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LIGHT2
main.cpp@125:2397bee14630, 2020-09-16 (annotated)
- Committer:
- Lightvalve
- Date:
- Wed Sep 16 03:40:55 2020 +0000
- Revision:
- 125:2397bee14630
- Parent:
- 124:caeba45d7493
- Child:
- 126:146cf8e5540b
200916-2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 125:2397bee14630 | 1 | //200916-2 |
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 | 125:2397bee14630 | 196 | {-0.2650415897369385f,-0.2266855090856552f,0.11304140090942383f,-0.16111214458942413f,0.000962256221100688f,-0.7015852332115173f,-0.15306922793388367f,-0.34351199865341187f,-0.2485356330871582f,-0.09949490427970886f,-0.17296874523162842f,-0.4418388903141022f,-0.45639923214912415f,0.1792629212141037f,-0.22528137266635895f,-0.046356771141290665f}, |
Lightvalve | 125:2397bee14630 | 197 | {-0.34476131200790405f,0.05035892501473427f,-0.3440950810909271f,-0.12166793644428253f,-0.12978488206863403f,-0.564797043800354f,-0.3551466166973114f,-0.5403838157653809f,-0.0683736652135849f,0.06010306254029274f,-0.33323895931243896f,-0.2880015969276428f,0.008546403609216213f,-0.3312963545322418f,-0.1836855560541153f,-0.11869307607412338f}, |
Lightvalve | 125:2397bee14630 | 198 | {-0.28798386454582214f,-0.0550663098692894f,0.3188004493713379f,-0.2729038596153259f,0.578967809677124f,-0.4359968304634094f,0.2516096830368042f,-0.2467883676290512f,-0.13996797800064087f,0.17826195061206818f,-0.513801097869873f,-0.15727214515209198f,0.0398615263402462f,-0.24707339704036713f,0.04897245764732361f,0.1179916262626648f}, |
Lightvalve | 125:2397bee14630 | 199 | {-0.19986844062805176f,-0.14473193883895874f,0.34815579652786255f,-0.03571606054902077f,0.7015755772590637f,-0.4670792818069458f,-0.10148510336875916f,0.09462548792362213f,0.020932242274284363f,0.33684539794921875f,0.020999392494559288f,0.25216999650001526f,0.104360431432724f,-0.2532050311565399f,-0.2594349980354309f,0.46628695726394653f}, |
Lightvalve | 125:2397bee14630 | 200 | {-0.23217283189296722f,2.836884021759033f,-0.004507303237915039f,0.963344156742096f,-5.92897891998291f,1.1453996896743774f,0.11336228251457214f,0.5257752537727356f,0.026472793892025948f,1.2131098508834839f,1.2210519313812256f,-0.1527392864227295f,-0.0646747425198555f,0.7959047555923462f,-0.33859342336654663f,-0.638805627822876f}, |
Lightvalve | 125:2397bee14630 | 201 | {0.2451237589120865f,-0.4424527883529663f,0.19074231386184692f,0.9786537885665894f,-0.08557306975126266f,0.4897681772708893f,0.1446705460548401f,-0.4391725957393646f,0.029257990419864655f,-0.3657994270324707f,-0.6502208113670349f,0.6539005637168884f,-0.3794007897377014f,-0.23847676813602448f,-0.36205175518989563f,-0.4808618426322937f}, |
Lightvalve | 125:2397bee14630 | 202 | {-0.09238868951797485f,-0.11141838133335114f,-0.21918344497680664f,-0.07423228025436401f,-0.38859713077545166f,0.4830581545829773f,0.05268651247024536f,-0.4287216067314148f,0.3201412558555603f,-0.18582354485988617f,-0.05627317354083061f,0.4872809052467346f,-0.32073190808296204f,0.04183678701519966f,-0.13682329654693604f,-0.28983333706855774f}, |
Lightvalve | 125:2397bee14630 | 203 | {-0.17723223567008972f,-0.23719273507595062f,-0.23319895565509796f,0.10649680346250534f,-0.19495375454425812f,-0.17253482341766357f,-0.15703755617141724f,-0.40228527784347534f,0.024978138506412506f,0.036023057997226715f,0.09830993413925171f,-0.10601644963026047f,0.1375214159488678f,0.03312224894762039f,0.03769642114639282f,-0.11102518439292908f}, |
Lightvalve | 125:2397bee14630 | 204 | {-0.05873361974954605f,0.3485785126686096f,0.08977723121643066f,-0.4136718511581421f,-0.01881062611937523f,-0.1027454286813736f,-0.06348633766174316f,-0.4452950358390808f,-0.23471727967262268f,0.324480265378952f,-0.16765698790550232f,0.17052753269672394f,0.004473761189728975f,0.18368199467658997f,-0.2676756680011749f,-0.09213045984506607f}, |
Lightvalve | 125:2397bee14630 | 205 | {-0.2986011207103729f,-0.006048486568033695f,0.16173982620239258f,-0.44918394088745117f,0.42938488721847534f,-0.27215543389320374f,-0.26198261976242065f,-0.13064485788345337f,-0.004488010890781879f,-0.2150302678346634f,0.26757246255874634f,-0.741077184677124f,0.12457937747240067f,-0.01409436296671629f,0.3052974343299866f,-0.2758890390396118f}, |
Lightvalve | 125:2397bee14630 | 206 | {0.16456854343414307f,0.3465326130390167f,0.32573211193084717f,-0.11032920330762863f,0.3078192174434662f,-0.4822096824645996f,-0.17817988991737366f,-0.04153018444776535f,-0.37137818336486816f,0.25947305560112f,0.5965789556503296f,-0.5917378664016724f,-0.24988068640232086f,0.20410633087158203f,0.23379981517791748f,-0.5647242665290833f}, |
Lightvalve | 125:2397bee14630 | 207 | {-0.4494836926460266f,-0.9080290794372559f,-0.3532183766365051f,-0.9125430583953857f,1.6493059396743774f,-0.7588765025138855f,0.13436567783355713f,0.14007124304771423f,-0.12859687209129333f,0.21124646067619324f,-0.31362366676330566f,-0.497448593378067f,-0.07352820038795471f,0.19537241756916046f,0.09193113446235657f,-0.3929024636745453f}, |
Lightvalve | 125:2397bee14630 | 208 | {-0.22864265739917755f,-0.3809680640697479f,0.173875629901886f,-0.28200459480285645f,1.1228809356689453f,-0.08153393864631653f,-0.21062730252742767f,-0.013611496426165104f,-0.1476786583662033f,-0.17484146356582642f,-0.09890472143888474f,-0.7095948457717896f,-0.19261428713798523f,0.10025075823068619f,-0.19507692754268646f,-0.8600208163261414f}, |
Lightvalve | 125:2397bee14630 | 209 | {-0.37679407000541687f,0.19774684309959412f,0.36161231994628906f,-0.17996598780155182f,-0.007960074581205845f,-0.09807709604501724f,-0.2803434431552887f,-0.3882972300052643f,-0.10102713108062744f,-0.09765742719173431f,-0.10934720188379288f,-0.7794925570487976f,-0.6264658570289612f,0.03252812474966049f,0.04202204942703247f,-0.740649402141571f}, |
Lightvalve | 125:2397bee14630 | 210 | {-0.03853116184473038f,0.9125444889068604f,0.1776806116104126f,0.30703380703926086f,-0.31755203008651733f,0.2315739542245865f,0.036818891763687134f,0.030226821079850197f,0.2836821973323822f,0.3701620101928711f,0.019196582958102226f,-0.9966630339622498f,-0.2679782807826996f,0.09686482697725296f,0.058527231216430664f,-0.9265385270118713f}, |
Lightvalve | 125:2397bee14630 | 211 | {-0.0996430516242981f,1.2574621438980103f,-0.3542669713497162f,-0.5794497132301331f,-0.6418799161911011f,-0.5013198852539062f,-0.13638360798358917f,-0.36097314953804016f,0.19444529712200165f,0.9763175249099731f,0.6531984806060791f,-1.2213093042373657f,-0.4945835471153259f,0.9012706875801086f,-0.07223698496818542f,-0.865706205368042f}, |
Lightvalve | 125:2397bee14630 | 212 | {0.5654222965240479f,-0.5102725028991699f,0.14635330438613892f,2.6740050315856934f,-1.6372088193893433f,2.1711809635162354f,-0.03628063201904297f,-1.0233087539672852f,-0.03756094351410866f,-1.5304253101348877f,-1.823265552520752f,2.1647331714630127f,0.17856623232364655f,-1.4666118621826172f,0.25779521465301514f,-0.3929840922355652f}, |
Lightvalve | 125:2397bee14630 | 213 | {0.17067764699459076f,-0.5587964653968811f,0.18322283029556274f,1.1901689767837524f,-1.9191030263900757f,1.498706340789795f,-0.3163079023361206f,-0.349752813577652f,-0.3390539884567261f,-1.0395170450210571f,-0.9607593417167664f,1.3131834268569946f,0.4122202396392822f,-0.9036545157432556f,-0.2407861351966858f,0.14935609698295593f}, |
Lightvalve | 125:2397bee14630 | 214 | {-0.3221697509288788f,-0.46991419792175293f,-0.2609631419181824f,-0.36409568786621094f,1.2114920616149902f,-0.6748901605606079f,0.2401489019393921f,-0.4093233346939087f,-0.33513402938842773f,0.036116499453783035f,-0.24113763868808746f,0.43791481852531433f,0.22877435386180878f,0.606373131275177f,-0.28592410683631897f,0.009643382392823696f}, |
Lightvalve | 125:2397bee14630 | 215 | {0.02481945790350437f,-0.27907565236091614f,0.1335710883140564f,-1.5815545320510864f,2.0964059829711914f,-1.4364897012710571f,-0.1246849000453949f,-0.19263654947280884f,-0.13507309556007385f,0.5806243419647217f,0.7261980772018433f,0.03575444594025612f,0.2714070677757263f,1.2584396600723267f,0.1255095899105072f,0.609761118888855f}, |
Lightvalve | 125:2397bee14630 | 216 | {-0.5438539981842041f,-0.7084044218063354f,-0.07108169794082642f,-0.9551764726638794f,2.052342653274536f,-1.4793479442596436f,0.13563674688339233f,0.21979449689388275f,-0.3204258680343628f,0.3673838973045349f,0.336106538772583f,-0.5366897583007812f,-0.17895866930484772f,1.2046540975570679f,0.01829466223716736f,0.6008890867233276f}, |
Lightvalve | 125:2397bee14630 | 217 | {-0.47640806436538696f,-0.7512473464012146f,0.24740570783615112f,-0.5231333374977112f,1.2888580560684204f,-0.5799462795257568f,0.25593245029449463f,0.08714229613542557f,-0.04646488279104233f,0.34195324778556824f,0.28199899196624756f,-0.14047646522521973f,0.2135162502527237f,0.3117673397064209f,0.056514471769332886f,0.3938440680503845f}, |
Lightvalve | 125:2397bee14630 | 218 | {0.09136072546243668f,-0.07769602537155151f,-0.3288555443286896f,0.01780693233013153f,0.14057400822639465f,-0.35934290289878845f,-0.11800059676170349f,-0.057746078819036484f,-0.24742496013641357f,0.5071731805801392f,0.4942764639854431f,0.056929513812065125f,0.035150449723005295f,0.033244676887989044f,-0.3194865584373474f,0.3426465392112732f}, |
Lightvalve | 125:2397bee14630 | 219 | {0.0014575060922652483f,-0.29516175389289856f,-0.29844698309898376f,-0.1353914737701416f,0.17718131840229034f,0.38220804929733276f,-0.249517560005188f,0.22828775644302368f,-0.39046934247016907f,0.3742261528968811f,0.3643115162849426f,0.058736030012369156f,0.33089911937713623f,0.2733519375324249f,0.23831695318222046f,-0.2618117332458496f}, |
Lightvalve | 125:2397bee14630 | 220 | {0.16441123187541962f,-0.21133501827716827f,0.20589900016784668f,0.2957554757595062f,-0.20332811772823334f,0.013652810826897621f,-0.2483310103416443f,0.10473039746284485f,-0.11949034780263901f,0.586356520652771f,-0.07662099599838257f,-0.0354391448199749f,-0.2444823831319809f,-0.158062145113945f,0.06927120685577393f,-0.40918442606925964f}, |
Lightvalve | 125:2397bee14630 | 221 | {-0.2850320637226105f,0.22017164528369904f,0.008588135242462158f,-0.2230854034423828f,-0.516091525554657f,0.04753005504608154f,0.013287186622619629f,-0.1095397025346756f,0.20633608102798462f,0.05842011421918869f,0.12777604162693024f,-0.2401677668094635f,0.027820343151688576f,-0.35656100511550903f,-0.1702093929052353f,-0.25127503275871277f}, |
Lightvalve | 125:2397bee14630 | 222 | {-0.12495747953653336f,-0.1088222935795784f,0.06708025932312012f,0.30997392535209656f,-0.3031366765499115f,0.07451160252094269f,0.27470332384109497f,-0.17629916965961456f,-0.0682818815112114f,0.20521841943264008f,-0.01818404160439968f,-0.3150874674320221f,0.052828457206487656f,-0.012664095498621464f,0.11447501182556152f,-0.21966452896595f}, |
Lightvalve | 65:a2d7c63419c2 | 223 | }; |
Lightvalve | 65:a2d7c63419c2 | 224 | |
Lightvalve | 112:8dcb1600cb90 | 225 | const float h2[16][16] = { |
Lightvalve | 125:2397bee14630 | 226 | {-0.25210505723953247f,-0.4059171676635742f,-0.06966331601142883f,0.11002802103757858f,-0.21907491981983185f,0.2113061249256134f,0.2173425555229187f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.022778388112783432f,-0.23426251113414764f,0.08461258560419083f,0.16738787293434143f,0.09339773654937744f,-0.19839289784431458f}, |
Lightvalve | 125:2397bee14630 | 227 | {-0.05144146457314491f,0.26235613226890564f,0.057057321071624756f,1.2636829614639282f,-0.35503754019737244f,-2.9537904262542725f,-0.5500552654266357f,-0.3601891100406647f,-0.33757925033569336f,0.2895788848400116f,0.5950590968132019f,-0.5938291549682617f,0.17730596661567688f,0.9306899905204773f,-0.8107737898826599f,-1.5175559520721436f}, |
Lightvalve | 112:8dcb1600cb90 | 228 | {-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 | 125:2397bee14630 | 229 | {-0.1073802039027214f,-2.0666306018829346f,-0.2894435524940491f,1.566843032836914f,0.08946844935417175f,1.7545222043991089f,-0.49357226490974426f,0.3874346613883972f,0.26211628317832947f,0.2953031361103058f,-0.1634923666715622f,-0.0915038138628006f,-0.576101541519165f,0.14042358100414276f,0.7474720478057861f,-0.49090006947517395f}, |
Lightvalve | 125:2397bee14630 | 230 | {-0.26956015825271606f,1.6032721996307373f,-0.25313520431518555f,0.3794398009777069f,0.036378175020217896f,0.21563328802585602f,-0.2639320194721222f,-0.23935875296592712f,-0.024399548768997192f,-0.39465832710266113f,-0.16570092737674713f,-0.4338889718055725f,0.05565710738301277f,-0.44686269760131836f,-0.1949615627527237f,0.3505653440952301f}, |
Lightvalve | 125:2397bee14630 | 231 | {0.1844814419746399f,-2.3823330402374268f,-0.3519742488861084f,-0.030160164460539818f,-0.3015052080154419f,0.9162615537643433f,-0.5335845947265625f,-0.040498148649930954f,-0.23047015070915222f,0.3579089343547821f,0.1387607455253601f,-0.43387094140052795f,-0.38586199283599854f,-1.051857590675354f,0.8926781415939331f,-1.4197138547897339f}, |
Lightvalve | 112:8dcb1600cb90 | 232 | {-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 | 125:2397bee14630 | 233 | {0.053096361458301544f,0.05757596343755722f,0.33083590865135193f,0.16639335453510284f,-0.14358049631118774f,0.0038284813053905964f,-0.2811709940433502f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.3825254738330841f,-0.48409196734428406f,-0.3470988869667053f,0.15141454339027405f,0.2035769522190094f,0.00413510762155056f}, |
