Sungwoo Kim
/
HydraulicControlBoard_PostLIGHT_210420
LIGHT2
main.cpp@126:146cf8e5540b, 2020-09-16 (annotated)
- Committer:
- Lightvalve
- Date:
- Wed Sep 16 06:53:36 2020 +0000
- Revision:
- 126:146cf8e5540b
- Parent:
- 125:2397bee14630
- Child:
- 127:15751f2bad9b
200916-3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 126:146cf8e5540b | 1 | //200916-3 |
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 | 65:a2d7c63419c2 | 11 | #include "FlashWriter.h" |
Lightvalve | 61:bc8c8270f0ab | 12 | |
Lightvalve | 61:bc8c8270f0ab | 13 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 14 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 15 | |
Lightvalve | 31:66738bfecec5 | 16 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 17 | |
jobuuu | 7:e9086c72bb22 | 18 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 20 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 22 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 26 | |
Lightvalve | 24:ef6e1092e9e6 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 29 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 30 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 31 | |
jobuuu | 7:e9086c72bb22 | 32 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 33 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 34 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 35 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 36 | |
jobuuu | 7:e9086c72bb22 | 37 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 38 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 39 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 40 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 41 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 42 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 43 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 44 | |
jobuuu | 7:e9086c72bb22 | 45 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 46 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 50 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 51 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 52 | { |
Lightvalve | 11:82d8768d7351 | 53 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 54 | } |
jobuuu | 2:a1c0a37df760 | 55 | |
jobuuu | 7:e9086c72bb22 | 56 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 57 | State pos; |
jobuuu | 7:e9086c72bb22 | 58 | State vel; |
jobuuu | 7:e9086c72bb22 | 59 | State Vout; |
jobuuu | 7:e9086c72bb22 | 60 | State torq; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 62 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 63 | State cur; |
Lightvalve | 14:8e7590227d22 | 64 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 65 | |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 70 | |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 72 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 73 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 74 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | |
Lightvalve | 61:bc8c8270f0ab | 83 | |
Lightvalve | 61:bc8c8270f0ab | 84 | |
Lightvalve | 61:bc8c8270f0ab | 85 | |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | |
Lightvalve | 12:6f2531038ea4 | 90 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 91 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 92 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 93 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 94 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 100 | }; |
Lightvalve | 12:6f2531038ea4 | 101 | |
Lightvalve | 12:6f2531038ea4 | 102 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 103 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 104 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 105 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 106 | //control mode |
Lightvalve | 12:6f2531038ea4 | 107 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 108 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 109 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 110 | |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 12:6f2531038ea4 | 112 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 |
Lightvalve | 12:6f2531038ea4 | 113 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 114 | |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 121 | |
Lightvalve | 14:8e7590227d22 | 122 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 124 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 125 | |
Lightvalve | 12:6f2531038ea4 | 126 | //utility |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 130 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 134 | |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 138 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 139 | }; |
Lightvalve | 12:6f2531038ea4 | 140 | |
Lightvalve | 65:a2d7c63419c2 | 141 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 142 | { |
Lightvalve | 65:a2d7c63419c2 | 143 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 144 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 145 | |
Lightvalve | 65:a2d7c63419c2 | 146 | /** Configure the main internal regulator output voltage |
Lightvalve | 65:a2d7c63419c2 | 147 | */ |
Lightvalve | 65:a2d7c63419c2 | 148 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 65:a2d7c63419c2 | 149 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 65:a2d7c63419c2 | 150 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 151 | */ |
Lightvalve | 65:a2d7c63419c2 | 152 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 65:a2d7c63419c2 | 154 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 65:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 65:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 65:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 65:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 65:a2d7c63419c2 | 161 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 65:a2d7c63419c2 | 162 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 163 | { |
Lightvalve | 65:a2d7c63419c2 | 164 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 165 | } |
Lightvalve | 65:a2d7c63419c2 | 166 | /** Activate the Over-Drive mode |
Lightvalve | 65:a2d7c63419c2 | 167 | */ |
Lightvalve | 65:a2d7c63419c2 | 168 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 169 | { |
Lightvalve | 65:a2d7c63419c2 | 170 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 171 | } |
Lightvalve | 65:a2d7c63419c2 | 172 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 173 | */ |
Lightvalve | 65:a2d7c63419c2 | 174 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 65:a2d7c63419c2 | 175 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 65:a2d7c63419c2 | 176 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 65:a2d7c63419c2 | 177 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 65:a2d7c63419c2 | 179 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 180 | |
Lightvalve | 65:a2d7c63419c2 | 181 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 182 | { |
Lightvalve | 65:a2d7c63419c2 | 183 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 184 | } |
Lightvalve | 65:a2d7c63419c2 | 185 | } |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 99:7bbcb3c0fb06 | 187 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 189 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 190 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 191 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 192 | |
Lightvalve | 73:f80dc3970c99 | 193 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 194 | |
Lightvalve | 112:8dcb1600cb90 | 195 | const float h1[num_input][16] = { |
Lightvalve | 126:146cf8e5540b | 196 | {2.2660818099975586f,-0.5446878671646118f,0.11869695782661438f,1.0644947290420532f,-0.42345622181892395f,-1.0027719736099243f,-0.1607273668050766f,-0.35696759819984436f,-0.2629825472831726f,-0.05417454242706299f,-0.19686724245548248f,-3.1223154067993164f,-0.3275544345378876f,1.5543668270111084f,-0.23655231297016144f,0.6058546304702759f}, |
Lightvalve | 126:146cf8e5540b | 197 | {-0.3340113162994385f,0.9344584941864014f,-0.36131036281585693f,1.2413338422775269f,-0.3508710265159607f,0.5410084128379822f,-0.37291479110717773f,-0.1955154538154602f,-0.0795474648475647f,0.13506563007831573f,-0.23348858952522278f,-1.5765979290008545f,-0.8627661466598511f,-0.8677172660827637f,-0.1928754448890686f,-0.176744744181633f}, |
Lightvalve | 126:146cf8e5540b | 198 | {-0.2980824410915375f,0.5311776995658875f,0.3347502052783966f,0.27214208245277405f,-0.13615036010742188f,0.36307936906814575f,0.26419779658317566f,-0.05752198025584221f,-0.15463246405124664f,0.13771727681159973f,-0.3014680743217468f,-0.9091013073921204f,-0.4446467161178589f,-0.1481391042470932f,0.051422566175460815f,-0.20611926913261414f}, |
Lightvalve | 126:146cf8e5540b | 199 | {-0.1946468949317932f,-0.04022150859236717f,0.3655742108821869f,0.27840369939804077f,-0.10159263014793396f,-0.24385257065296173f,-0.10656246542930603f,0.1560303419828415f,0.014389928430318832f,0.2599664628505707f,0.10678590834140778f,0.12142544239759445f,0.01254330761730671f,-0.027686966583132744f,-0.2724146544933319f,0.21722380816936493f}, |
Lightvalve | 126:146cf8e5540b | 200 | {0.22439630329608917f,-0.05050037428736687f,-0.0047328174114227295f,-0.08864273130893707f,-0.06066639721393585f,-0.08039072901010513f,0.11903384327888489f,-0.19345282018184662f,0.02024240978062153f,0.08817192167043686f,0.33854761719703674f,0.27467113733291626f,0.43208783864974976f,0.15765900909900665f,-0.3555334210395813f,-0.07255319505929947f}, |
Lightvalve | 126:146cf8e5540b | 201 | {0.3829791843891144f,-0.797376811504364f,0.20028522610664368f,-0.4065952003002167f,0.16118185222148895f,-0.4696034789085388f,0.1519084870815277f,-0.4536861777305603f,0.02322372980415821f,0.09475096315145493f,-0.20924794673919678f,0.9529430866241455f,0.6464860439300537f,0.37877801060676575f,-0.3801653981208801f,-0.03540924936532974f}, |
Lightvalve | 126:146cf8e5540b | 202 | {0.10477444529533386f,-0.6684889197349548f,-0.2301493138074875f,-1.2617266178131104f,-0.3768823444843292f,-0.12981663644313812f,0.05532243847846985f,-0.4961535930633545f,0.3287629187107086f,0.04749613255262375f,0.15671561658382416f,1.2736989259719849f,0.8550129532814026f,0.46973884105682373f,-0.14366863667964935f,0.22389616072177887f}, |
Lightvalve | 126:146cf8e5540b | 203 | {-0.5132301449775696f,-0.2958914041519165f,-0.2448660284280777f,-0.7688301205635071f,-0.3952694237232208f,0.05504896119236946f,-0.1648942232131958f,-0.36137551069259644f,0.004650638438761234f,0.09257475286722183f,0.11364307999610901f,0.7861748337745667f,1.500432014465332f,0.004925147630274296f,0.03958237171173096f,-0.004430731292814016f}, |
Lightvalve | 126:146cf8e5540b | 204 | {-0.007323102559894323f,0.3751943111419678f,0.09426882863044739f,-0.8429116606712341f,-0.38943925499916077f,0.2605385184288025f,-0.06666257977485657f,-0.5055236220359802f,-0.2679147720336914f,0.30622756481170654f,-0.25688356161117554f,0.3165963590145111f,0.955748438835144f,0.1579241007566452f,-0.2810676395893097f,-0.0451207272708416f}, |
Lightvalve | 126:146cf8e5540b | 205 | {0.23219193518161774f,-0.3416672945022583f,0.16983172297477722f,-0.9100035429000854f,-0.2867138683795929f,0.16819216310977936f,-0.27508974075317383f,-0.28675082325935364f,-0.025955498218536377f,-0.4465029239654541f,0.008790715597569942f,-0.7600748538970947f,1.2755160331726074f,0.03601758927106857f,0.320571631193161f,-0.2019282728433609f}, |
Lightvalve | 126:146cf8e5540b | 206 | {1.1059352159500122f,-0.1302625983953476f,0.3420287072658539f,-0.48925524950027466f,-0.4248512089252472f,-0.18703703582286835f,-0.1870943307876587f,-0.2316165715456009f,-0.41093647480010986f,0.010892712511122227f,0.33672773838043213f,-1.0168510675430298f,0.5908714532852173f,0.4048658013343811f,0.2454969584941864f,-0.4645782709121704f}, |
Lightvalve | 126:146cf8e5540b | 207 | {0.8743252754211426f,-1.2937406301498413f,-0.3708900809288025f,-1.3262850046157837f,-0.22890035808086395f,-0.8532453179359436f,0.1410880982875824f,0.16530188918113708f,-0.15566834807395935f,0.1674504280090332f,-0.3646964132785797f,0.3105885088443756f,1.1087874174118042f,0.9595321416854858f,0.0965304970741272f,0.3706308901309967f}, |
Lightvalve | 126:146cf8e5540b | 208 | {-1.1250561475753784f,1.3527560234069824f,0.18257471919059753f,1.9253339767456055f,0.42921411991119385f,1.8764876127243042f,-0.22116509079933167f,0.0782991424202919f,-0.17554795742034912f,-0.21159234642982483f,-0.08385176956653595f,-1.8764336109161377f,-1.7386224269866943f,-1.515416145324707f,-0.20483672618865967f,-2.307525634765625f}, |
Lightvalve | 126:146cf8e5540b | 209 | {-0.8271458148956299f,1.0128202438354492f,0.3797040283679962f,1.822304606437683f,-0.14876097440719604f,0.7276181578636169f,-0.2943691909313202f,-0.3184182047843933f,-0.11459491401910782f,-0.2354682981967926f,-0.16216588020324707f,-1.3817857503890991f,-2.0736887454986572f,-0.8372222185134888f,0.04412442445755005f,-0.8550829291343689f}, |
Lightvalve | 126:146cf8e5540b | 210 | {-0.2759566307067871f,-0.14272060990333557f,0.18657007813453674f,0.43931838870048523f,0.4162310063838959f,-0.1770905703306198f,0.03866097331047058f,0.2568913400173187f,0.2898373603820801f,0.044508397579193115f,-0.2393093854188919f,1.2000733613967896f,-0.03205568715929985f,-0.001288468251004815f,0.061455368995666504f,-0.004366652108728886f}, |
Lightvalve | 126:146cf8e5540b | 211 | {-0.30321362614631653f,-0.9920729994773865f,-0.3719911277294159f,-0.5087084770202637f,-0.10874176770448685f,-0.5181922912597656f,-0.14320695400238037f,-0.0033372845500707626f,0.19780538976192474f,-0.03908044844865799f,-0.4176109731197357f,2.504629373550415f,0.4539322853088379f,0.4648798406124115f,-0.07585105299949646f,0.45601406693458557f}, |
Lightvalve | 126:146cf8e5540b | 212 | {-0.4034893810749054f,-0.537429928779602f,0.15367546677589417f,-0.007174568250775337f,-0.01674634777009487f,-0.5260472893714905f,-0.03809577226638794f,0.011647170409560204f,-0.04527563974261284f,0.045756831765174866f,-0.3066519796848297f,2.113722085952759f,0.47472047805786133f,0.6024358868598938f,0.2706928551197052f,0.1626371294260025f}, |
Lightvalve | 126:146cf8e5540b | 213 | {-0.32091593742370605f,-0.010275091975927353f,0.19238951802253723f,0.2393609881401062f,-0.4380570352077484f,-0.138492614030838f,-0.3321329653263092f,0.11736614257097244f,-0.36111876368522644f,-0.14657460153102875f,-0.13434356451034546f,0.768983006477356f,-0.0058406926691532135f,-0.013810286298394203f,-0.2528328001499176f,0.09790027886629105f}, |
