1000) pos.err_sum = -1000; +// VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f; +// +// torq.err = torq.ref - torq.sen; +// torq.err_diff = torq.err - torq.err_old; +// torq.err_old = torq.err; +// torq.err_sum += torq.err; +// if (torq.err_sum > 1000) torq.err_sum = 1000; +// if (torq.err_sum<-1000) torq.err_sum = -1000; +// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; +// +// valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ; +// VALVE_POS_CONTROL(valve_pos.ref); +// +// break; +// } - torq.err = torq.ref - torq.sen; - torq.err_diff = torq.err - torq.err_old; - torq.err_old = torq.err; - torq.err_sum += torq.err; - if (torq.err_sum > 1000) torq.err_sum = 1000; - if (torq.err_sum<-1000) torq.err_sum = -1000; - VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; - - valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ; - VALVE_POS_CONTROL(valve_pos.ref); - - break; - } - - case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: { - - break; - } +// case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: { +// +// break; +// } - case MODE_TEST_CURRENT_CONTROL: { - if (TMR3_COUNT_IREF == TMR_FREQ_5k) { - TMR3_COUNT_IREF = 0; - } - TMR3_COUNT_IREF++; - - // Set Current Reference - float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f; - float I_REF_MID = 0.0f; - if (TMR3_COUNT_IREF < TMR3_CNT_MAX) { - I_REF = I_REF_MID + 1.0f; - } else { - I_REF = I_REF_MID - 1.0f; - } -// float T = 1.0; // wave period -// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T)); -// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))); +// case MODE_TEST_CURRENT_CONTROL: { +// if (TMR3_COUNT_IREF == TMR_FREQ_5k) { +// TMR3_COUNT_IREF = 0; +// } +// TMR3_COUNT_IREF++; +// +// // Set Current Reference +// float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f; +// float I_REF_MID = 0.0f; +// if (TMR3_COUNT_IREF < TMR3_CNT_MAX) { +// I_REF = I_REF_MID + 1.0f; +// } else { +// I_REF = I_REF_MID - 1.0f; +// } +//// float T = 1.0; // wave period +//// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T)); +//// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))); +// +// if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { +// //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas +// } +// break; +// } - if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { - //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas - } - break; - } - - case MODE_TEST_PWM_CONTROL: { - if (TMR3_COUNT_IREF == TMR_FREQ_5k) { - TMR3_COUNT_IREF = 0; - } - TMR3_COUNT_IREF++; - - // Set PWM reference - float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f; - //float I_REF_MID = 0.0f; - if (TMR3_COUNT_IREF < TMR3_CNT_MAX) { - CUR_PWM = 1000; - } else { - CUR_PWM = -1000; - } - - if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { - //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas - } - break; - } +// case MODE_TEST_PWM_CONTROL: { +// if (TMR3_COUNT_IREF == TMR_FREQ_5k) { +// TMR3_COUNT_IREF = 0; +// } +// TMR3_COUNT_IREF++; +// +// // Set PWM reference +// float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f; +// //float I_REF_MID = 0.0f; +// if (TMR3_COUNT_IREF < TMR3_CNT_MAX) { +// CUR_PWM = 1000; +// } else { +// CUR_PWM = -1000; +// } +// +// if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { +// //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas +// } +// break; +// } - case MODE_CURRENT_CONTROL: { - - cur.ref = cur.ref; // Unit : mA - CurrentControl(); - break; - } - - case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: { - float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback - float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward - float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback - float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward - - // feedback input for position control - pos.err = pos.ref - pos.sen; - float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz - float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k; - pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; - pos.err_old = pos.err; - I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f); - - // feedforward input for position control - float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] - float K_ff = 1.3f; - float K_v = 0.0f; - if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA) - if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA) - I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; +// case MODE_CURRENT_CONTROL: { +// +// cur.ref = cur.ref; // Unit : mA +// CurrentControl(); +// break; +// } - // feedback input for position control - I_REF_FORCE_FB = 0.0f; - - // feedforward input for position control - I_REF_FORCE_FF = 0.0f; - - cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF; - - CurrentControl(); - - break; - } - - case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: { - //float T_REF = 0.0; // Torque Reference - float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback - float I_REF_VC = 0.; // I_REF for velocity compensation - - // feedback input for position control - //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] - //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] - //float K_spring = 0.7f; - //float D_damper = 0.02f; -// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm - - // torque feedback - torq.err = torq.ref - torq.sen; - // torq.err_diff = torq.err - torq.err_old; - // torq.err_old = torq.err; - torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k; - I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum); +// case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: { +// float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback +// float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward +// float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback +// float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward +// +// // feedback input for position control +// pos.err = pos.ref - pos.sen; +// float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz +// float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k; +// pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; +// pos.err_old = pos.err; +// I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f); +// +// // feedforward input for position control +// float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] +// float K_ff = 1.3f; +// float K_v = 0.0f; +// if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA) +// if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA) +// I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; +// +// // feedback input for position control +// I_REF_FORCE_FB = 0.0f; +// +// // feedforward input for position control +// I_REF_FORCE_FF = 0.0f; +// +// cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF; +// +// CurrentControl(); +// +// break; +// } - // velocity compensation for torque control - float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] - float K_vc = 1.5f; // Velocity comp. gain - float K_v = 0.0f; // Valve gain - if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning - if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning - I_REF_VC = K_vc*K_v*Joint_Vel_Act; - - cur.ref = I_REF_VC + I_REF_FORCE_FB; - // cur.ref = I_REF_FORCE_FB; - - float I_MAX = 10.0f; // Maximum Current : 10mV - float Ka = 1.0f/I_GAIN_JOINT_TORQUE; - if(cur.ref > I_MAX) { - float I_rem = cur.ref-I_MAX; - I_rem = Ka*I_rem; - cur.ref = I_MAX; - torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k; - } else if(cur.ref < -I_MAX) { - float I_rem = cur.ref-(-I_MAX); - I_rem = Ka*I_rem; - cur.ref = -I_MAX; - torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k; - } - - CurrentControl(); - - - /* - float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback - float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward - float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback - float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward - - // feedback input for position control - pos.err = pos.ref - pos.sen; - float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz - float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k; - pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; - pos.err_old = pos.err; - I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f); - - // feedforward input for position control - float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] - float K_ff = 1.3f; - float K_v = 0.0f; - if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA) - if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA) - I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; - - // feedback input for position control - I_REF_FORCE_FB = 0.0f; - - // feedforward input for position control - I_REF_FORCE_FF = 0.0f; - - cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF; - - CurrentControl(); - */ - - break; - } +// case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: { +// //float T_REF = 0.0; // Torque Reference +// float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback +// float I_REF_VC = 0.; // I_REF for velocity compensation +// +// // feedback input for position control +// //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] +// //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] +// //float K_spring = 0.7f; +// //float D_damper = 0.02f; +//// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm +// +// // torque feedback +// torq.err = torq.ref - torq.sen; +// // torq.err_diff = torq.err - torq.err_old; +// // torq.err_old = torq.err; +// torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k; +// I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum); +// +// // velocity compensation for torque control +// float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] +// float K_vc = 1.5f; // Velocity comp. gain +// float K_v = 0.0f; // Valve gain +// if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning +// if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning +// I_REF_VC = K_vc*K_v*Joint_Vel_Act; +// +// cur.ref = I_REF_VC + I_REF_FORCE_FB; +// // cur.ref = I_REF_FORCE_FB; +// +// float I_MAX = 10.0f; // Maximum Current : 10mV +// float Ka = 1.0f/I_GAIN_JOINT_TORQUE; +// if(cur.ref > I_MAX) { +// float I_rem = cur.ref-I_MAX; +// I_rem = Ka*I_rem; +// cur.ref = I_MAX; +// torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k; +// } else if(cur.ref < -I_MAX) { +// float I_rem = cur.ref-(-I_MAX); +// I_rem = Ka*I_rem; +// cur.ref = -I_MAX; +// torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k; +// } +// +// CurrentControl(); +// +// +// /* +// float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback +// float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward +// float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback +// float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward +// +// // feedback input for position control +// pos.err = pos.ref - pos.sen; +// float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz +// float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k; +// pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; +// pos.err_old = pos.err; +// I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f); +// +// // feedforward input for position control +// float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] +// float K_ff = 1.3f; +// float K_v = 0.0f; +// if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA) +// if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA) +// I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; +// +// // feedback input for position control +// I_REF_FORCE_FB = 0.0f; +// +// // feedforward input for position control +// I_REF_FORCE_FF = 0.0f; +// +// cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF; +// +// CurrentControl(); +// */ +// +// break; +// } case MODE_TORQUE_SENSOR_NULLING: { // DAC Voltage reference set @@ -854,7 +813,7 @@ if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; if (TORQUE_VREF < 0) TORQUE_VREF = 0; - + //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); dac_1 = TORQUE_VREF / 3.3f; } @@ -874,10 +833,10 @@ } TMR3_COUNT_TORQUE_NULL++; break; - - - - // // DAC Voltage reference set + + + + // // DAC Voltage reference set // if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { // CUR_PRES_A_sum += pres_A.sen; // CUR_PRES_B_sum += pres_B.sen; @@ -916,89 +875,89 @@ // } // TMR3_COUNT_PRES_NULL++; // break; - - - - - + + + + + } - case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { - if (TMR3_COUNT_DEADZONE == 0) { - if (pos_plus_end == pos_minus_end) need_enc_init = true; - else temp_time = 0; - } - if (need_enc_init) { - if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { - V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; - pos_plus_end = pos.sen; - } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { - V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; - pos_minus_end = pos.sen; - } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; - temp_time = TMR_FREQ_5k; - } - - if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { - V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); - VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; - - } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { - V_out = 0; - CUR_VELOCITY_sum += CUR_VELOCITY; - } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { - if (CUR_VELOCITY_sum == 0) DZ_dir = 1; - else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; - else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; - else DZ_temp_cnt2 = DZ_end; - CUR_VELOCITY_sum = 0; - } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { - if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; - - // Position of Dead Zone - // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) - // | / | / |/ - // | ______/ ___|___/ ______/| - // |/ / | / | - // /| / | / | - // 0V 0V 0V - - if (DZ_temp_cnt2 < DZ_end) { - if (TMR3_COUNT_DEADZONE % 20 != 0) { - CUR_VELOCITY_sum += CUR_VELOCITY; - } else { - V_out -= DZ_dir; - if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; - CUR_VELOCITY_sum = 0; - } - if (DZ_temp_cnt == 5) { - if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; - else VALVE_DEADZONE_PLUS = (int16_t) V_out; - DZ_dir = -DZ_dir; - DZ_temp_cnt = 0; - DZ_temp_cnt2++; - } - } else { - TMR3_COUNT_DEADZONE = -1; - VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; - if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { - VALVE_DEADZONE_PLUS = VALVE_CENTER; - VALVE_DEADZONE_MINUS = VALVE_CENTER; - } - V_out = 0; - - ROM_RESET_DATA(); - - //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); - //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); - - CONTROL_MODE = MODE_NO_ACT; - DZ_temp_cnt2 = 0; - } - } - TMR3_COUNT_DEADZONE++; - break; - } +// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { +// if (TMR3_COUNT_DEADZONE == 0) { +// if (pos_plus_end == pos_minus_end) need_enc_init = true; +// else temp_time = 0; +// } +// if (need_enc_init) { +// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { +// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; +// pos_plus_end = pos.sen; +// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { +// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; +// pos_minus_end = pos.sen; +// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; +// temp_time = TMR_FREQ_5k; +// } +// +// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { +// V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); +// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; +// +// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { +// V_out = 0; +// CUR_VELOCITY_sum += CUR_VELOCITY; +// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { +// if (CUR_VELOCITY_sum == 0) DZ_dir = 1; +// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; +// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; +// else DZ_temp_cnt2 = DZ_end; +// CUR_VELOCITY_sum = 0; +// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { +// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; +// +// // Position of Dead Zone +// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) +// // | / | / |/ +// // | ______/ ___|___/ ______/| +// // |/ / | / | +// // /| / | / | +// // 0V 0V 0V +// +// if (DZ_temp_cnt2 < DZ_end) { +// if (TMR3_COUNT_DEADZONE % 20 != 0) { +// CUR_VELOCITY_sum += CUR_VELOCITY; +// } else { +// V_out -= DZ_dir; +// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; +// CUR_VELOCITY_sum = 0; +// } +// if (DZ_temp_cnt == 5) { +// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; +// else VALVE_DEADZONE_PLUS = (int16_t) V_out; +// DZ_dir = -DZ_dir; +// DZ_temp_cnt = 0; +// DZ_temp_cnt2++; +// } +// } else { +// TMR3_COUNT_DEADZONE = -1; +// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; +// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { +// VALVE_DEADZONE_PLUS = VALVE_CENTER; +// VALVE_DEADZONE_MINUS = VALVE_CENTER; +// } +// V_out = 0; +// +// ROM_RESET_DATA(); +// +// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); +// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); +// +// CONTROL_MODE = MODE_NO_ACT; +// DZ_temp_cnt2 = 0; +// } +// } +// TMR3_COUNT_DEADZONE++; +// break; +// } case MODE_FIND_HOME: { if (FINDHOME_STAGE == FINDHOME_INIT) { @@ -1031,8 +990,7 @@ else pos.ref_home_pos = pos.ref_home_pos - 2.0f; pos.err = pos.ref_home_pos - pos.sen; float VALVE_POS_RAW_POS_FB = 0.0f; - VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err; - VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f; + VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER; VALVE_POS_CONTROL(valve_pos.ref); @@ -1062,8 +1020,7 @@ // input for position control pos.err = pos.ref_home_pos - (float)pos.sen; float VALVE_POS_RAW_POS_FB = 0.0f; - VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err; - VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f; + VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER; VALVE_POS_CONTROL(valve_pos.ref); @@ -1102,77 +1059,77 @@ break; } - case MODE_VALVE_GAIN_SETTING: { - if (TMR3_COUNT_FLOWRATE == 0) { - if (pos_plus_end == pos_minus_end) need_enc_init = true; - else { - V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; - temp_time = (int) (0.5f * (float) TMR_FREQ_5k); - } - } - if (need_enc_init) { - if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { - V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; - pos_plus_end = pos.sen; - } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { - V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; - pos_minus_end = pos.sen; - } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { - need_enc_init = false; - check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); - check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); - check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; - } - temp_time = TMR_FREQ_5k; - } - TMR3_COUNT_FLOWRATE++; - if (TMR3_COUNT_FLOWRATE > temp_time) { - if (flag_flowrate % 2 == 0) { // (+) - VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); - V_out = VALVE_VOLTAGE; - if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { - fl_temp_cnt++; - } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { - 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 - // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec - fl_temp_cnt2++; - } - } else if (flag_flowrate % 2 == 1) { // (-) - VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); - V_out = VALVE_VOLTAGE; - if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { - fl_temp_cnt++; - } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { - 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); - // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec - fl_temp_cnt2++; - } - } - if (fl_temp_cnt2 == 100) { - - ROM_RESET_DATA(); - - //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); - cur_vel_sum = 0; - fl_temp_cnt = 0; - fl_temp_cnt2 = 0; - flag_flowrate++; - } - if (flag_flowrate == 10) { - V_out = 0; - flag_flowrate = 0; - TMR3_COUNT_FLOWRATE = 0; - valve_gain_repeat_cnt++; - if (valve_gain_repeat_cnt >= 1) { - CONTROL_MODE = MODE_NO_ACT; - valve_gain_repeat_cnt = 0; - } - - } - break; - } - - } +// case MODE_VALVE_GAIN_SETTING: { +// if (TMR3_COUNT_FLOWRATE == 0) { +// if (pos_plus_end == pos_minus_end) need_enc_init = true; +// else { +// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; +// temp_time = (int) (0.5f * (float) TMR_FREQ_5k); +// } +// } +// if (need_enc_init) { +// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { +// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; +// pos_plus_end = pos.sen; +// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { +// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; +// pos_minus_end = pos.sen; +// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { +// need_enc_init = false; +// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); +// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); +// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; +// } +// temp_time = TMR_FREQ_5k; +// } +// TMR3_COUNT_FLOWRATE++; +// if (TMR3_COUNT_FLOWRATE > temp_time) { +// if (flag_flowrate % 2 == 0) { // (+) +// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); +// V_out = VALVE_VOLTAGE; +// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { +// fl_temp_cnt++; +// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { +// 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 +// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec +// fl_temp_cnt2++; +// } +// } else if (flag_flowrate % 2 == 1) { // (-) +// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); +// V_out = VALVE_VOLTAGE; +// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { +// fl_temp_cnt++; +// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { +// 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); +// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec +// fl_temp_cnt2++; +// } +// } +// if (fl_temp_cnt2 == 100) { +// +// ROM_RESET_DATA(); +// +// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); +// cur_vel_sum = 0; +// fl_temp_cnt = 0; +// fl_temp_cnt2 = 0; +// flag_flowrate++; +// } +// if (flag_flowrate == 10) { +// V_out = 0; +// flag_flowrate = 0; +// TMR3_COUNT_FLOWRATE = 0; +// valve_gain_repeat_cnt++; +// if (valve_gain_repeat_cnt >= 1) { +// CONTROL_MODE = MODE_NO_ACT; +// valve_gain_repeat_cnt = 0; +// } +// +// } +// break; +// } +// +// } case MODE_PRESSURE_SENSOR_NULLING: { // DAC Voltage reference set @@ -1216,52 +1173,52 @@ break; } - case MODE_PRESSURE_SENSOR_CALIB: { - if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { - V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; - if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { - CUR_PRES_A_sum += CUR_PRES_A; - } - } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { - V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; - if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { - CUR_PRES_B_sum += CUR_PRES_B; - } - } else { - CONTROL_MODE = MODE_NO_ACT; - TMR3_COUNT_PRES_CALIB = 0; - V_out = 0; - PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; - PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); - PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; - PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); - CUR_PRES_A_sum = 0; - CUR_PRES_B_sum = 0; - CUR_PRES_A_mean = 0; - CUR_PRES_B_mean = 0; +// case MODE_PRESSURE_SENSOR_CALIB: { +// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { +// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; +// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { +// CUR_PRES_A_sum += CUR_PRES_A; +// } +// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { +// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; +// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { +// CUR_PRES_B_sum += CUR_PRES_B; +// } +// } else { +// CONTROL_MODE = MODE_NO_ACT; +// TMR3_COUNT_PRES_CALIB = 0; +// V_out = 0; +// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; +// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); +// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; +// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); +// CUR_PRES_A_sum = 0; +// CUR_PRES_B_sum = 0; +// CUR_PRES_A_mean = 0; +// CUR_PRES_B_mean = 0; +// +// ROM_RESET_DATA(); +// +// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); +// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); +// } +// TMR3_COUNT_PRES_CALIB++; +// break; +// } - ROM_RESET_DATA(); - - //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); - //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); - } - TMR3_COUNT_PRES_CALIB++; - break; - } - - case MODE_ROTARY_FRICTION_TUNING: { - 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); - V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); - if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; - else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; - TMR3_COUNT_ROTARY_FRIC_TUNE++; - if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { - TMR3_COUNT_ROTARY_FRIC_TUNE = 0; - V_out = 0.0f; - CONTROL_MODE = MODE_NO_ACT; - } - break; - } +// case MODE_ROTARY_FRICTION_TUNING: { +// 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); +// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); +// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; +// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; +// TMR3_COUNT_ROTARY_FRIC_TUNE++; +// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { +// TMR3_COUNT_ROTARY_FRIC_TUNE = 0; +// V_out = 0.0f; +// CONTROL_MODE = MODE_NO_ACT; +// } +// break; +// } case MODE_DDV_POS_VS_PWM_ID: { VALVE_ID_timer = VALVE_ID_timer + 1; @@ -1356,7 +1313,7 @@ } CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); - + VEL_POINT = 0; first_check = 1; DZ_DIRECTION = 1; @@ -1621,31 +1578,31 @@ break; } - if (FLAG_VALVE_OUTPUT_CALIB) { - // Valve Dead Zone (Mechanical dead-zone canceling) - // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) { - // if (V_out > 0.) { - // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS; - // } else if (V_out < 0.) { - // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS; - // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER; - // } else VALVE_PWM_VALVE_DZ = (int) V_out; - - if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS; - else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS; - - VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER; - - // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone) - float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV - float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin); - - if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143; - else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138; - else V_out = CUR_PWM_DZ; - } else { - V_out = V_out; - } +// if (FLAG_VALVE_OUTPUT_CALIB) { +// // Valve Dead Zone (Mechanical dead-zone canceling) +// // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) { +// // if (V_out > 0.) { +// // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS; +// // } else if (V_out < 0.) { +// // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS; +// // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER; +// // } else VALVE_PWM_VALVE_DZ = (int) V_out; +// +// if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS; +// else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS; +// +// VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER; +// +// // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone) +// float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV +// float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin); +// +// if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143; +// else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138; +// else V_out = CUR_PWM_DZ; +// } else { +// V_out = V_out; +// } /******************************************************* *** PWM @@ -1695,7 +1652,7 @@ if (flag_data_request[0] == HIGH) { //position+velocity //CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen); - CAN_TX_POSITION((int16_t) (pos.sen/4.0f), (int16_t) (V_out/100.0f), (int16_t) (torq.sen*10.0f)); + CAN_TX_POSITION((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f)); } if (flag_data_request[1] == HIGH) { @@ -1703,9 +1660,9 @@ //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.)); //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM)); double t_value = 0; - if(value>=DDV_CENTER){ + if(value>=DDV_CENTER) { t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER); - }else{ + } else { t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER); } CAN_TX_TORQUE((int16_t) (t_value)); @@ -1713,7 +1670,7 @@ if (flag_data_request[2] == HIGH) { //pressure A and B - CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (PRES_A_VREF * 1000.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar) + CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar) //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.)); // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.); @@ -1741,7 +1698,7 @@ // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos); // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate); } - + } TIM2->SR = 0x0; // reset the status register @@ -1788,3 +1745,4 @@ +