Lightvalve | 125:2397bee14630 | 234 | {-0.25820738077163696f,0.3311062157154083f,-0.11379697918891907f,0.10723091661930084f,0.041274964809417725f,-0.3537191152572632f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.04538490250706673f,-0.3197441101074219f,-0.37024784088134766f,-0.27954789996147156f,-0.38179370760917664f,-0.22979736328125f}, |
Lightvalve | 125:2397bee14630 | 235 | {-0.20278996229171753f,0.35637736320495605f,-0.13502129912376404f,-0.2786235511302948f,0.12987366318702698f,0.24236103892326355f,0.02539968490600586f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.883222222328186f,-0.09805093705654144f,0.2503664195537567f,-1.8711509704589844f,-0.24410827457904816f,0.38649991154670715f}, |
Lightvalve | 125:2397bee14630 | 236 | {-0.3232584297657013f,-0.053189944475889206f,0.0457797646522522f,-0.5087712407112122f,-0.03321319818496704f,-1.8744505643844604f,-0.03214165195822716f,-0.26336658000946045f,-0.050184011459350586f,0.12480869889259338f,0.6152644157409668f,-0.07211600244045258f,-0.453349769115448f,-1.5250720977783203f,-0.05216648057103157f,0.11892851442098618f}, |
Lightvalve | 125:2397bee14630 | 237 | {0.11140258610248566f,0.1321466863155365f,0.3954955041408539f,1.3737633228302002f,0.0033026933670043945f,-0.14030727744102478f,-0.42600369453430176f,-0.1593979150056839f,0.3487861454486847f,-0.32520344853401184f,0.46987098455429077f,-0.6833629012107849f,-0.08138442039489746f,-0.7832026481628418f,1.0384552478790283f,0.41698744893074036f}, |
Lightvalve | 125:2397bee14630 | 238 | {-0.38445141911506653f,-0.33038535714149475f,-0.15798500180244446f,0.5063937902450562f,-0.37393757700920105f,0.29281941056251526f,0.021477876231074333f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,0.04953036829829216f,-0.3957204818725586f,0.3781505823135376f,0.31499528884887695f,0.021847642958164215f,0.3083464205265045f}, |
Lightvalve | 125:2397bee14630 | 239 | {-0.3540099859237671f,1.4546316862106323f,-0.2018718123435974f,-0.36722248792648315f,0.07545611262321472f,-1.7687950134277344f,-0.34259331226348877f,-0.2933746874332428f,-0.24509364366531372f,0.19522181153297424f,0.7302901744842529f,-0.7415923476219177f,-0.334622323513031f,-0.4841771721839905f,-0.10593719780445099f,0.16230246424674988f}, |
Lightvalve | 112:8dcb1600cb90 | 240 | {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 | 125:2397bee14630 | 241 | {-0.6066306233406067f,0.5198500752449036f,0.12081471085548401f,-0.15702904760837555f,0.29976895451545715f,-0.20467263460159302f,-0.33610090613365173f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.4361351430416107f,-0.3206861615180969f,-0.14716669917106628f,-0.2186276614665985f,0.21438345313072205f,0.24429863691329956f}, |
Lightvalve | 65:a2d7c63419c2 | 242 | }; |
Lightvalve | 65:a2d7c63419c2 | 243 | |
Lightvalve | 112:8dcb1600cb90 | 244 | const float h3[16][16] = { |
Lightvalve | 125:2397bee14630 | 245 | {-0.36079341173171997f,-0.10172208398580551f,-0.05422573536634445f,-0.3531520962715149f,-0.1784299612045288f,0.016887450590729713f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.05566512793302536f,0.30659419298171997f,-0.31901490688323975f,0.15585735440254211f}, |
Lightvalve | 125:2397bee14630 | 246 | {0.047732532024383545f,1.0753889083862305f,0.17731982469558716f,-0.7493314743041992f,-0.2843036353588104f,0.9747467637062073f,-0.3198729455471039f,-0.0939856767654419f,1.0722424983978271f,-0.5520620346069336f,0.21625272929668427f,-0.3128277659416199f,0.27079981565475464f,-0.016030684113502502f,-0.49918901920318604f,-2.110337018966675f}, |
Lightvalve | 115:f41863b95e6f | 247 | {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 | 125:2397bee14630 | 248 | {-0.30922991037368774f,0.014257480390369892f,0.6579341292381287f,-0.7031058669090271f,0.8574787378311157f,-0.1417912095785141f,0.20021501183509827f,0.07002416253089905f,-0.25067853927612305f,-0.3505967855453491f,-0.4693567156791687f,0.2691781222820282f,-0.3446228504180908f,-0.5491616129875183f,0.32736796140670776f,1.543021559715271f}, |
Lightvalve | 125:2397bee14630 | 249 | {-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 | 125:2397bee14630 | 250 | {-0.37449589371681213f,0.46526315808296204f,1.1900017261505127f,1.531158447265625f,-0.09719792008399963f,0.31513187289237976f,-0.18732719123363495f,0.22384825348854065f,0.0015948208747431636f,-0.1597813218832016f,-0.6037359237670898f,0.0869547575712204f,1.306787133216858f,0.013234049081802368f,0.8242419362068176f,-1.228737235069275f}, |
Lightvalve | 125:2397bee14630 | 251 | {0.4110594093799591f,0.1605031043291092f,-0.16130556166172028f,0.37246426939964294f,0.3355327248573303f,-0.19788698852062225f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.3305956721305847f,-0.039165765047073364f,0.18454331159591675f,-0.3391006588935852f}, |
Lightvalve | 125:2397bee14630 | 252 | {-0.40892091393470764f,-0.035043053328990936f,-0.3115358054637909f,0.3177052438259125f,0.37669578194618225f,-0.12974904477596283f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.1972155123949051f,-0.36560842394828796f,-0.0011195334373041987f,0.005298197269439697f}, |
Lightvalve | 115:f41863b95e6f | 253 | {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 | 254 | {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 | 125:2397bee14630 | 255 | {0.15459725260734558f,0.5162972807884216f,-0.13875530660152435f,-4.656667709350586f,-0.8446860909461975f,0.24457228183746338f,-0.08742031455039978f,-0.09931918233633041f,-0.35160648822784424f,-0.5430967211723328f,-0.18435607850551605f,-0.44884198904037476f,-0.060661181807518005f,-0.9421484470367432f,0.855506181716919f,0.3708033561706543f}, |
Lightvalve | 125:2397bee14630 | 256 | {-0.408692330121994f,0.07973938435316086f,0.016587544232606888f,0.26259350776672363f,0.11990524083375931f,-0.1113203763961792f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.6542379856109619f,0.03996849060058594f,-0.6105207800865173f,-0.14511774480342865f,-0.14723564684391022f,0.10698546469211578f}, |
Lightvalve | 125:2397bee14630 | 257 | {-0.2991822361946106f,0.2525568902492523f,0.026335960254073143f,-0.05932474136352539f,0.11362092941999435f,0.11951722204685211f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.13153821229934692f,-0.1653849333524704f,0.24731771647930145f,-0.16869547963142395f}, |
Lightvalve | 125:2397bee14630 | 258 | {-0.2675279378890991f,0.013630464673042297f,0.5430143475532532f,-0.1550510823726654f,0.17619849741458893f,-0.05799423158168793f,-0.32875844836235046f,-0.31893211603164673f,-3.0947272777557373f,-0.6940340995788574f,-0.6170888543128967f,-0.5206098556518555f,1.1521424055099487f,-0.9339458346366882f,0.9837495684623718f,-0.630854070186615f}, |
Lightvalve | 125:2397bee14630 | 259 | {-0.015470266342163086f,-0.6298753619194031f,0.9077247977256775f,0.09919581562280655f,0.20719179511070251f,-0.8172785043716431f,0.05196094512939453f,-0.15130402147769928f,-1.1530804634094238f,-0.658012330532074f,-0.5316575765609741f,-0.25431928038597107f,0.7105571031570435f,-1.4784846305847168f,0.2771899700164795f,-0.51945960521698f}, |
Lightvalve | 125:2397bee14630 | 260 | {0.1863725483417511f,0.3316158652305603f,-0.3408939242362976f,0.2283833622932434f,0.05066967010498047f,0.13183023035526276f,0.04860696196556091f,0.021250905469059944f,-0.3624637722969055f,0.03372818976640701f,-0.7151399254798889f,0.06625616550445557f,0.657176673412323f,-0.13679352402687073f,-0.46388790011405945f,-2.0645017623901367f}, |
Lightvalve | 66:a8e6799dbce3 | 261 | }; |
Lightvalve | 65:a2d7c63419c2 | 262 | |
Lightvalve | 125:2397bee14630 | 263 | const float hout[16] = { 0.45773375034332275f,0.1573396921157837f,-0.2266036719083786f,-0.34220030903816223f,-0.12916159629821777f,0.21063542366027832f,0.0030125975608825684f,0.09771253168582916f,-0.16219666600227356f,-0.09851107746362686f,0.21235927939414978f,-0.26737266778945923f,-0.22092729806900024f,-0.07228755950927734f,0.38283488154411316f,-0.3793788552284241f }; |
Lightvalve | 66:a8e6799dbce3 | 264 | |
Lightvalve | 125:2397bee14630 | 265 | const float b1[16] = { 0.7116228342056274f,0.7612383961677551f,-1.7145336866378784f,0.5937538146972656f,-0.09950263798236847f,1.5499048233032227f,-0.058932315558195114f,0.6715773940086365f,0.534138560295105f,-1.006351113319397f,0.7057833075523376f,1.6850756406784058f,-0.3508627712726593f,-0.8155248761177063f,-1.087764859199524f,0.8281255960464478f }; |
Lightvalve | 87:471334725012 | 266 | |
Lightvalve | 125:2397bee14630 | 267 | const float b2[16] = { -0.3337513506412506f,-0.5391920208930969f,-1.4564176797866821f,-1.128948450088501f,-0.6939148902893066f,0.5002384781837463f,0.22250673174858093f,-0.33680295944213867f,-1.20063054561615f,-1.912178635597229f,0.12254471331834793f,0.106278195977211f,-0.24708500504493713f,2.269289493560791f,0.5072054266929626f,1.6524643898010254f }; |
Lightvalve | 65:a2d7c63419c2 | 268 | |
Lightvalve | 125:2397bee14630 | 269 | const float b3[16] = { -1.963319182395935f,-0.17327481508255005f,0.12254021316766739f,0.298814982175827f,0.31169232726097107f,0.9381092190742493f,-0.45353031158447266f,-0.8102949261665344f,-0.3720570504665375f,0.19731217622756958f,-0.47558876872062683f,-0.08406878262758255f,-0.46960222721099854f,0.08271750062704086f,-1.1466164588928223f,-1.295691967010498f }; |
Lightvalve | 87:471334725012 | 270 | |
Lightvalve | 125:2397bee14630 | 271 | const float bout[1] = { -0.23560747504234314f }; |
Lightvalve | 65:a2d7c63419c2 | 272 | |
Lightvalve | 66:a8e6799dbce3 | 273 | |
Lightvalve | 87:471334725012 | 274 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 275 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 276 | |
GiJeongKim | 0:51c43836c1d7 | 277 | int main() |
GiJeongKim | 0:51c43836c1d7 | 278 | { |
Lightvalve | 66:a8e6799dbce3 | 279 | |
Lightvalve | 65:a2d7c63419c2 | 280 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 281 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 282 | |
jobuuu | 6:df07d3491e3a | 283 | /********************************* |
jobuuu | 1:e04e563be5ce | 284 | *** Initialization |
jobuuu | 6:df07d3491e3a | 285 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 286 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 287 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 288 | |
GiJeongKim | 0:51c43836c1d7 | 289 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 290 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 291 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 292 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 293 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 294 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 295 | |
GiJeongKim | 0:51c43836c1d7 | 296 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 297 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 298 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 299 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 300 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 301 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 302 | |
Lightvalve | 16:903b5a4433b4 | 303 | //rom |
Lightvalve | 19:23b7c1ad8683 | 304 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 305 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 306 | |
GiJeongKim | 0:51c43836c1d7 | 307 | // ADC init |
jobuuu | 5:a4319f79457b | 308 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 309 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 310 | |
GiJeongKim | 0:51c43836c1d7 | 311 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 312 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 313 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 314 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 315 | |
Lightvalve | 11:82d8768d7351 | 316 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 317 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 318 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 319 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 320 | |
Lightvalve | 50:3c630b5eba9f | 321 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 322 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 323 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 324 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 325 | |
GiJeongKim | 0:51c43836c1d7 | 326 | // CAN |
jobuuu | 2:a1c0a37df760 | 327 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 328 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 329 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 330 | |
Lightvalve | 23:59218d4a256d | 331 | //Timer priority |
Lightvalve | 23:59218d4a256d | 332 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 333 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 334 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 335 | |
Lightvalve | 23:59218d4a256d | 336 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 337 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 338 | |
GiJeongKim | 0:51c43836c1d7 | 339 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 340 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 341 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 342 | |
Lightvalve | 11:82d8768d7351 | 343 | //DAC init |
Lightvalve | 58:2eade98630e2 | 344 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 345 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 346 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 347 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 348 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 349 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 350 | } |