Lightvalve | 126:146cf8e5540b | 214 | {-0.35950252413749695f,-0.07940101623535156f,-0.2740192711353302f,0.3743042051792145f,0.21962927281856537f,-0.26802054047584534f,0.25216367840766907f,-0.2800918519496918f,-0.3568187355995178f,-0.0066948989406228065f,-0.3720874786376953f,0.5772223472595215f,-0.1532304286956787f,0.4376605749130249f,-0.3002290427684784f,-0.11009340733289719f}, |
Lightvalve | 126:146cf8e5540b | 215 | {0.166444793343544f,0.2906187176704407f,0.14025375247001648f,-0.17721199989318848f,-0.33540642261505127f,0.1900324821472168f,-0.13092294335365295f,-0.3154311776161194f,-0.14703726768493652f,0.012514603324234486f,0.1174643412232399f,0.2969799041748047f,-0.23764364421367645f,0.39988163113594055f,0.13178887963294983f,0.24357229471206665f}, |
Lightvalve | 126:146cf8e5540b | 216 | {-0.3419628143310547f,-0.23532786965370178f,-0.07463794946670532f,0.07387944310903549f,-0.4219583570957184f,0.003691714722663164f,0.14242276549339294f,0.05076615512371063f,-0.342336505651474f,-0.3135744035243988f,-0.3598584234714508f,-0.5170814990997314f,-0.6963614821434021f,0.34360653162002563f,0.019209951162338257f,0.16732533276081085f}, |
Lightvalve | 126:146cf8e5540b | 217 | {-0.3852955102920532f,-0.3162367343902588f,0.259783536195755f,-0.6215041279792786f,0.01865581050515175f,-0.1508845090866089f,0.268736869096756f,0.05269892141222954f,-0.05536987632513046f,0.06323613971471786f,0.05504212900996208f,-0.6439156532287598f,-0.20526282489299774f,0.043203845620155334f,0.0593419075012207f,-0.05935557559132576f}, |
Lightvalve | 126:146cf8e5540b | 218 | {0.07565288245677948f,0.22836607694625854f,-0.3453083634376526f,-0.3706134259700775f,-0.5899545550346375f,-0.2265995591878891f,-0.1239042580127716f,0.01368409302085638f,-0.2664497196674347f,0.3014354407787323f,0.3553413450717926f,-0.3940286338329315f,-0.3204349875450134f,-0.07304757833480835f,-0.33547061681747437f,0.06628794968128204f}, |
Lightvalve | 65:a2d7c63419c2 | 219 | }; |
Lightvalve | 65:a2d7c63419c2 | 220 | |
Lightvalve | 112:8dcb1600cb90 | 221 | const float h2[16][16] = { |
Lightvalve | 126:146cf8e5540b | 222 | {-1.0379235744476318f,0.133081316947937f,-0.06966331601142883f,-0.14719749987125397f,-0.21907491981983185f,1.4982120990753174f,0.1541646420955658f,-0.09287100285291672f,-0.43008196353912354f,-0.1415480375289917f,0.3646567761898041f,-0.45749279856681824f,-0.07319732755422592f,-0.6931941509246826f,-1.155229926109314f,0.11530066281557083f}, |
Lightvalve | 126:146cf8e5540b | 223 | {0.6120100021362305f,-1.4736982583999634f,0.057057321071624756f,-0.22642001509666443f,-0.35503754019737244f,0.9041410088539124f,-0.2765226662158966f,-0.45333215594291687f,-0.33757925033569336f,0.2895788848400116f,-0.8840673565864563f,-0.779664158821106f,0.09308735281229019f,1.3234649896621704f,0.3182397782802582f,-0.7992005348205566f}, |
Lightvalve | 112:8dcb1600cb90 | 224 | {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f}, |
Lightvalve | 126:146cf8e5540b | 225 | {-0.11704449355602264f,0.09567742794752121f,-0.2894435524940491f,0.12732017040252686f,0.08946844935417175f,1.0337578058242798f,-0.34026724100112915f,0.22960981726646423f,0.26211628317832947f,0.2953031361103058f,-0.34022030234336853f,0.12152501940727234f,-0.4844122529029846f,0.7942899465560913f,0.9857823252677917f,-0.7272011637687683f}, |
Lightvalve | 126:146cf8e5540b | 226 | {0.03351781517267227f,0.3369673490524292f,-0.25313520431518555f,0.27107781171798706f,0.036378175020217896f,0.10655244439840317f,-0.23565807938575745f,-0.11553396284580231f,-0.024399548768997192f,-0.39465832710266113f,-0.18631578981876373f,-0.44787129759788513f,0.054566942155361176f,0.13630984723567963f,-0.095325767993927f,-0.2601047456264496f}, |
Lightvalve | 126:146cf8e5540b | 227 | {0.6916640996932983f,-0.9033540487289429f,-0.3519742488861084f,0.07435090094804764f,-0.3015052080154419f,-0.46749669313430786f,-0.5685623288154602f,-0.18781714141368866f,-0.23047015070915222f,0.3579089343547821f,-0.5034053921699524f,-0.2635588049888611f,-0.4369893968105316f,0.5710563659667969f,1.3814140558242798f,-0.45286500453948975f}, |
Lightvalve | 112:8dcb1600cb90 | 228 | {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f}, |
Lightvalve | 126:146cf8e5540b | 229 | {0.12986847758293152f,0.27203619480133057f,0.33083590865135193f,-0.25850799679756165f,-0.14358049631118774f,-0.31704509258270264f,-0.09043094515800476f,-0.3300655782222748f,0.2600560486316681f,-0.37898191809654236f,0.36908823251724243f,-0.3198593854904175f,-0.409888356924057f,0.38091862201690674f,0.03372413292527199f,0.07647655159235f}, |
Lightvalve | 126:146cf8e5540b | 230 | {-0.21295024454593658f,0.3081499934196472f,-0.11379697918891907f,0.06787455081939697f,0.041274964809417725f,-0.37732765078544617f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.02534169889986515f,-0.29031556844711304f,-0.37024784088134766f,-0.25407493114471436f,-0.3610716760158539f,-0.2546393871307373f}, |
Lightvalve | 126:146cf8e5540b | 231 | {0.09721653163433075f,0.1683967411518097f,-0.13502129912376404f,0.11311661452054977f,0.12987366318702698f,0.03902279585599899f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.1804199367761612f,0.36860156059265137f,0.3811538517475128f,-0.19220827519893646f,0.06400047987699509f,-0.28095385432243347f}, |
Lightvalve | 126:146cf8e5540b | 232 | {-0.2753659784793854f,-0.03422274440526962f,0.0457797646522522f,-0.3964180052280426f,-0.03321319818496704f,-0.4470348656177521f,0.17873415350914001f,-0.2096310406923294f,-0.050184011459350586f,0.12480869889259338f,-0.24370472133159637f,0.3252077102661133f,-0.3647043704986572f,0.44357529282569885f,-0.36619603633880615f,-0.31300079822540283f}, |
Lightvalve | 126:146cf8e5540b | 233 | {0.8870222568511963f,1.768273949623108f,0.3954955041408539f,-0.029536575078964233f,0.0033026933670043945f,-0.07082922011613846f,-0.2370317429304123f,-0.2953222990036011f,0.3487861454486847f,-0.32520344853401184f,0.7155388593673706f,-0.4847662150859833f,-0.17324957251548767f,-1.5336089134216309f,-0.19414305686950684f,0.6667885184288025f}, |
Lightvalve | 126:146cf8e5540b | 234 | {0.36384347081184387f,0.005962439347058535f,-0.15798500180244446f,0.04848281666636467f,-0.37393757700920105f,0.07726680487394333f,-0.049870558083057404f,-0.32391414046287537f,-0.3764709532260895f,0.2424570620059967f,0.29358938336372375f,-0.7662584185600281f,0.14414775371551514f,0.23623888194561005f,-0.014642711728811264f,0.7192512154579163f}, |
Lightvalve | 126:146cf8e5540b | 235 | {-0.4565339982509613f,0.5560159087181091f,-0.2018718123435974f,-0.18104422092437744f,0.07545611262321472f,-0.020896825939416885f,-0.2275303304195404f,-0.3963051438331604f,-0.24509364366531372f,0.19522181153297424f,1.0363281965255737f,-0.7779356241226196f,-0.48935624957084656f,-1.1848509311676025f,-1.1435903310775757f,0.07298077642917633f}, |
Lightvalve | 112:8dcb1600cb90 | 236 | {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, |
Lightvalve | 126:146cf8e5540b | 237 | {0.5025356411933899f,0.4808608591556549f,0.12081471085548401f,-0.3138759136199951f,0.29976895451545715f,0.6712051033973694f,-0.13040025532245636f,0.12609733641147614f,-0.3893685042858124f,-0.02222958207130432f,0.4428107738494873f,-0.8106343746185303f,-0.47380611300468445f,0.3721110224723816f,-0.3175090551376343f,-0.023868253454566002f}, |
Lightvalve | 65:a2d7c63419c2 | 238 | }; |
Lightvalve | 65:a2d7c63419c2 | 239 | |
Lightvalve | 112:8dcb1600cb90 | 240 | const float h3[16][16] = { |
Lightvalve | 126:146cf8e5540b | 241 | {-0.36079341173171997f,-0.6791926026344299f,-1.2455590963363647f,-1.8249280452728271f,0.50666344165802f,-0.5325488448143005f,0.2264399379491806f,0.8850579261779785f,-0.4813840091228485f,-0.22387273609638214f,-3.2368218898773193f,0.22275273501873016f,-0.3702091872692108f,-1.0809537172317505f,-0.5527320504188538f,1.1077548265457153f}, |
Lightvalve | 126:146cf8e5540b | 242 | {0.047732532024383545f,0.20250749588012695f,0.005946281831711531f,-2.4827346801757812f,0.06175512447953224f,0.5240634083747864f,-0.4360813498497009f,0.3787638247013092f,0.2535857856273651f,-0.4180409014225006f,1.5193861722946167f,-0.4751662611961365f,-0.2968856394290924f,0.06714916974306107f,-0.6841952204704285f,-2.135225296020508f}, |
Lightvalve | 115:f41863b95e6f | 243 | {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f}, |
Lightvalve | 126:146cf8e5540b | 244 | {-0.30922991037368774f,-0.15589675307273865f,0.34225794672966003f,-0.3719671964645386f,-0.11995722353458405f,0.001689257798716426f,0.20021501183509827f,0.002378920093178749f,-0.23928304016590118f,-0.365601509809494f,0.13192829489707947f,0.35806775093078613f,0.019505009055137634f,0.049362268298864365f,0.12382330745458603f,0.057659976184368134f}, |
Lightvalve | 125:2397bee14630 | 245 | {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f}, |
Lightvalve | 126:146cf8e5540b | 246 | {-0.37449589371681213f,-0.1950235664844513f,-0.5279949307441711f,1.1395740509033203f,0.2295796424150467f,0.012125378474593163f,-0.2751339375972748f,-1.4852973222732544f,-0.39693039655685425f,-0.2241286188364029f,0.5349912643432617f,0.029919350519776344f,0.4018494486808777f,0.17159178853034973f,0.6510624885559082f,-2.406169891357422f}, |
Lightvalve | 126:146cf8e5540b | 247 | {0.4110594093799591f,0.21534739434719086f,-0.23537102341651917f,0.28398624062538147f,0.18285103142261505f,-0.13844221830368042f,-0.08670487999916077f,-0.4278556704521179f,-0.030661463737487793f,-0.06259563565254211f,-0.15624940395355225f,0.35313835740089417f,0.24638794362545013f,0.00968971662223339f,0.26019975543022156f,-0.3391006588935852f}, |
Lightvalve | 126:146cf8e5540b | 248 | {-0.40892091393470764f,-0.04911021515727043f,-0.30747368931770325f,0.3544166386127472f,0.42156586050987244f,-0.1375376433134079f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.1995883285999298f,-0.34782713651657104f,-0.013582163490355015f,-0.024241622537374496f}, |
Lightvalve | 115:f41863b95e6f | 249 | {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f}, |
Lightvalve | 125:2397bee14630 | 250 | {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, |
Lightvalve | 126:146cf8e5540b | 251 | {0.15459725260734558f,0.7163918614387512f,-0.6403118968009949f,-0.1639547049999237f,-0.5444389581680298f,0.5002370476722717f,-0.1983482986688614f,0.3064975142478943f,-0.08360356092453003f,-0.48247990012168884f,0.09057217836380005f,-0.4818568527698517f,-0.30963262915611267f,-0.6078660488128662f,0.7347269058227539f,-1.6883602142333984f}, |
Lightvalve | 126:146cf8e5540b | 252 | {-0.408692330121994f,0.2943980097770691f,-0.06173360347747803f,0.1156122162938118f,-0.14173220098018646f,-0.024785175919532776f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.6756531000137329f,0.24639484286308289f,-0.10867234319448471f,0.36541664600372314f}, |
Lightvalve | 126:146cf8e5540b | 253 | {-0.2991822361946106f,0.31579408049583435f,-0.02543068118393421f,-0.05932474136352539f,0.14145930111408234f,0.17751197516918182f,-0.11253207921981812f,0.19669762253761292f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.07313438504934311f,-0.05399429798126221f,0.17149503529071808f,-0.31058910489082336f}, |
Lightvalve | 126:146cf8e5540b | 254 | {-0.2675279378890991f,0.028933901339769363f,1.045002818107605f,0.012741477228701115f,0.35335877537727356f,-0.5889517068862915f,-0.2641124427318573f,-2.0574941635131836f,-0.5086210370063782f,-0.5254963636398315f,-1.782651662826538f,-0.7127118110656738f,0.6176373362541199f,-0.7961845397949219f,0.8811091780662537f,0.1159323900938034f}, |
Lightvalve | 126:146cf8e5540b | 255 | {-0.015470266342163086f,0.5419120788574219f,0.1470305472612381f,-0.15800152719020844f,1.5208746194839478f,0.40400007367134094f,-0.024477755650877953f,0.4607020318508148f,-0.516078531742096f,-0.5644939541816711f,-0.48454344272613525f,-0.32996994256973267f,0.1927938610315323f,0.37666407227516174f,0.6253973841667175f,0.823915421962738f}, |
Lightvalve | 126:146cf8e5540b | 256 | {0.1863725483417511f,0.40191102027893066f,0.14646016061306f,-1.9016780853271484f,0.20119011402130127f,0.2791161835193634f,-0.06154642254114151f,0.2495824545621872f,-0.07567248493432999f,0.07917626947164536f,-0.6304593682289124f,0.028020502999424934f,0.03420177102088928f,-0.6877672076225281f,-0.11548148840665817f,-0.42344602942466736f}, |
Lightvalve | 66:a8e6799dbce3 | 257 | }; |
Lightvalve | 65:a2d7c63419c2 | 258 | |
Lightvalve | 126:146cf8e5540b | 259 | const float hout[16] = { 0.45773375034332275f,0.09332532435655594f,-0.1844533234834671f,-0.28953805565834045f,-0.2272268384695053f,0.23726938664913177f,-0.08956165611743927f,0.27231523394584656f,0.11530358344316483f,-0.036525070667266846f,0.1618582010269165f,-0.10062330216169357f,-0.1317339986562729f,0.1727394461631775f,0.19315701723098755f,-0.17882952094078064f }; |
Lightvalve | 66:a8e6799dbce3 | 260 | |
Lightvalve | 126:146cf8e5540b | 261 | const float b1[16] = { 0.5832811594009399f,1.0798215866088867f,-1.7145336866378784f,0.5966213345527649f,0.9764465689659119f,0.9771834015846252f,-0.058932315558195114f,0.7898977398872375f,0.5242074728012085f,-0.9275254607200623f,0.5938812494277954f,1.2476818561553955f,-0.7679874897003174f,-0.7304303050041199f,-1.087764859199524f,1.0959287881851196f }; |
Lightvalve | 87:471334725012 | 262 | |
Lightvalve | 126:146cf8e5540b | 263 | const float b2[16] = { 0.43903544545173645f,-1.229790210723877f,-1.4564176797866821f,-0.7689498066902161f,-0.6939148902893066f,0.1927376389503479f,0.3919122517108917f,-0.49416452646255493f,-1.20063054561615f,-1.912178635597229f,0.15161100029945374f,0.3247258961200714f,-0.35111621022224426f,1.9910045862197876f,0.18655620515346527f,1.0135984420776367f }; |
Lightvalve | 65:a2d7c63419c2 | 264 | |
Lightvalve | 126:146cf8e5540b | 265 | const float b3[16] = { -1.963319182395935f,-0.26877960562705994f,0.621764063835144f,-1.049706220626831f,0.016289880499243736f,0.7925111651420593f,-0.5585779547691345f,-1.7759090662002563f,0.43397989869117737f,0.2718099355697632f,-0.7883687019348145f,-0.12879030406475067f,-0.7222028970718384f,-0.009602507576346397f,-0.6739954352378845f,-0.9298136830329895f }; |
Lightvalve | 87:471334725012 | 266 | |
Lightvalve | 126:146cf8e5540b | 267 | const float bout[1] = { -0.22867871820926666f }; |
Lightvalve | 65:a2d7c63419c2 | 268 | |
Lightvalve | 66:a8e6799dbce3 | 269 | |
Lightvalve | 87:471334725012 | 270 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 271 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 272 | |
GiJeongKim | 0:51c43836c1d7 | 273 | int main() |
GiJeongKim | 0:51c43836c1d7 | 274 | { |
Lightvalve | 66:a8e6799dbce3 | 275 | |
Lightvalve | 65:a2d7c63419c2 | 276 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 277 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 278 | |
jobuuu | 6:df07d3491e3a | 279 | /********************************* |
jobuuu | 1:e04e563be5ce | 280 | *** Initialization |
jobuuu | 6:df07d3491e3a | 281 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 282 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 283 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 284 | |
GiJeongKim | 0:51c43836c1d7 | 285 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 286 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 287 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 288 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 289 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 290 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 291 | |
GiJeongKim | 0:51c43836c1d7 | 292 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 293 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 294 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 295 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 296 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 297 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 298 | |
Lightvalve | 16:903b5a4433b4 | 299 | //rom |
Lightvalve | 19:23b7c1ad8683 | 300 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 301 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 302 | |
GiJeongKim | 0:51c43836c1d7 | 303 | // ADC init |
jobuuu | 5:a4319f79457b | 304 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 305 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 306 | |
GiJeongKim | 0:51c43836c1d7 | 307 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 308 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 309 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 310 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 311 | |
Lightvalve | 11:82d8768d7351 | 312 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 313 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 314 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 315 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 316 | |
Lightvalve | 50:3c630b5eba9f | 317 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 318 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 319 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 320 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 321 | |
GiJeongKim | 0:51c43836c1d7 | 322 | // CAN |
jobuuu | 2:a1c0a37df760 | 323 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 324 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 325 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 326 | |
Lightvalve | 23:59218d4a256d | 327 | //Timer priority |
Lightvalve | 23:59218d4a256d | 328 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 329 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 330 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 331 | |
Lightvalve | 23:59218d4a256d | 332 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 333 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 334 | |
GiJeongKim | 0:51c43836c1d7 | 335 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 336 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 337 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 338 | |
Lightvalve | 11:82d8768d7351 | 339 | //DAC init |
Lightvalve | 58:2eade98630e2 | 340 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 341 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 342 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 343 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 344 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 345 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 346 | } |
Lightvalve | 11:82d8768d7351 | 347 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 348 | |
Lightvalve | 19:23b7c1ad8683 | 349 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 350 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 351 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 352 | else |
Lightvalve | 38:118df027d851 | 353 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 354 | } |
Lightvalve | 61:bc8c8270f0ab | 355 | |
Lightvalve | 61:bc8c8270f0ab | 356 | |
jobuuu | 6:df07d3491e3a | 357 | /************************************ |
jobuuu | 1:e04e563be5ce | 358 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 359 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 360 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 361 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 362 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 363 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 364 | |
Lightvalve | 65:a2d7c63419c2 | 365 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 366 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 367 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 368 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 369 | // } else |
Lightvalve | 65:a2d7c63419c2 | 370 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 371 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 372 | //} |
Lightvalve | 66:a8e6799dbce3 | 373 | |
Lightvalve | 66:a8e6799dbce3 | 374 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 375 | |
Lightvalve | 87:471334725012 | 376 | //LED = 0; |
Lightvalve | 87:471334725012 | 377 | |
Lightvalve | 73:f80dc3970c99 | 378 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 379 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 380 | } |
Lightvalve | 66:a8e6799dbce3 | 381 | |
Lightvalve | 73:f80dc3970c99 | 382 | else if(NN_Control_Flag == 1) { |
Lightvalve | 117:7141c0517b82 | 383 | |
Lightvalve | 117:7141c0517b82 | 384 | int ind = 0; |
Lightvalve | 117:7141c0517b82 | 385 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 118:af86e883dcb4 | 386 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 117:7141c0517b82 | 387 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 388 | } |
Lightvalve | 117:7141c0517b82 | 389 | |
Lightvalve | 117:7141c0517b82 | 390 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 118:af86e883dcb4 | 391 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 117:7141c0517b82 | 392 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 393 | } |
Lightvalve | 117:7141c0517b82 | 394 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 117:7141c0517b82 | 395 | ind = ind + 1; |
Lightvalve | 121:89396c37b03e | 396 | |
Lightvalve | 122:dcb3ce3056a0 | 397 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 122:dcb3ce3056a0 | 398 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 399 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 400 | // } |
Lightvalve | 117:7141c0517b82 | 401 | |
Lightvalve | 117:7141c0517b82 | 402 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 118:af86e883dcb4 | 403 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 117:7141c0517b82 | 404 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 405 | } |
Lightvalve | 117:7141c0517b82 | 406 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 117:7141c0517b82 | 407 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 408 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 118:af86e883dcb4 | 409 | input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f; |
Lightvalve | 118:af86e883dcb4 | 410 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f; |
Lightvalve | 117:7141c0517b82 | 411 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 412 | } |
Lightvalve | 117:7141c0517b82 | 413 | |
Lightvalve | 112:8dcb1600cb90 | 414 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 415 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 416 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 417 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 418 | |
Lightvalve | 112:8dcb1600cb90 | 419 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 420 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 421 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 422 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 423 | } |
Lightvalve | 66:a8e6799dbce3 | 424 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 425 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 426 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 427 | } |
Lightvalve | 66:a8e6799dbce3 | 428 | } |
Lightvalve | 65:a2d7c63419c2 | 429 | |
Lightvalve | 112:8dcb1600cb90 | 430 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 431 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 432 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 433 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 434 | } |
Lightvalve | 66:a8e6799dbce3 | 435 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 436 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 437 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 438 | } |
Lightvalve | 66:a8e6799dbce3 | 439 | } |
Lightvalve | 65:a2d7c63419c2 | 440 | |
Lightvalve | 112:8dcb1600cb90 | 441 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 442 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 443 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 444 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 445 | } |
Lightvalve | 66:a8e6799dbce3 | 446 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 447 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 448 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 449 | } |
Lightvalve | 65:a2d7c63419c2 | 450 | } |
Lightvalve | 66:a8e6799dbce3 | 451 | |
Lightvalve | 66:a8e6799dbce3 | 452 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 453 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 454 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 455 | } |
Lightvalve | 66:a8e6799dbce3 | 456 | output = output + bout[index2]; |
Lightvalve | 73:f80dc3970c99 | 457 | |
Lightvalve | 66:a8e6799dbce3 | 458 | } |
Lightvalve | 73:f80dc3970c99 | 459 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 460 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 461 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 101:50159049a518 | 462 | |
Lightvalve | 66:a8e6799dbce3 | 463 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 464 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 465 | } else { |
Lightvalve | 66:a8e6799dbce3 | 466 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 467 | } |
Lightvalve | 87:471334725012 | 468 | |
Lightvalve | 88:d6e591bece22 | 469 | // // torque feedback |
Lightvalve | 88:d6e591bece22 | 470 | // torq.err = f_past[0] - torq.sen; //[N] |
Lightvalve | 88:d6e591bece22 | 471 | //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 88:d6e591bece22 | 472 | // torq.err_sum += torq.err/(float) 1500.0f; //[N] |
Lightvalve | 88:d6e591bece22 | 473 | // |
Lightvalve | 88:d6e591bece22 | 474 | // |
Lightvalve | 88:d6e591bece22 | 475 | // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f; |
Lightvalve | 88:d6e591bece22 | 476 | // |
Lightvalve | 88:d6e591bece22 | 477 | // if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 88:d6e591bece22 | 478 | // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 88:d6e591bece22 | 479 | // if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 88:d6e591bece22 | 480 | // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 481 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 482 | // valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 483 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 484 | // } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 88:d6e591bece22 | 485 | // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 486 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 487 | // valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 488 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 489 | // } |
Lightvalve | 88:d6e591bece22 | 490 | // } |
Lightvalve | 87:471334725012 | 491 | |
Lightvalve | 69:3995ffeaa786 | 492 | |
Lightvalve | 69:3995ffeaa786 | 493 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 494 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 495 | } else |
Lightvalve | 69:3995ffeaa786 | 496 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 497 | |
Lightvalve | 65:a2d7c63419c2 | 498 | } |
Lightvalve | 62:b5452adfb2cd | 499 | |
Lightvalve | 87:471334725012 | 500 | //LED = 1; |
Lightvalve | 69:3995ffeaa786 | 501 | |
Lightvalve | 66:a8e6799dbce3 | 502 | |
GiJeongKim | 0:51c43836c1d7 | 503 | } |
jobuuu | 1:e04e563be5ce | 504 | } |
jobuuu | 1:e04e563be5ce | 505 | |
Lightvalve | 33:91b17819ec30 | 506 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 507 | { |
Lightvalve | 14:8e7590227d22 | 508 | |
Lightvalve | 13:747daba9cf59 | 509 | int i = 0; |
Lightvalve | 48:889798ff9329 | 510 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 511 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 512 | 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 | 513 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 514 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 515 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 516 | } else { |
Lightvalve | 57:f4819de54e7a | 517 | 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 | 518 | } |
Lightvalve | 14:8e7590227d22 | 519 | } else { |
Lightvalve | 50:3c630b5eba9f | 520 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 521 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 522 | } else { |
Lightvalve | 57:f4819de54e7a | 523 | 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 | 524 | } |
Lightvalve | 13:747daba9cf59 | 525 | } |
Lightvalve | 13:747daba9cf59 | 526 | break; |
Lightvalve | 13:747daba9cf59 | 527 | } |
Lightvalve | 13:747daba9cf59 | 528 | } |
Lightvalve | 14:8e7590227d22 | 529 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 530 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 531 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 532 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 533 | } |
Lightvalve | 36:a46e63505ed8 | 534 | |
Lightvalve | 57:f4819de54e7a | 535 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 536 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 537 | |
Lightvalve | 13:747daba9cf59 | 538 | } |
jobuuu | 6:df07d3491e3a | 539 | |
jobuuu | 6:df07d3491e3a | 540 | |
Lightvalve | 30:8d561f16383b | 541 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 542 | { |
Lightvalve | 13:747daba9cf59 | 543 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 544 | |
Lightvalve | 38:118df027d851 | 545 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 546 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 547 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 548 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 549 | } |
Lightvalve | 38:118df027d851 | 550 | |