Lightvalve | 11:82d8768d7351 | 351 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 352 | |
Lightvalve | 19:23b7c1ad8683 | 353 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 354 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 355 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 356 | else |
Lightvalve | 38:118df027d851 | 357 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 358 | } |
Lightvalve | 61:bc8c8270f0ab | 359 | |
Lightvalve | 61:bc8c8270f0ab | 360 | |
jobuuu | 6:df07d3491e3a | 361 | /************************************ |
jobuuu | 1:e04e563be5ce | 362 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 363 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 364 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 365 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 366 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 367 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 368 | |
Lightvalve | 65:a2d7c63419c2 | 369 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 370 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 371 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 372 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 373 | // } else |
Lightvalve | 65:a2d7c63419c2 | 374 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 375 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 376 | //} |
Lightvalve | 66:a8e6799dbce3 | 377 | |
Lightvalve | 66:a8e6799dbce3 | 378 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 379 | |
Lightvalve | 87:471334725012 | 380 | //LED = 0; |
Lightvalve | 87:471334725012 | 381 | |
Lightvalve | 73:f80dc3970c99 | 382 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 383 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 384 | } |
Lightvalve | 66:a8e6799dbce3 | 385 | |
Lightvalve | 73:f80dc3970c99 | 386 | else if(NN_Control_Flag == 1) { |
Lightvalve | 117:7141c0517b82 | 387 | |
Lightvalve | 117:7141c0517b82 | 388 | int ind = 0; |
Lightvalve | 117:7141c0517b82 | 389 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 118:af86e883dcb4 | 390 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 117:7141c0517b82 | 391 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 392 | } |
Lightvalve | 117:7141c0517b82 | 393 | |
Lightvalve | 117:7141c0517b82 | 394 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 118:af86e883dcb4 | 395 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 117:7141c0517b82 | 396 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 397 | } |
Lightvalve | 117:7141c0517b82 | 398 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 117:7141c0517b82 | 399 | ind = ind + 1; |
Lightvalve | 121:89396c37b03e | 400 | |
Lightvalve | 122:dcb3ce3056a0 | 401 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 122:dcb3ce3056a0 | 402 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 403 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 404 | // } |
Lightvalve | 117:7141c0517b82 | 405 | |
Lightvalve | 117:7141c0517b82 | 406 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 118:af86e883dcb4 | 407 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 117:7141c0517b82 | 408 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 409 | } |
Lightvalve | 117:7141c0517b82 | 410 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 117:7141c0517b82 | 411 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 412 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 118:af86e883dcb4 | 413 | input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f; |
Lightvalve | 118:af86e883dcb4 | 414 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f; |
Lightvalve | 117:7141c0517b82 | 415 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 416 | } |
Lightvalve | 117:7141c0517b82 | 417 | |
Lightvalve | 112:8dcb1600cb90 | 418 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 419 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 420 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 421 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 422 | |
Lightvalve | 112:8dcb1600cb90 | 423 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 424 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 425 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 426 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 427 | } |
Lightvalve | 66:a8e6799dbce3 | 428 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 429 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 430 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 431 | } |
Lightvalve | 66:a8e6799dbce3 | 432 | } |
Lightvalve | 65:a2d7c63419c2 | 433 | |
Lightvalve | 112:8dcb1600cb90 | 434 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 435 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 436 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 437 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 438 | } |
Lightvalve | 66:a8e6799dbce3 | 439 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 440 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 441 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 442 | } |
Lightvalve | 66:a8e6799dbce3 | 443 | } |
Lightvalve | 65:a2d7c63419c2 | 444 | |
Lightvalve | 112:8dcb1600cb90 | 445 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 446 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 447 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 448 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 449 | } |
Lightvalve | 66:a8e6799dbce3 | 450 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 451 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 452 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 453 | } |
Lightvalve | 65:a2d7c63419c2 | 454 | } |
Lightvalve | 66:a8e6799dbce3 | 455 | |
Lightvalve | 66:a8e6799dbce3 | 456 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 457 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 458 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 459 | } |
Lightvalve | 66:a8e6799dbce3 | 460 | output = output + bout[index2]; |
Lightvalve | 73:f80dc3970c99 | 461 | |
Lightvalve | 66:a8e6799dbce3 | 462 | } |
Lightvalve | 73:f80dc3970c99 | 463 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 464 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 465 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 101:50159049a518 | 466 | |
Lightvalve | 66:a8e6799dbce3 | 467 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 468 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 469 | } else { |
Lightvalve | 66:a8e6799dbce3 | 470 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 471 | } |
Lightvalve | 87:471334725012 | 472 | |
Lightvalve | 88:d6e591bece22 | 473 | // // torque feedback |
Lightvalve | 88:d6e591bece22 | 474 | // torq.err = f_past[0] - torq.sen; //[N] |
Lightvalve | 88:d6e591bece22 | 475 | //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 88:d6e591bece22 | 476 | // torq.err_sum += torq.err/(float) 1500.0f; //[N] |
Lightvalve | 88:d6e591bece22 | 477 | // |
Lightvalve | 88:d6e591bece22 | 478 | // |
Lightvalve | 88:d6e591bece22 | 479 | // 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 | 480 | // |
Lightvalve | 88:d6e591bece22 | 481 | // if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 88:d6e591bece22 | 482 | // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 88:d6e591bece22 | 483 | // if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 88:d6e591bece22 | 484 | // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 485 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 486 | // valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 487 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 488 | // } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 88:d6e591bece22 | 489 | // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 490 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 491 | // valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 492 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 493 | // } |
Lightvalve | 88:d6e591bece22 | 494 | // } |
Lightvalve | 87:471334725012 | 495 | |
Lightvalve | 69:3995ffeaa786 | 496 | |
Lightvalve | 69:3995ffeaa786 | 497 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 498 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 499 | } else |
Lightvalve | 69:3995ffeaa786 | 500 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 501 | |
Lightvalve | 65:a2d7c63419c2 | 502 | } |
Lightvalve | 62:b5452adfb2cd | 503 | |
Lightvalve | 87:471334725012 | 504 | //LED = 1; |
Lightvalve | 69:3995ffeaa786 | 505 | |
Lightvalve | 66:a8e6799dbce3 | 506 | |
GiJeongKim | 0:51c43836c1d7 | 507 | } |
jobuuu | 1:e04e563be5ce | 508 | } |
jobuuu | 1:e04e563be5ce | 509 | |
Lightvalve | 33:91b17819ec30 | 510 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 511 | { |
Lightvalve | 14:8e7590227d22 | 512 | |
Lightvalve | 13:747daba9cf59 | 513 | int i = 0; |
Lightvalve | 48:889798ff9329 | 514 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 515 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 516 | 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 | 517 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 518 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 519 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 520 | } else { |
Lightvalve | 57:f4819de54e7a | 521 | 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 | 522 | } |
Lightvalve | 14:8e7590227d22 | 523 | } else { |
Lightvalve | 50:3c630b5eba9f | 524 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 525 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 526 | } else { |
Lightvalve | 57:f4819de54e7a | 527 | 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 | 528 | } |
Lightvalve | 13:747daba9cf59 | 529 | } |
Lightvalve | 13:747daba9cf59 | 530 | break; |
Lightvalve | 13:747daba9cf59 | 531 | } |
Lightvalve | 13:747daba9cf59 | 532 | } |
Lightvalve | 14:8e7590227d22 | 533 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 534 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 535 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 536 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 537 | } |
Lightvalve | 36:a46e63505ed8 | 538 | |
Lightvalve | 57:f4819de54e7a | 539 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 540 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 541 | |
Lightvalve | 13:747daba9cf59 | 542 | } |
jobuuu | 6:df07d3491e3a | 543 | |
jobuuu | 6:df07d3491e3a | 544 | |
Lightvalve | 30:8d561f16383b | 545 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 546 | { |
Lightvalve | 13:747daba9cf59 | 547 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 548 | |
Lightvalve | 38:118df027d851 | 549 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 550 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 551 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 552 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 553 | } |
Lightvalve | 38:118df027d851 | 554 | |
Lightvalve | 89:a7b45368ea0f | 555 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 556 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 557 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 558 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 559 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 560 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 561 | |
Lightvalve | 13:747daba9cf59 | 562 | 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 | 563 | |
Lightvalve | 18:b8adf1582ea3 | 564 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 565 | 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 | 566 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 567 | 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 | 568 | } else { |
Lightvalve | 48:889798ff9329 | 569 | 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 | 570 | } |
Lightvalve | 13:747daba9cf59 | 571 | break; |
Lightvalve | 13:747daba9cf59 | 572 | } |
Lightvalve | 13:747daba9cf59 | 573 | } |
Lightvalve | 59:f308b1656d9c | 574 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 575 | } |
Lightvalve | 13:747daba9cf59 | 576 | |
Lightvalve | 14:8e7590227d22 | 577 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 578 | 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 | 579 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 580 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 581 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 582 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 583 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 584 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 585 | 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 | 586 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 587 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 588 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 589 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 590 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 591 | }; // mV |
Lightvalve | 13:747daba9cf59 | 592 | |
Lightvalve | 30:8d561f16383b | 593 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 594 | { |