Lightvalve | 89:a7b45368ea0f | 551 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 552 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 553 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 554 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 555 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 556 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 557 | |
Lightvalve | 13:747daba9cf59 | 558 | 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 | 559 | |
Lightvalve | 18:b8adf1582ea3 | 560 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 561 | 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 | 562 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 563 | 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 | 564 | } else { |
Lightvalve | 48:889798ff9329 | 565 | 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 | 566 | } |
Lightvalve | 13:747daba9cf59 | 567 | break; |
Lightvalve | 13:747daba9cf59 | 568 | } |
Lightvalve | 13:747daba9cf59 | 569 | } |
Lightvalve | 59:f308b1656d9c | 570 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 571 | } |
Lightvalve | 13:747daba9cf59 | 572 | |
Lightvalve | 14:8e7590227d22 | 573 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 574 | 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 | 575 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 576 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 577 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 578 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 579 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 580 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 581 | 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 | 582 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 583 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 584 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 585 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 586 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 587 | }; // mV |
Lightvalve | 13:747daba9cf59 | 588 | |
Lightvalve | 30:8d561f16383b | 589 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 590 | { |
Lightvalve | 30:8d561f16383b | 591 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 592 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 593 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 594 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 595 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 596 | } else { |
Lightvalve | 13:747daba9cf59 | 597 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 598 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 599 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 600 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 601 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 602 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 603 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 604 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 605 | break; |
Lightvalve | 13:747daba9cf59 | 606 | } |
Lightvalve | 13:747daba9cf59 | 607 | } |
Lightvalve | 13:747daba9cf59 | 608 | } |
Lightvalve | 14:8e7590227d22 | 609 | |
Lightvalve | 13:747daba9cf59 | 610 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 611 | } |
jobuuu | 6:df07d3491e3a | 612 | |
Lightvalve | 57:f4819de54e7a | 613 | |
Lightvalve | 57:f4819de54e7a | 614 | |
Lightvalve | 57:f4819de54e7a | 615 | |
Lightvalve | 57:f4819de54e7a | 616 | |
jobuuu | 2:a1c0a37df760 | 617 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 618 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 619 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 620 | |
Lightvalve | 51:b46bed7fec80 | 621 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 622 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 623 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 624 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 625 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 626 | { |
Lightvalve | 19:23b7c1ad8683 | 627 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 628 | |
Lightvalve | 21:e5f1a43ea6f9 | 629 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 630 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 631 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 632 | |
Lightvalve | 57:f4819de54e7a | 633 | //Encoder |
Lightvalve | 57:f4819de54e7a | 634 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 635 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 636 | } |
Lightvalve | 61:bc8c8270f0ab | 637 | |
Lightvalve | 61:bc8c8270f0ab | 638 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 639 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 640 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 641 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 642 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 643 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 644 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 645 | |
Lightvalve | 67:c2812cf26c38 | 646 | |
Lightvalve | 67:c2812cf26c38 | 647 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 648 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 649 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 650 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 651 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 652 | |
Lightvalve | 17:1865016ca2e7 | 653 | |
Lightvalve | 58:2eade98630e2 | 654 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 655 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 656 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 657 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 658 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 659 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 660 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 661 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 662 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 663 | |
Lightvalve | 58:2eade98630e2 | 664 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 665 | 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 | 666 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 667 | 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 | 668 | } |
Lightvalve | 58:2eade98630e2 | 669 | } |
Lightvalve | 61:bc8c8270f0ab | 670 | |
Lightvalve | 58:2eade98630e2 | 671 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 672 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 673 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 674 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 675 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 676 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 677 | // 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 | 678 | // |
Lightvalve | 58:2eade98630e2 | 679 | // |
Lightvalve | 58:2eade98630e2 | 680 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 681 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 682 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 683 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 684 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 685 | |
Lightvalve | 17:1865016ca2e7 | 686 | |
Lightvalve | 21:e5f1a43ea6f9 | 687 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 688 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 689 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 690 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 691 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 692 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 693 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 694 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 695 | |
Lightvalve | 57:f4819de54e7a | 696 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 697 | } |
Lightvalve | 11:82d8768d7351 | 698 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 699 | } |
Lightvalve | 19:23b7c1ad8683 | 700 | |
Lightvalve | 19:23b7c1ad8683 | 701 | |
Lightvalve | 18:b8adf1582ea3 | 702 | int j =0; |
Lightvalve | 54:647072f5307a | 703 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 704 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 705 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 706 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 707 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 708 | |
Lightvalve | 11:82d8768d7351 | 709 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 710 | { |
Lightvalve | 19:23b7c1ad8683 | 711 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 712 | |
Lightvalve | 57:f4819de54e7a | 713 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 714 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 715 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 716 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 717 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 718 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 719 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 720 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 721 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 722 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 723 | } |
Lightvalve | 50:3c630b5eba9f | 724 | |
Lightvalve | 50:3c630b5eba9f | 725 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 726 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 727 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 728 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 729 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 730 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 731 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 732 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 733 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 734 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 735 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 736 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 737 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 738 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 739 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 740 | } else { |
Lightvalve | 58:2eade98630e2 | 741 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 742 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 743 | } |
Lightvalve | 45:35fa6884d0c6 | 744 | |
Lightvalve | 50:3c630b5eba9f | 745 | |
Lightvalve | 57:f4819de54e7a | 746 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 747 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 748 | |
Lightvalve | 57:f4819de54e7a | 749 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 750 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 751 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 752 | } else { |
Lightvalve | 57:f4819de54e7a | 753 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 754 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 755 | } |
Lightvalve | 56:6f50d9d3bfee | 756 | |
Lightvalve | 56:6f50d9d3bfee | 757 | |
Lightvalve | 56:6f50d9d3bfee | 758 | |
Lightvalve | 57:f4819de54e7a | 759 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 760 | |
Lightvalve | 57:f4819de54e7a | 761 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 762 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 763 | break; |
Lightvalve | 13:747daba9cf59 | 764 | } |
Lightvalve | 14:8e7590227d22 | 765 | |
Lightvalve | 14:8e7590227d22 | 766 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 767 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 768 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 769 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 770 | |
Lightvalve | 14:8e7590227d22 | 771 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 772 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 773 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 774 | |
Lightvalve | 84:c355d3e52bf1 | 775 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 776 | |
Lightvalve | 30:8d561f16383b | 777 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 778 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 779 | |
Lightvalve | 16:903b5a4433b4 | 780 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 781 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 782 | } |
Lightvalve | 13:747daba9cf59 | 783 | } else { |
Lightvalve | 58:2eade98630e2 | 784 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 785 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 786 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 787 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 788 | |
Lightvalve | 16:903b5a4433b4 | 789 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 790 | |
Lightvalve | 30:8d561f16383b | 791 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 792 | |
Lightvalve | 13:747daba9cf59 | 793 | } |
Lightvalve | 14:8e7590227d22 | 794 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 795 | break; |
Lightvalve | 19:23b7c1ad8683 | 796 | } |
Lightvalve | 14:8e7590227d22 | 797 | |
Lightvalve | 50:3c630b5eba9f | 798 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 799 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 800 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 801 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 802 | // } |
Lightvalve | 50:3c630b5eba9f | 803 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 804 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 805 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 806 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 807 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 808 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 809 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 810 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 811 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 812 | // } |
Lightvalve | 50:3c630b5eba9f | 813 | // |
Lightvalve | 50:3c630b5eba9f | 814 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 815 | // 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 | 816 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 817 | // |
Lightvalve | 50:3c630b5eba9f | 818 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 819 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 820 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 821 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 822 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 823 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 824 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 825 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 826 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 827 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 828 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 829 | // |