Lightvalve | 30:8d561f16383b | 595 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 596 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 597 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 598 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 599 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 600 | } else { |
Lightvalve | 13:747daba9cf59 | 601 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 602 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 603 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 604 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 605 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 606 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 607 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 608 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 609 | break; |
Lightvalve | 13:747daba9cf59 | 610 | } |
Lightvalve | 13:747daba9cf59 | 611 | } |
Lightvalve | 13:747daba9cf59 | 612 | } |
Lightvalve | 14:8e7590227d22 | 613 | |
Lightvalve | 13:747daba9cf59 | 614 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 615 | } |
jobuuu | 6:df07d3491e3a | 616 | |
Lightvalve | 57:f4819de54e7a | 617 | |
Lightvalve | 57:f4819de54e7a | 618 | |
Lightvalve | 57:f4819de54e7a | 619 | |
Lightvalve | 57:f4819de54e7a | 620 | |
jobuuu | 2:a1c0a37df760 | 621 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 622 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 623 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 624 | |
Lightvalve | 51:b46bed7fec80 | 625 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 626 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 627 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 628 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 629 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 630 | { |
Lightvalve | 19:23b7c1ad8683 | 631 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 632 | |
Lightvalve | 21:e5f1a43ea6f9 | 633 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 634 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 635 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 636 | |
Lightvalve | 57:f4819de54e7a | 637 | //Encoder |
Lightvalve | 57:f4819de54e7a | 638 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 639 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 640 | } |
Lightvalve | 61:bc8c8270f0ab | 641 | |
Lightvalve | 61:bc8c8270f0ab | 642 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 643 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 644 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 645 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 646 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 647 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 648 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 649 | |
Lightvalve | 67:c2812cf26c38 | 650 | |
Lightvalve | 67:c2812cf26c38 | 651 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 652 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 653 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 654 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 655 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 656 | |
Lightvalve | 17:1865016ca2e7 | 657 | |
Lightvalve | 58:2eade98630e2 | 658 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 659 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 660 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 661 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 662 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 663 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 664 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 665 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 666 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 667 | |
Lightvalve | 58:2eade98630e2 | 668 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 669 | 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 | 670 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 671 | 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 | 672 | } |
Lightvalve | 58:2eade98630e2 | 673 | } |
Lightvalve | 61:bc8c8270f0ab | 674 | |
Lightvalve | 58:2eade98630e2 | 675 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 676 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 677 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 678 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 679 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 680 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 681 | // 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 | 682 | // |
Lightvalve | 58:2eade98630e2 | 683 | // |
Lightvalve | 58:2eade98630e2 | 684 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 685 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 686 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 687 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 688 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 689 | |
Lightvalve | 17:1865016ca2e7 | 690 | |
Lightvalve | 21:e5f1a43ea6f9 | 691 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 692 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 693 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 694 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 695 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 696 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 697 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 698 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 699 | |
Lightvalve | 57:f4819de54e7a | 700 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 701 | } |
Lightvalve | 11:82d8768d7351 | 702 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 703 | } |
Lightvalve | 19:23b7c1ad8683 | 704 | |
Lightvalve | 19:23b7c1ad8683 | 705 | |
Lightvalve | 18:b8adf1582ea3 | 706 | int j =0; |
Lightvalve | 54:647072f5307a | 707 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 708 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 709 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 710 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 711 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 712 | |
Lightvalve | 11:82d8768d7351 | 713 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 714 | { |
Lightvalve | 19:23b7c1ad8683 | 715 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 716 | |
Lightvalve | 57:f4819de54e7a | 717 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 718 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 719 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 720 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 721 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 722 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 723 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 724 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 725 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 726 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 727 | } |
Lightvalve | 50:3c630b5eba9f | 728 | |
Lightvalve | 50:3c630b5eba9f | 729 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 730 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 731 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 732 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 733 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 734 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 735 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 736 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 737 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 738 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 739 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 740 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 741 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 742 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 743 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 744 | } else { |
Lightvalve | 58:2eade98630e2 | 745 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 746 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 747 | } |
Lightvalve | 45:35fa6884d0c6 | 748 | |
Lightvalve | 50:3c630b5eba9f | 749 | |
Lightvalve | 57:f4819de54e7a | 750 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 751 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 752 | |
Lightvalve | 57:f4819de54e7a | 753 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 754 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 755 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 756 | } else { |
Lightvalve | 57:f4819de54e7a | 757 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 758 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 759 | } |
Lightvalve | 56:6f50d9d3bfee | 760 | |
Lightvalve | 56:6f50d9d3bfee | 761 | |
Lightvalve | 56:6f50d9d3bfee | 762 | |
Lightvalve | 57:f4819de54e7a | 763 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 764 | |
Lightvalve | 57:f4819de54e7a | 765 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 766 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 767 | break; |
Lightvalve | 13:747daba9cf59 | 768 | } |
Lightvalve | 14:8e7590227d22 | 769 | |
Lightvalve | 14:8e7590227d22 | 770 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 771 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 772 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 773 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 774 | |
Lightvalve | 14:8e7590227d22 | 775 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 776 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 777 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 778 | |
Lightvalve | 84:c355d3e52bf1 | 779 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 780 | |
Lightvalve | 30:8d561f16383b | 781 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 782 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 783 | |
Lightvalve | 16:903b5a4433b4 | 784 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 785 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 786 | } |
Lightvalve | 13:747daba9cf59 | 787 | } else { |
Lightvalve | 58:2eade98630e2 | 788 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 789 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 790 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 791 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 792 | |
Lightvalve | 16:903b5a4433b4 | 793 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 794 | |
Lightvalve | 30:8d561f16383b | 795 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 796 | |
Lightvalve | 13:747daba9cf59 | 797 | } |
Lightvalve | 14:8e7590227d22 | 798 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 799 | break; |
Lightvalve | 19:23b7c1ad8683 | 800 | } |
Lightvalve | 14:8e7590227d22 | 801 | |
Lightvalve | 50:3c630b5eba9f | 802 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 803 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 804 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 805 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 806 | // } |
Lightvalve | 50:3c630b5eba9f | 807 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 808 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 809 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 810 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 811 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 812 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 813 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 814 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 815 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 816 | // } |
Lightvalve | 50:3c630b5eba9f | 817 | // |
Lightvalve | 50:3c630b5eba9f | 818 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 819 | // 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 | 820 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 821 | // |
Lightvalve | 50:3c630b5eba9f | 822 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 823 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 824 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 825 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 826 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 827 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 828 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 829 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 830 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 831 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 832 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 833 | // |
Lightvalve | 50:3c630b5eba9f | 834 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 835 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 836 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 837 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 838 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 839 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 840 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 841 | // |
Lightvalve | 50:3c630b5eba9f | 842 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 843 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 844 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 845 | // } else { |