Lightvalve | 50:3c630b5eba9f | 830 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 831 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 832 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 833 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 834 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 835 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 836 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 837 | // |
Lightvalve | 50:3c630b5eba9f | 838 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 839 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 840 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 841 | // } else { |
Lightvalve | 50:3c630b5eba9f | 842 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 843 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 844 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 845 | // } |
Lightvalve | 50:3c630b5eba9f | 846 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 847 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 848 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 849 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 850 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 851 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 852 | // } |
Lightvalve | 50:3c630b5eba9f | 853 | // } else { |
Lightvalve | 50:3c630b5eba9f | 854 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 855 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 856 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 857 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 858 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 859 | // } |
Lightvalve | 50:3c630b5eba9f | 860 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 861 | // |
Lightvalve | 50:3c630b5eba9f | 862 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 863 | // |
Lightvalve | 50:3c630b5eba9f | 864 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 865 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 866 | // |
Lightvalve | 50:3c630b5eba9f | 867 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 868 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 869 | // } |
Lightvalve | 50:3c630b5eba9f | 870 | // } |
Lightvalve | 50:3c630b5eba9f | 871 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 872 | // break; |
Lightvalve | 50:3c630b5eba9f | 873 | // } |
Lightvalve | 14:8e7590227d22 | 874 | |
Lightvalve | 14:8e7590227d22 | 875 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 876 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 877 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 878 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 879 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 880 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 881 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 882 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 883 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 884 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 885 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 886 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 887 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 888 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 889 | } |
Lightvalve | 29:69f3f5445d6d | 890 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 891 | |
Lightvalve | 29:69f3f5445d6d | 892 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 893 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 894 | } else { |
Lightvalve | 29:69f3f5445d6d | 895 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 896 | } |
Lightvalve | 19:23b7c1ad8683 | 897 | |
Lightvalve | 57:f4819de54e7a | 898 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 899 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 900 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 901 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 902 | |
Lightvalve | 59:f308b1656d9c | 903 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 904 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 905 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 906 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 907 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 908 | |
Lightvalve | 59:f308b1656d9c | 909 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 910 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 911 | |
Lightvalve | 34:bb2ca2fc2a8e | 912 | |
Lightvalve | 29:69f3f5445d6d | 913 | } else { |
Lightvalve | 29:69f3f5445d6d | 914 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 915 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 916 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 917 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 918 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 919 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 920 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 921 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 922 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 923 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 924 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 925 | |
Lightvalve | 67:c2812cf26c38 | 926 | |
Lightvalve | 67:c2812cf26c38 | 927 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 928 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 929 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 930 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 931 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 932 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 933 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 934 | |
Lightvalve | 67:c2812cf26c38 | 935 | |
Lightvalve | 29:69f3f5445d6d | 936 | } |
Lightvalve | 29:69f3f5445d6d | 937 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 938 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 939 | 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 | 940 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 941 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 942 | |
Lightvalve | 29:69f3f5445d6d | 943 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 944 | |
Lightvalve | 67:c2812cf26c38 | 945 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 946 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 947 | |
Lightvalve | 67:c2812cf26c38 | 948 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 949 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 950 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 951 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 952 | |
Lightvalve | 67:c2812cf26c38 | 953 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 954 | |
Lightvalve | 67:c2812cf26c38 | 955 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 956 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 957 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 958 | |
Lightvalve | 67:c2812cf26c38 | 959 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 960 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 961 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 962 | |
Lightvalve | 69:3995ffeaa786 | 963 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 964 | 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 | 965 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 966 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 967 | 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 | 968 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 969 | } |
Lightvalve | 67:c2812cf26c38 | 970 | 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 | 971 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 972 | |
Lightvalve | 67:c2812cf26c38 | 973 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 974 | |
Lightvalve | 67:c2812cf26c38 | 975 | |
Lightvalve | 67:c2812cf26c38 | 976 | |
Lightvalve | 67:c2812cf26c38 | 977 | } else { |
Lightvalve | 67:c2812cf26c38 | 978 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 979 | 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 | 980 | |
Lightvalve | 67:c2812cf26c38 | 981 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 982 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 983 | } else { |
Lightvalve | 67:c2812cf26c38 | 984 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 985 | } |
Lightvalve | 67:c2812cf26c38 | 986 | |
Lightvalve | 67:c2812cf26c38 | 987 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 988 | |
Lightvalve | 67:c2812cf26c38 | 989 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 990 | |
Lightvalve | 67:c2812cf26c38 | 991 | } |
Lightvalve | 67:c2812cf26c38 | 992 | |
Lightvalve | 67:c2812cf26c38 | 993 | |
Lightvalve | 67:c2812cf26c38 | 994 | |
Lightvalve | 67:c2812cf26c38 | 995 | |
Lightvalve | 59:f308b1656d9c | 996 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 997 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 998 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 999 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1000 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1001 | |
Lightvalve | 29:69f3f5445d6d | 1002 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1003 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1004 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1005 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1006 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1007 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1008 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1009 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1010 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1011 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1012 | } |
Lightvalve | 13:747daba9cf59 | 1013 | } |
Lightvalve | 19:23b7c1ad8683 | 1014 | |
Lightvalve | 13:747daba9cf59 | 1015 | break; |
Lightvalve | 13:747daba9cf59 | 1016 | } |
Lightvalve | 14:8e7590227d22 | 1017 | |
Lightvalve | 50:3c630b5eba9f | 1018 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1019 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1020 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1021 | // else { |
Lightvalve | 50:3c630b5eba9f | 1022 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1023 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1024 | // } |
Lightvalve | 50:3c630b5eba9f | 1025 | // } |
Lightvalve | 50:3c630b5eba9f | 1026 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1027 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1028 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1029 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1030 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1031 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1032 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1033 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1034 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1035 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1036 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1037 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1038 | // } |
Lightvalve | 50:3c630b5eba9f | 1039 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1040 | // } |
Lightvalve | 50:3c630b5eba9f | 1041 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1042 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1043 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1044 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1045 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1046 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1047 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1048 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1049 | // 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 | 1050 | // // 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 | 1051 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1052 | // } |
Lightvalve | 50:3c630b5eba9f | 1053 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1054 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1055 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1056 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1057 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1058 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1059 | // 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 | 1060 | // // 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 | 1061 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1062 | // } |
Lightvalve | 50:3c630b5eba9f | 1063 | // } |
Lightvalve | 50:3c630b5eba9f | 1064 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1065 | // |
Lightvalve | 50:3c630b5eba9f | 1066 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1067 | // |
Lightvalve | 50:3c630b5eba9f | 1068 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1069 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1070 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1071 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1072 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1073 | // } |
Lightvalve | 50:3c630b5eba9f | 1074 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1075 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1076 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1077 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1078 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1079 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1080 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1081 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1082 | // } |
Lightvalve | 50:3c630b5eba9f | 1083 | // |
Lightvalve | 50:3c630b5eba9f | 1084 | // } |
Lightvalve | 50:3c630b5eba9f | 1085 | // break; |
Lightvalve | 50:3c630b5eba9f | 1086 | // } |
Lightvalve | 50:3c630b5eba9f | 1087 | // |
Lightvalve | 50:3c630b5eba9f | 1088 | // } |
Lightvalve | 14:8e7590227d22 | 1089 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1090 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1091 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1092 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1093 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1094 | |
Lightvalve | 14:8e7590227d22 | 1095 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1096 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1097 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1098 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1099 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1100 | |