Lightvalve | 50:3c630b5eba9f | 846 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 847 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 848 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 849 | // } |
Lightvalve | 50:3c630b5eba9f | 850 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 851 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 852 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 853 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 854 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 855 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 856 | // } |
Lightvalve | 50:3c630b5eba9f | 857 | // } else { |
Lightvalve | 50:3c630b5eba9f | 858 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 859 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 860 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 861 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 862 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 863 | // } |
Lightvalve | 50:3c630b5eba9f | 864 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 865 | // |
Lightvalve | 50:3c630b5eba9f | 866 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 867 | // |
Lightvalve | 50:3c630b5eba9f | 868 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 869 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 870 | // |
Lightvalve | 50:3c630b5eba9f | 871 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 872 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 873 | // } |
Lightvalve | 50:3c630b5eba9f | 874 | // } |
Lightvalve | 50:3c630b5eba9f | 875 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 876 | // break; |
Lightvalve | 50:3c630b5eba9f | 877 | // } |
Lightvalve | 14:8e7590227d22 | 878 | |
Lightvalve | 14:8e7590227d22 | 879 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 880 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 881 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 882 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 883 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 884 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 885 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 886 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 887 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 888 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 889 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 890 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 891 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 892 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 893 | } |
Lightvalve | 29:69f3f5445d6d | 894 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 895 | |
Lightvalve | 29:69f3f5445d6d | 896 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 897 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 898 | } else { |
Lightvalve | 29:69f3f5445d6d | 899 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 900 | } |
Lightvalve | 19:23b7c1ad8683 | 901 | |
Lightvalve | 57:f4819de54e7a | 902 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 903 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 904 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 905 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 906 | |
Lightvalve | 59:f308b1656d9c | 907 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 908 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 909 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 910 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 911 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 912 | |
Lightvalve | 59:f308b1656d9c | 913 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 914 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 915 | |
Lightvalve | 34:bb2ca2fc2a8e | 916 | |
Lightvalve | 29:69f3f5445d6d | 917 | } else { |
Lightvalve | 29:69f3f5445d6d | 918 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 919 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 920 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 921 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 922 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 923 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 924 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 925 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 926 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 927 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 928 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 929 | |
Lightvalve | 67:c2812cf26c38 | 930 | |
Lightvalve | 67:c2812cf26c38 | 931 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 932 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 933 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 934 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 935 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 936 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 937 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 938 | |
Lightvalve | 67:c2812cf26c38 | 939 | |
Lightvalve | 29:69f3f5445d6d | 940 | } |
Lightvalve | 29:69f3f5445d6d | 941 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 942 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 943 | 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 | 944 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 945 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 946 | |
Lightvalve | 29:69f3f5445d6d | 947 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 948 | |
Lightvalve | 67:c2812cf26c38 | 949 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 950 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 951 | |
Lightvalve | 67:c2812cf26c38 | 952 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 953 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 954 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 955 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 956 | |
Lightvalve | 67:c2812cf26c38 | 957 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 958 | |
Lightvalve | 67:c2812cf26c38 | 959 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 960 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 961 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 962 | |
Lightvalve | 67:c2812cf26c38 | 963 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 964 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 965 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 966 | |
Lightvalve | 69:3995ffeaa786 | 967 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 968 | 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 | 969 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 970 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 971 | 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 | 972 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 973 | } |
Lightvalve | 67:c2812cf26c38 | 974 | 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 | 975 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 976 | |
Lightvalve | 67:c2812cf26c38 | 977 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 978 | |
Lightvalve | 67:c2812cf26c38 | 979 | |
Lightvalve | 67:c2812cf26c38 | 980 | |
Lightvalve | 67:c2812cf26c38 | 981 | } else { |
Lightvalve | 67:c2812cf26c38 | 982 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 983 | 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 | 984 | |
Lightvalve | 67:c2812cf26c38 | 985 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 986 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 987 | } else { |
Lightvalve | 67:c2812cf26c38 | 988 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 989 | } |
Lightvalve | 67:c2812cf26c38 | 990 | |
Lightvalve | 67:c2812cf26c38 | 991 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 992 | |
Lightvalve | 67:c2812cf26c38 | 993 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 994 | |
Lightvalve | 67:c2812cf26c38 | 995 | } |
Lightvalve | 67:c2812cf26c38 | 996 | |
Lightvalve | 67:c2812cf26c38 | 997 | |
Lightvalve | 67:c2812cf26c38 | 998 | |
Lightvalve | 67:c2812cf26c38 | 999 | |
Lightvalve | 59:f308b1656d9c | 1000 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1001 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1002 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1003 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1004 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1005 | |
Lightvalve | 29:69f3f5445d6d | 1006 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1007 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1008 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1009 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1010 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1011 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1012 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1013 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1014 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1015 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1016 | } |
Lightvalve | 13:747daba9cf59 | 1017 | } |
Lightvalve | 19:23b7c1ad8683 | 1018 | |
Lightvalve | 13:747daba9cf59 | 1019 | break; |
Lightvalve | 13:747daba9cf59 | 1020 | } |
Lightvalve | 14:8e7590227d22 | 1021 | |
Lightvalve | 50:3c630b5eba9f | 1022 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1023 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1024 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1025 | // else { |
Lightvalve | 50:3c630b5eba9f | 1026 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1027 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1028 | // } |
Lightvalve | 50:3c630b5eba9f | 1029 | // } |
Lightvalve | 50:3c630b5eba9f | 1030 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1031 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1032 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1033 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1034 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1035 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1036 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1037 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1038 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1039 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1040 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1041 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1042 | // } |
Lightvalve | 50:3c630b5eba9f | 1043 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1044 | // } |
Lightvalve | 50:3c630b5eba9f | 1045 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1046 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1047 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1048 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1049 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1050 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1051 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1052 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1053 | // 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 | 1054 | // // 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 | 1055 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1056 | // } |
Lightvalve | 50:3c630b5eba9f | 1057 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1058 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1059 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1060 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1061 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1062 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1063 | // 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 | 1064 | // // 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 | 1065 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1066 | // } |
Lightvalve | 50:3c630b5eba9f | 1067 | // } |
Lightvalve | 50:3c630b5eba9f | 1068 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1069 | // |
Lightvalve | 50:3c630b5eba9f | 1070 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1071 | // |
Lightvalve | 50:3c630b5eba9f | 1072 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1073 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1074 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1075 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1076 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1077 | // } |
Lightvalve | 50:3c630b5eba9f | 1078 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1079 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1080 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1081 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1082 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1083 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1084 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1085 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1086 | // } |
Lightvalve | 50:3c630b5eba9f | 1087 | // |
Lightvalve | 50:3c630b5eba9f | 1088 | // } |
Lightvalve | 50:3c630b5eba9f | 1089 | // break; |
Lightvalve | 50:3c630b5eba9f | 1090 | // } |
Lightvalve | 50:3c630b5eba9f | 1091 | // |
Lightvalve | 50:3c630b5eba9f | 1092 | // } |
Lightvalve | 14:8e7590227d22 | 1093 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1094 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1095 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1096 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1097 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1098 | |
Lightvalve | 14:8e7590227d22 | 1099 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1100 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1101 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1102 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1103 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1104 | |
Lightvalve | 38:118df027d851 | 1105 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1106 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1107 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1108 | |
Lightvalve | 30:8d561f16383b | 1109 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1110 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1111 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1112 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1113 | |
Lightvalve | 30:8d561f16383b | 1114 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1115 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1116 | } |
Lightvalve | 13:747daba9cf59 | 1117 | } else { |
Lightvalve | 57:f4819de54e7a | 1118 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1119 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1120 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1121 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1122 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1123 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1124 | |
Lightvalve | 16:903b5a4433b4 | 1125 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1126 | |
Lightvalve | 30:8d561f16383b | 1127 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1128 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1129 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1130 | } |
Lightvalve | 14:8e7590227d22 | 1131 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1132 | break; |
Lightvalve | 13:747daba9cf59 | 1133 | } |
Lightvalve | 14:8e7590227d22 | 1134 | |
Lightvalve | 50:3c630b5eba9f | 1135 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1136 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1137 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1138 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1139 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1140 | // } |
Lightvalve | 50:3c630b5eba9f | 1141 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1142 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1143 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1144 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1145 | // } |
Lightvalve | 50:3c630b5eba9f | 1146 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1147 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1148 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1149 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1150 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1151 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1152 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1153 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1154 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1155 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1156 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1157 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1158 | // |
Lightvalve | 50:3c630b5eba9f | 1159 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1160 | // |
Lightvalve | 50:3c630b5eba9f | 1161 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1162 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1163 | // } |
Lightvalve | 50:3c630b5eba9f | 1164 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1165 | // break; |
Lightvalve | 50:3c630b5eba9f | 1166 | // } |
Lightvalve | 19:23b7c1ad8683 | 1167 | |
Lightvalve | 50:3c630b5eba9f | 1168 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1169 | // 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 | 1170 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1171 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1172 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1173 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1174 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1175 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1176 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1177 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1178 | // } |
Lightvalve | 50:3c630b5eba9f | 1179 | // break; |
Lightvalve | 50:3c630b5eba9f | 1180 | // } |
Lightvalve | 14:8e7590227d22 | 1181 | |
Lightvalve | 14:8e7590227d22 | 1182 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1183 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1184 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1185 | |
Lightvalve | 14:8e7590227d22 | 1186 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1187 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1188 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1189 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1190 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1191 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1192 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1193 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1194 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1195 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1196 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1197 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1198 | } else { |
Lightvalve | 13:747daba9cf59 | 1199 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1200 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1201 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1202 | } |
Lightvalve | 14:8e7590227d22 | 1203 | |
Lightvalve | 17:1865016ca2e7 | 1204 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1205 | int i; |
Lightvalve | 13:747daba9cf59 | 1206 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1207 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1208 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1209 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1210 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1211 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1212 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1213 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1214 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1215 | } |
Lightvalve | 13:747daba9cf59 | 1216 | } |
Lightvalve | 59:f308b1656d9c | 1217 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1218 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1219 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1220 | } |
Lightvalve | 14:8e7590227d22 | 1221 | |
Lightvalve | 14:8e7590227d22 | 1222 | |
Lightvalve | 13:747daba9cf59 | 1223 | break; |
Lightvalve | 13:747daba9cf59 | 1224 | } |
Lightvalve | 14:8e7590227d22 | 1225 | |
Lightvalve | 14:8e7590227d22 | 1226 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1227 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1228 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1229 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1230 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1231 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1232 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1233 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1234 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1235 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1236 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1237 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1238 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1239 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1240 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1241 | 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 | 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 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1245 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1246 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1247 | 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 | 1248 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1249 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1250 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1251 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1252 | |
Lightvalve | 30:8d561f16383b | 1253 | } else if(VALVE_DZ_timer < (int) (5.0f * (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 | 14:8e7590227d22 | 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 | 60:64181f1d3e60 | 1260 | |
Lightvalve | 30:8d561f16383b | 1261 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1262 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1263 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1264 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1265 | |
Lightvalve | 60:64181f1d3e60 | 1266 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1267 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1268 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1269 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1270 | } else { |
Lightvalve | 13:747daba9cf59 | 1271 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1272 | } |
Lightvalve | 61:bc8c8270f0ab | 1273 | |
Lightvalve | 60:64181f1d3e60 | 1274 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1275 | |
Lightvalve | 13:747daba9cf59 | 1276 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1277 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1278 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1279 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1280 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1281 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1282 | |
Lightvalve | 13:747daba9cf59 | 1283 | } |
Lightvalve | 19:23b7c1ad8683 | 1284 | } else { |
Lightvalve | 14:8e7590227d22 | 1285 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1286 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1287 | 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 | 1288 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1289 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1290 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1291 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1292 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1293 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1294 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1295 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1296 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1297 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1298 | } |
Lightvalve | 14:8e7590227d22 | 1299 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1300 | |
Lightvalve | 30:8d561f16383b | 1301 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1302 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1303 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1304 | |
Lightvalve | 14:8e7590227d22 | 1305 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1306 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1307 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1308 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1309 | } else { |
Lightvalve | 13:747daba9cf59 | 1310 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1311 | } |
Lightvalve | 14:8e7590227d22 | 1312 | |
Lightvalve | 13:747daba9cf59 | 1313 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1314 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1315 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1316 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1317 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1318 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1319 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1320 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1321 | } |
Lightvalve | 13:747daba9cf59 | 1322 | } |
Lightvalve | 14:8e7590227d22 | 1323 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1324 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1325 | 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 | 1326 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1327 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1328 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1329 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1330 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1331 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1332 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1333 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1334 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1335 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1336 | } |
Lightvalve | 14:8e7590227d22 | 1337 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1338 | |
Lightvalve | 30:8d561f16383b | 1339 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1340 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1341 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1342 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1343 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1344 | |