Lightvalve | 38:118df027d851 | 1101 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1102 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1103 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1104 | |
Lightvalve | 30:8d561f16383b | 1105 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1106 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1107 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1108 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1109 | |
Lightvalve | 30:8d561f16383b | 1110 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1111 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1112 | } |
Lightvalve | 13:747daba9cf59 | 1113 | } else { |
Lightvalve | 57:f4819de54e7a | 1114 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1115 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1116 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1117 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1118 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1119 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1120 | |
Lightvalve | 16:903b5a4433b4 | 1121 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1122 | |
Lightvalve | 30:8d561f16383b | 1123 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1124 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1125 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1126 | } |
Lightvalve | 14:8e7590227d22 | 1127 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1128 | break; |
Lightvalve | 13:747daba9cf59 | 1129 | } |
Lightvalve | 14:8e7590227d22 | 1130 | |
Lightvalve | 50:3c630b5eba9f | 1131 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1132 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1133 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1134 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1135 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1136 | // } |
Lightvalve | 50:3c630b5eba9f | 1137 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1138 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1139 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1140 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1141 | // } |
Lightvalve | 50:3c630b5eba9f | 1142 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1143 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1144 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1145 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1146 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1147 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1148 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1149 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1150 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1151 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1152 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1153 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1154 | // |
Lightvalve | 50:3c630b5eba9f | 1155 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1156 | // |
Lightvalve | 50:3c630b5eba9f | 1157 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1158 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1159 | // } |
Lightvalve | 50:3c630b5eba9f | 1160 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1161 | // break; |
Lightvalve | 50:3c630b5eba9f | 1162 | // } |
Lightvalve | 19:23b7c1ad8683 | 1163 | |
Lightvalve | 50:3c630b5eba9f | 1164 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1165 | // 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 | 1166 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1167 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1168 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1169 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1170 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1171 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1172 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1173 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1174 | // } |
Lightvalve | 50:3c630b5eba9f | 1175 | // break; |
Lightvalve | 50:3c630b5eba9f | 1176 | // } |
Lightvalve | 14:8e7590227d22 | 1177 | |
Lightvalve | 14:8e7590227d22 | 1178 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1179 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1180 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1181 | |
Lightvalve | 14:8e7590227d22 | 1182 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1183 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1184 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1185 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1186 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1187 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1188 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1189 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1190 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1191 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1192 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1193 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1194 | } else { |
Lightvalve | 13:747daba9cf59 | 1195 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1196 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1197 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1198 | } |
Lightvalve | 14:8e7590227d22 | 1199 | |
Lightvalve | 17:1865016ca2e7 | 1200 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1201 | int i; |
Lightvalve | 13:747daba9cf59 | 1202 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1203 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1204 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1205 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1206 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1207 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1208 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1209 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1210 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1211 | } |
Lightvalve | 13:747daba9cf59 | 1212 | } |
Lightvalve | 59:f308b1656d9c | 1213 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1214 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1215 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1216 | } |
Lightvalve | 14:8e7590227d22 | 1217 | |
Lightvalve | 14:8e7590227d22 | 1218 | |
Lightvalve | 13:747daba9cf59 | 1219 | break; |
Lightvalve | 13:747daba9cf59 | 1220 | } |
Lightvalve | 14:8e7590227d22 | 1221 | |
Lightvalve | 14:8e7590227d22 | 1222 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1223 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1224 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1225 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1226 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1227 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1228 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1229 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1230 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1231 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1232 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1233 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1234 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1235 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1236 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1237 | 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 | 1238 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1239 | 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 | 1240 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1241 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1242 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1243 | 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 | 1244 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1245 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1246 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1247 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1248 | |
Lightvalve | 30:8d561f16383b | 1249 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1250 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1251 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1252 | |
Lightvalve | 30:8d561f16383b | 1253 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1254 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1255 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1256 | |
Lightvalve | 30:8d561f16383b | 1257 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1258 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1259 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1260 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1261 | |
Lightvalve | 60:64181f1d3e60 | 1262 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1263 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1264 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1265 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1266 | } else { |
Lightvalve | 13:747daba9cf59 | 1267 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1268 | } |
Lightvalve | 61:bc8c8270f0ab | 1269 | |
Lightvalve | 60:64181f1d3e60 | 1270 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1271 | |
Lightvalve | 13:747daba9cf59 | 1272 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1273 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1274 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1275 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1276 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1277 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1278 | |
Lightvalve | 13:747daba9cf59 | 1279 | } |
Lightvalve | 19:23b7c1ad8683 | 1280 | } else { |
Lightvalve | 14:8e7590227d22 | 1281 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1282 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1283 | 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 | 1284 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1285 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1286 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1287 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1288 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1289 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1290 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1291 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1292 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1293 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1294 | } |
Lightvalve | 14:8e7590227d22 | 1295 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1296 | |
Lightvalve | 30:8d561f16383b | 1297 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1298 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1299 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1300 | |
Lightvalve | 14:8e7590227d22 | 1301 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1302 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1303 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1304 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1305 | } else { |
Lightvalve | 13:747daba9cf59 | 1306 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1307 | } |
Lightvalve | 14:8e7590227d22 | 1308 | |
Lightvalve | 13:747daba9cf59 | 1309 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1310 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1311 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1312 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1313 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1314 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1315 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1316 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1317 | } |
Lightvalve | 13:747daba9cf59 | 1318 | } |
Lightvalve | 14:8e7590227d22 | 1319 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1320 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1321 | 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 | 1322 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1323 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1324 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1325 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1326 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1327 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1328 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1329 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1330 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1331 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1332 | } |
Lightvalve | 14:8e7590227d22 | 1333 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1334 | |
Lightvalve | 30:8d561f16383b | 1335 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1336 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1337 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1338 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1339 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1340 | |
Lightvalve | 14:8e7590227d22 | 1341 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1342 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1343 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1344 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1345 | } else { |
Lightvalve | 60:64181f1d3e60 | 1346 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1347 | } |
Lightvalve | 14:8e7590227d22 | 1348 | |
Lightvalve | 13:747daba9cf59 | 1349 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1350 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1351 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1352 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1353 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1354 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1355 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1356 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1357 | |
Lightvalve | 16:903b5a4433b4 | 1358 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1359 | |
Lightvalve | 60:64181f1d3e60 | 1360 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1361 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1362 | } |
Lightvalve | 13:747daba9cf59 | 1363 | } |