Lightvalve | 14:8e7590227d22 | 1345 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1346 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1347 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1348 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1349 | } else { |
Lightvalve | 60:64181f1d3e60 | 1350 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1351 | } |
Lightvalve | 14:8e7590227d22 | 1352 | |
Lightvalve | 13:747daba9cf59 | 1353 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1354 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1355 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1356 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1357 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1358 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1359 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1360 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1361 | |
Lightvalve | 16:903b5a4433b4 | 1362 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1363 | |
Lightvalve | 60:64181f1d3e60 | 1364 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1365 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1366 | } |
Lightvalve | 13:747daba9cf59 | 1367 | } |
Lightvalve | 14:8e7590227d22 | 1368 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1369 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1370 | 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 | 1371 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1372 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1373 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1374 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1375 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1376 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1377 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1378 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1379 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1380 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1381 | } |
Lightvalve | 14:8e7590227d22 | 1382 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1383 | |
Lightvalve | 30:8d561f16383b | 1384 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1385 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1386 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1387 | |
Lightvalve | 14:8e7590227d22 | 1388 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1389 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1390 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1391 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1392 | } else { |
Lightvalve | 13:747daba9cf59 | 1393 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1394 | } |
Lightvalve | 13:747daba9cf59 | 1395 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1396 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1397 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1398 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1399 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1400 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1401 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1402 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1403 | } |
Lightvalve | 13:747daba9cf59 | 1404 | } |
Lightvalve | 14:8e7590227d22 | 1405 | } else { |
Lightvalve | 30:8d561f16383b | 1406 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1407 | 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 | 1408 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1409 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1410 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1411 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1412 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1413 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1414 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1415 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1416 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1417 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1418 | } |
Lightvalve | 14:8e7590227d22 | 1419 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1420 | |
Lightvalve | 30:8d561f16383b | 1421 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1422 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1423 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1424 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1425 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1426 | |
Lightvalve | 60:64181f1d3e60 | 1427 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1428 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1429 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1430 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1431 | } else { |
Lightvalve | 13:747daba9cf59 | 1432 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1433 | } |
Lightvalve | 14:8e7590227d22 | 1434 | |
Lightvalve | 13:747daba9cf59 | 1435 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1436 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1437 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1438 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1439 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1440 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1441 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1442 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1443 | |
Lightvalve | 59:f308b1656d9c | 1444 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1445 | |
Lightvalve | 57:f4819de54e7a | 1446 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1447 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1448 | } |
Lightvalve | 13:747daba9cf59 | 1449 | } |
Lightvalve | 13:747daba9cf59 | 1450 | } |
Lightvalve | 14:8e7590227d22 | 1451 | } |
Lightvalve | 13:747daba9cf59 | 1452 | break; |
Lightvalve | 13:747daba9cf59 | 1453 | } |
Lightvalve | 14:8e7590227d22 | 1454 | |
Lightvalve | 14:8e7590227d22 | 1455 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1456 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1457 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1458 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1459 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1460 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1461 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1462 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1463 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1464 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1465 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1466 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1467 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1468 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1469 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1470 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1471 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1472 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1473 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1474 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1475 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1476 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1477 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1478 | } |
Lightvalve | 14:8e7590227d22 | 1479 | } else { |
Lightvalve | 30:8d561f16383b | 1480 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1481 | //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 | 1482 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1483 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1484 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1485 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1486 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1487 | |
Lightvalve | 14:8e7590227d22 | 1488 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1489 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1490 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1491 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1492 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1493 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1494 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1495 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1496 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1497 | } |
Lightvalve | 30:8d561f16383b | 1498 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1499 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1500 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1501 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1502 | } |
Lightvalve | 14:8e7590227d22 | 1503 | |
Lightvalve | 14:8e7590227d22 | 1504 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1505 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1506 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1507 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1508 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1509 | } |
Lightvalve | 13:747daba9cf59 | 1510 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1511 | |
Lightvalve | 13:747daba9cf59 | 1512 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1513 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1514 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1515 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1516 | } |
Lightvalve | 14:8e7590227d22 | 1517 | |
Lightvalve | 14:8e7590227d22 | 1518 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1519 | |
Lightvalve | 13:747daba9cf59 | 1520 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1521 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1522 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1523 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1524 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1525 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1526 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1527 | } |
Lightvalve | 13:747daba9cf59 | 1528 | } |
Lightvalve | 13:747daba9cf59 | 1529 | break; |
Lightvalve | 13:747daba9cf59 | 1530 | } |
Lightvalve | 58:2eade98630e2 | 1531 | |
Lightvalve | 57:f4819de54e7a | 1532 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1533 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1534 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1535 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1536 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1537 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1538 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1539 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1540 | } |
Lightvalve | 57:f4819de54e7a | 1541 | break; |
Lightvalve | 57:f4819de54e7a | 1542 | } |
Lightvalve | 58:2eade98630e2 | 1543 | |
Lightvalve | 58:2eade98630e2 | 1544 | |
Lightvalve | 57:f4819de54e7a | 1545 | |
Lightvalve | 57:f4819de54e7a | 1546 | default: |
Lightvalve | 57:f4819de54e7a | 1547 | break; |
Lightvalve | 57:f4819de54e7a | 1548 | } |
Lightvalve | 57:f4819de54e7a | 1549 | |
Lightvalve | 57:f4819de54e7a | 1550 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1551 | |
Lightvalve | 57:f4819de54e7a | 1552 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1553 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1554 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1555 | break; |
Lightvalve | 57:f4819de54e7a | 1556 | } |
Lightvalve | 57:f4819de54e7a | 1557 | |
Lightvalve | 57:f4819de54e7a | 1558 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1559 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1560 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1561 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1562 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1563 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1564 | } else { |
Lightvalve | 67:c2812cf26c38 | 1565 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1566 | } |
Lightvalve | 58:2eade98630e2 | 1567 | |
Lightvalve | 57:f4819de54e7a | 1568 | break; |
Lightvalve | 57:f4819de54e7a | 1569 | } |
Lightvalve | 57:f4819de54e7a | 1570 | |
Lightvalve | 57:f4819de54e7a | 1571 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1572 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1573 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1574 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1575 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1576 | |
Lightvalve | 67:c2812cf26c38 | 1577 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1578 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1579 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1580 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1581 | |
Lightvalve | 67:c2812cf26c38 | 1582 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1583 | |
Lightvalve | 57:f4819de54e7a | 1584 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1585 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1586 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1587 | |
Lightvalve | 57:f4819de54e7a | 1588 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1589 | |