Lightvalve | 14:8e7590227d22 | 1364 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1365 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1366 | 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 | 1367 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1368 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1369 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1370 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1371 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1372 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1373 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1374 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1375 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1376 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1377 | } |
Lightvalve | 14:8e7590227d22 | 1378 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1379 | |
Lightvalve | 30:8d561f16383b | 1380 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1381 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1382 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1383 | |
Lightvalve | 14:8e7590227d22 | 1384 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1385 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1386 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1387 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1388 | } else { |
Lightvalve | 13:747daba9cf59 | 1389 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1390 | } |
Lightvalve | 13:747daba9cf59 | 1391 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1392 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1393 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1394 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1395 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1396 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1397 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1398 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1399 | } |
Lightvalve | 13:747daba9cf59 | 1400 | } |
Lightvalve | 14:8e7590227d22 | 1401 | } else { |
Lightvalve | 30:8d561f16383b | 1402 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1403 | 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 | 1404 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1405 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1406 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1407 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1408 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1409 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1410 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1411 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1412 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1413 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1414 | } |
Lightvalve | 14:8e7590227d22 | 1415 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1416 | |
Lightvalve | 30:8d561f16383b | 1417 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1418 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1419 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1420 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1421 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1422 | |
Lightvalve | 60:64181f1d3e60 | 1423 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1424 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1425 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1426 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1427 | } else { |
Lightvalve | 13:747daba9cf59 | 1428 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1429 | } |
Lightvalve | 14:8e7590227d22 | 1430 | |
Lightvalve | 13:747daba9cf59 | 1431 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1432 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1433 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1434 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1435 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1436 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1437 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1438 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1439 | |
Lightvalve | 59:f308b1656d9c | 1440 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1441 | |
Lightvalve | 57:f4819de54e7a | 1442 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1443 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1444 | } |
Lightvalve | 13:747daba9cf59 | 1445 | } |
Lightvalve | 13:747daba9cf59 | 1446 | } |
Lightvalve | 14:8e7590227d22 | 1447 | } |
Lightvalve | 13:747daba9cf59 | 1448 | break; |
Lightvalve | 13:747daba9cf59 | 1449 | } |
Lightvalve | 14:8e7590227d22 | 1450 | |
Lightvalve | 14:8e7590227d22 | 1451 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1452 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1453 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1454 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1455 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1456 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1457 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1458 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1459 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1460 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1461 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1462 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1463 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1464 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1465 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1466 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1467 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1468 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1469 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1470 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1471 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1472 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1473 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1474 | } |
Lightvalve | 14:8e7590227d22 | 1475 | } else { |
Lightvalve | 30:8d561f16383b | 1476 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1477 | //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 | 1478 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1479 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1480 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1481 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1482 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1483 | |
Lightvalve | 14:8e7590227d22 | 1484 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1485 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1486 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1487 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1488 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1489 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1490 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1491 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1492 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1493 | } |
Lightvalve | 30:8d561f16383b | 1494 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1495 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1496 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1497 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1498 | } |
Lightvalve | 14:8e7590227d22 | 1499 | |
Lightvalve | 14:8e7590227d22 | 1500 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1501 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1502 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1503 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1504 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1505 | } |
Lightvalve | 13:747daba9cf59 | 1506 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1507 | |
Lightvalve | 13:747daba9cf59 | 1508 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1509 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1510 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1511 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1512 | } |
Lightvalve | 14:8e7590227d22 | 1513 | |
Lightvalve | 14:8e7590227d22 | 1514 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1515 | |
Lightvalve | 13:747daba9cf59 | 1516 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1517 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1518 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1519 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1520 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1521 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1522 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1523 | } |
Lightvalve | 13:747daba9cf59 | 1524 | } |
Lightvalve | 13:747daba9cf59 | 1525 | break; |
Lightvalve | 13:747daba9cf59 | 1526 | } |
Lightvalve | 58:2eade98630e2 | 1527 | |
Lightvalve | 57:f4819de54e7a | 1528 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1529 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1530 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1531 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1532 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1533 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1534 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1535 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1536 | } |
Lightvalve | 57:f4819de54e7a | 1537 | break; |
Lightvalve | 57:f4819de54e7a | 1538 | } |
Lightvalve | 58:2eade98630e2 | 1539 | |
Lightvalve | 58:2eade98630e2 | 1540 | |
Lightvalve | 57:f4819de54e7a | 1541 | |
Lightvalve | 57:f4819de54e7a | 1542 | default: |
Lightvalve | 57:f4819de54e7a | 1543 | break; |
Lightvalve | 57:f4819de54e7a | 1544 | } |
Lightvalve | 57:f4819de54e7a | 1545 | |
Lightvalve | 57:f4819de54e7a | 1546 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1547 | |
Lightvalve | 57:f4819de54e7a | 1548 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1549 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1550 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1551 | break; |
Lightvalve | 57:f4819de54e7a | 1552 | } |
Lightvalve | 57:f4819de54e7a | 1553 | |
Lightvalve | 57:f4819de54e7a | 1554 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1555 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1556 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1557 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1558 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1559 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1560 | } else { |
Lightvalve | 67:c2812cf26c38 | 1561 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1562 | } |
Lightvalve | 58:2eade98630e2 | 1563 | |
Lightvalve | 57:f4819de54e7a | 1564 | break; |
Lightvalve | 57:f4819de54e7a | 1565 | } |
Lightvalve | 57:f4819de54e7a | 1566 | |
Lightvalve | 57:f4819de54e7a | 1567 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1568 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1569 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1570 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1571 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1572 | |
Lightvalve | 67:c2812cf26c38 | 1573 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1574 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1575 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1576 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1577 | |
Lightvalve | 67:c2812cf26c38 | 1578 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1579 | |
Lightvalve | 57:f4819de54e7a | 1580 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1581 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1582 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1583 | |
Lightvalve | 57:f4819de54e7a | 1584 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1585 | |
Lightvalve | 57:f4819de54e7a | 1586 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1587 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1588 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1589 | |
Lightvalve | 57:f4819de54e7a | 1590 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1591 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1592 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1593 | |
Lightvalve | 69:3995ffeaa786 | 1594 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1595 | 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 | 1596 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1597 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1598 | 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 | 1599 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1600 | } |
Lightvalve | 57:f4819de54e7a | 1601 | 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 | 1602 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1603 | |
Lightvalve | 57:f4819de54e7a | 1604 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1605 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1606 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1607 | // 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 | 1608 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1609 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1610 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1611 | 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 | 1612 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1613 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1614 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1615 | } |
Lightvalve | 57:f4819de54e7a | 1616 | 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 | 1617 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1618 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1619 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1620 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1621 | |
Lightvalve | 57:f4819de54e7a | 1622 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1623 | |
Lightvalve | 67:c2812cf26c38 | 1624 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1625 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1626 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1627 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1628 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1629 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1630 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1631 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1632 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1633 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1634 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1635 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1636 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1637 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1638 | } |
Lightvalve | 67:c2812cf26c38 | 1639 | } |
Lightvalve | 57:f4819de54e7a | 1640 | |
Lightvalve | 57:f4819de54e7a | 1641 | } else { |
Lightvalve | 57:f4819de54e7a | 1642 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1643 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1644 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1645 | |
Lightvalve | 57:f4819de54e7a | 1646 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f |
Lightvalve | 57:f4819de54e7a | 1647 | + 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 | 1648 | |
Lightvalve | 72:3436ce769b1e | 1649 | 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 | 72:3436ce769b1e | 1650 | |
Lightvalve | 72:3436ce769b1e | 1651 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1652 | |
Lightvalve | 72:3436ce769b1e | 1653 | |
Lightvalve | 72:3436ce769b1e | 1654 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1655 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1656 | } else { |
Lightvalve | 72:3436ce769b1e | 1657 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1658 | } |
Lightvalve | 57:f4819de54e7a | 1659 | |
Lightvalve | 57:f4819de54e7a | 1660 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1661 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1662 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1663 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1664 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1665 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1666 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1667 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1668 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1669 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1670 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1671 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1672 | } |
Lightvalve | 57:f4819de54e7a | 1673 | } |
Lightvalve | 61:bc8c8270f0ab | 1674 | |
Lightvalve | 57:f4819de54e7a | 1675 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1676 | |
Lightvalve | 67:c2812cf26c38 | 1677 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1678 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1679 | |
Lightvalve | 57:f4819de54e7a | 1680 | } |
Lightvalve | 72:3436ce769b1e | 1681 | |
Lightvalve | 72:3436ce769b1e | 1682 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1683 | |
Lightvalve | 57:f4819de54e7a | 1684 | break; |
Lightvalve | 57:f4819de54e7a | 1685 | } |
Lightvalve | 58:2eade98630e2 | 1686 | |
Lightvalve | 57:f4819de54e7a | 1687 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1688 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1689 | break; |
Lightvalve | 57:f4819de54e7a | 1690 | } |
Lightvalve | 14:8e7590227d22 | 1691 | |
Lightvalve | 12:6f2531038ea4 | 1692 | default: |
Lightvalve | 12:6f2531038ea4 | 1693 | break; |
Lightvalve | 12:6f2531038ea4 | 1694 | } |
Lightvalve | 14:8e7590227d22 | 1695 | |
Lightvalve | 57:f4819de54e7a | 1696 | |
Lightvalve | 57:f4819de54e7a | 1697 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1698 | |
Lightvalve | 57:f4819de54e7a | 1699 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1700 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1701 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1702 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1703 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1704 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1705 | |
Lightvalve | 57:f4819de54e7a | 1706 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1707 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1708 | |
Lightvalve | 57:f4819de54e7a | 1709 | |
Lightvalve | 57:f4819de54e7a | 1710 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1711 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1712 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1713 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1714 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1715 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1716 | |
Lightvalve | 57:f4819de54e7a | 1717 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1718 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1719 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1720 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1721 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1722 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1723 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1724 | } |
Lightvalve | 57:f4819de54e7a | 1725 | |
Lightvalve | 57:f4819de54e7a | 1726 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1727 | |
Lightvalve | 67:c2812cf26c38 | 1728 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1729 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1730 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1731 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1732 | // 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 | 1733 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1734 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1735 | |
Lightvalve | 57:f4819de54e7a | 1736 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1737 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1738 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1739 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1740 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1741 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1742 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1743 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1744 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1745 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1746 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1747 | } |
Lightvalve | 57:f4819de54e7a | 1748 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1749 | } else { |
Lightvalve | 57:f4819de54e7a | 1750 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1751 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1752 | } |
Lightvalve | 57:f4819de54e7a | 1753 | |
Lightvalve | 57:f4819de54e7a | 1754 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1755 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1756 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1757 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1758 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1759 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1760 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1761 | |
Lightvalve | 57:f4819de54e7a | 1762 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1763 | |
Lightvalve | 57:f4819de54e7a | 1764 | } else { |
Lightvalve | 57:f4819de54e7a | 1765 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1766 | } |
Lightvalve | 57:f4819de54e7a | 1767 | |
Lightvalve | 57:f4819de54e7a | 1768 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1769 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1770 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1771 | |
Lightvalve | 57:f4819de54e7a | 1772 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1773 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1774 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1775 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1776 | } |
Lightvalve | 89:a7b45368ea0f | 1777 | else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 1778 | // Output Voltage Linearization |
Lightvalve | 89:a7b45368ea0f | 1779 | double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 89:a7b45368ea0f | 1780 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 1781 | |
Lightvalve | 89:a7b45368ea0f | 1782 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 89:a7b45368ea0f | 1783 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 89:a7b45368ea0f | 1784 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 89:a7b45368ea0f | 1785 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 89:a7b45368ea0f | 1786 | } |
Lightvalve | 67:c2812cf26c38 | 1787 | |
Lightvalve | 67:c2812cf26c38 | 1788 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1789 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1790 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1791 | |
jobuuu | 7:e9086c72bb22 | 1792 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1793 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1794 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1795 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1796 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1797 | } |
Lightvalve | 67:c2812cf26c38 | 1798 | |
Lightvalve | 49:e7bcfc244d40 | 1799 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1800 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1801 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1802 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1803 | } |
Lightvalve | 49:e7bcfc244d40 | 1804 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1805 | |
Lightvalve | 19:23b7c1ad8683 | 1806 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1807 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1808 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1809 | |
Lightvalve | 30:8d561f16383b | 1810 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1811 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1812 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1813 | } else { |
jobuuu | 2:a1c0a37df760 | 1814 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1815 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1816 | } |
Lightvalve | 13:747daba9cf59 | 1817 | |
jobuuu | 1:e04e563be5ce | 1818 | //pwm |
Lightvalve | 30:8d561f16383b | 1819 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1820 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1821 | |
Lightvalve | 61:bc8c8270f0ab | 1822 | |
Lightvalve | 57:f4819de54e7a | 1823 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1824 | |
Lightvalve | 54:647072f5307a | 1825 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1826 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1827 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1828 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1829 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1830 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1831 | 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 | 1832 | } |
Lightvalve | 57:f4819de54e7a | 1833 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1834 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1835 | 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 | 1836 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1837 | 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 | 1838 | } |
Lightvalve | 52:8ea76864368a | 1839 | } |
Lightvalve | 52:8ea76864368a | 1840 | } |
Lightvalve | 56:6f50d9d3bfee | 1841 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1842 | //valve position |
Lightvalve | 54:647072f5307a | 1843 | double t_value = 0; |
Lightvalve | 97:d71c57e3515e | 1844 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1845 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1846 | } else { |
Lightvalve | 97:d71c57e3515e | 1847 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1848 | } |
Lightvalve | 97:d71c57e3515e | 1849 | // if(OPERATING_MODE==5) { |
Lightvalve | 97:d71c57e3515e | 1850 | // if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1851 | // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1852 | // } else { |
Lightvalve | 97:d71c57e3515e | 1853 | // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1854 | // } |
Lightvalve | 97:d71c57e3515e | 1855 | //t_value = (double) value; |
Lightvalve | 97:d71c57e3515e | 1856 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 97:d71c57e3515e | 1857 | // t_value = cur.sen * 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1858 | // } else { |
Lightvalve | 97:d71c57e3515e | 1859 | // t_value = V_out; |
Lightvalve | 89:a7b45368ea0f | 1860 | // } |
Lightvalve | 67:c2812cf26c38 | 1861 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1862 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1863 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1864 | } |
Lightvalve | 58:2eade98630e2 | 1865 | |
Lightvalve | 58:2eade98630e2 | 1866 | |
Lightvalve | 98:cd1b2da4704f | 1867 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 89:a7b45368ea0f | 1868 | //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 |
Lightvalve | 89:a7b45368ea0f | 1869 | double t_value = 0; |
Lightvalve | 89:a7b45368ea0f | 1870 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 89:a7b45368ea0f | 1871 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1872 | } else { |
Lightvalve | 89:a7b45368ea0f | 1873 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1874 | } |
Lightvalve | 89:a7b45368ea0f | 1875 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400 |
Lightvalve | 55:b25725257569 | 1876 | } |
Lightvalve | 58:2eade98630e2 | 1877 | |
Lightvalve | 57:f4819de54e7a | 1878 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1879 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1880 | ; |
Lightvalve | 57:f4819de54e7a | 1881 | } |
Lightvalve | 58:2eade98630e2 | 1882 | |
Lightvalve | 56:6f50d9d3bfee | 1883 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1884 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1885 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 73:f80dc3970c99 | 1886 | CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 |
Lightvalve | 54:647072f5307a | 1887 | } |
Lightvalve | 57:f4819de54e7a | 1888 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1889 | // ; |
Lightvalve | 57:f4819de54e7a | 1890 | // } |
Lightvalve | 56:6f50d9d3bfee | 1891 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1892 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1893 | CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600 |
Lightvalve | 54:647072f5307a | 1894 | } |
Lightvalve | 20:806196fda269 | 1895 | |
Lightvalve | 54:647072f5307a | 1896 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1897 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1898 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1899 | // } |
Lightvalve | 54:647072f5307a | 1900 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1901 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1902 | //} |
Lightvalve | 52:8ea76864368a | 1903 | |
Lightvalve | 54:647072f5307a | 1904 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1905 | } |
Lightvalve | 54:647072f5307a | 1906 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1907 | |
Lightvalve | 20:806196fda269 | 1908 | } |
Lightvalve | 52:8ea76864368a | 1909 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1910 | |
Lightvalve | 58:2eade98630e2 | 1911 | } |