Lightvalve | 57:f4819de54e7a | 1590 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1591 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1592 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1593 | |
Lightvalve | 57:f4819de54e7a | 1594 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1595 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1596 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1597 | |
Lightvalve | 69:3995ffeaa786 | 1598 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1599 | 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 | 1600 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1601 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1602 | 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 | 1603 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1604 | } |
Lightvalve | 57:f4819de54e7a | 1605 | 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 | 1606 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1607 | |
Lightvalve | 57:f4819de54e7a | 1608 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1609 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1610 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1611 | // 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 | 1612 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1613 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1614 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1615 | 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 | 1616 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1617 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1618 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1619 | } |
Lightvalve | 57:f4819de54e7a | 1620 | 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 | 1621 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1622 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1623 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1624 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1625 | |
Lightvalve | 57:f4819de54e7a | 1626 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1627 | |
Lightvalve | 67:c2812cf26c38 | 1628 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1629 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1630 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1631 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1632 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1633 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1634 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1635 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1636 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1637 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1638 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1639 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1640 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1641 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1642 | } |
Lightvalve | 67:c2812cf26c38 | 1643 | } |
Lightvalve | 57:f4819de54e7a | 1644 | |
Lightvalve | 57:f4819de54e7a | 1645 | } else { |
Lightvalve | 57:f4819de54e7a | 1646 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1647 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1648 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1649 | |
Lightvalve | 57:f4819de54e7a | 1650 | 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 | 1651 | + 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 | 1652 | |
Lightvalve | 72:3436ce769b1e | 1653 | 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 | 1654 | |
Lightvalve | 72:3436ce769b1e | 1655 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1656 | |
Lightvalve | 72:3436ce769b1e | 1657 | |
Lightvalve | 72:3436ce769b1e | 1658 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1659 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1660 | } else { |
Lightvalve | 72:3436ce769b1e | 1661 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1662 | } |
Lightvalve | 57:f4819de54e7a | 1663 | |
Lightvalve | 57:f4819de54e7a | 1664 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1665 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1666 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1667 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1668 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1669 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1670 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1671 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1672 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1673 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1674 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1675 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1676 | } |
Lightvalve | 57:f4819de54e7a | 1677 | } |
Lightvalve | 61:bc8c8270f0ab | 1678 | |
Lightvalve | 57:f4819de54e7a | 1679 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1680 | |
Lightvalve | 67:c2812cf26c38 | 1681 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1682 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1683 | |
Lightvalve | 57:f4819de54e7a | 1684 | } |
Lightvalve | 72:3436ce769b1e | 1685 | |
Lightvalve | 72:3436ce769b1e | 1686 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1687 | |
Lightvalve | 57:f4819de54e7a | 1688 | break; |
Lightvalve | 57:f4819de54e7a | 1689 | } |
Lightvalve | 58:2eade98630e2 | 1690 | |
Lightvalve | 57:f4819de54e7a | 1691 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1692 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1693 | break; |
Lightvalve | 57:f4819de54e7a | 1694 | } |
Lightvalve | 14:8e7590227d22 | 1695 | |
Lightvalve | 12:6f2531038ea4 | 1696 | default: |
Lightvalve | 12:6f2531038ea4 | 1697 | break; |
Lightvalve | 12:6f2531038ea4 | 1698 | } |
Lightvalve | 14:8e7590227d22 | 1699 | |
Lightvalve | 57:f4819de54e7a | 1700 | |
Lightvalve | 57:f4819de54e7a | 1701 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1702 | |
Lightvalve | 57:f4819de54e7a | 1703 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1704 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1705 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1706 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1707 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1708 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1709 | |
Lightvalve | 57:f4819de54e7a | 1710 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1711 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1712 | |
Lightvalve | 57:f4819de54e7a | 1713 | |
Lightvalve | 57:f4819de54e7a | 1714 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1715 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1716 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1717 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1718 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1719 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1720 | |
Lightvalve | 57:f4819de54e7a | 1721 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1722 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1723 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1724 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1725 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1726 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1727 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1728 | } |
Lightvalve | 57:f4819de54e7a | 1729 | |
Lightvalve | 57:f4819de54e7a | 1730 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1731 | |
Lightvalve | 67:c2812cf26c38 | 1732 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1733 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1734 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1735 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1736 | // 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 | 1737 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1738 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1739 | |
Lightvalve | 57:f4819de54e7a | 1740 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1741 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1742 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1743 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1744 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1745 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1746 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1747 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1748 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1749 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1750 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1751 | } |
Lightvalve | 57:f4819de54e7a | 1752 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1753 | } else { |
Lightvalve | 57:f4819de54e7a | 1754 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1755 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1756 | } |
Lightvalve | 57:f4819de54e7a | 1757 | |
Lightvalve | 57:f4819de54e7a | 1758 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1759 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1760 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1761 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1762 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1763 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1764 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1765 | |
Lightvalve | 57:f4819de54e7a | 1766 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1767 | |
Lightvalve | 57:f4819de54e7a | 1768 | } else { |
Lightvalve | 57:f4819de54e7a | 1769 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1770 | } |
Lightvalve | 57:f4819de54e7a | 1771 | |
Lightvalve | 57:f4819de54e7a | 1772 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1773 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1774 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1775 | |
Lightvalve | 57:f4819de54e7a | 1776 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1777 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1778 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1779 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1780 | } |
Lightvalve | 89:a7b45368ea0f | 1781 | else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 1782 | // Output Voltage Linearization |
Lightvalve | 89:a7b45368ea0f | 1783 | double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 89:a7b45368ea0f | 1784 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 1785 | |
Lightvalve | 89:a7b45368ea0f | 1786 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 89:a7b45368ea0f | 1787 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 89:a7b45368ea0f | 1788 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 89:a7b45368ea0f | 1789 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 89:a7b45368ea0f | 1790 | } |
Lightvalve | 67:c2812cf26c38 | 1791 | |
Lightvalve | 67:c2812cf26c38 | 1792 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1793 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1794 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1795 | |
jobuuu | 7:e9086c72bb22 | 1796 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1797 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1798 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1799 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1800 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1801 | } |
Lightvalve | 67:c2812cf26c38 | 1802 | |
Lightvalve | 49:e7bcfc244d40 | 1803 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1804 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1805 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1806 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1807 | } |
Lightvalve | 49:e7bcfc244d40 | 1808 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1809 | |
Lightvalve | 19:23b7c1ad8683 | 1810 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1811 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1812 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1813 | |
Lightvalve | 30:8d561f16383b | 1814 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1815 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1816 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1817 | } else { |
jobuuu | 2:a1c0a37df760 | 1818 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1819 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1820 | } |
Lightvalve | 13:747daba9cf59 | 1821 | |
jobuuu | 1:e04e563be5ce | 1822 | //pwm |
Lightvalve | 30:8d561f16383b | 1823 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1824 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1825 | |
Lightvalve | 61:bc8c8270f0ab | 1826 | |
Lightvalve | 57:f4819de54e7a | 1827 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1828 | |
Lightvalve | 54:647072f5307a | 1829 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1830 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1831 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1832 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1833 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1834 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1835 | 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 | 1836 | } |
Lightvalve | 57:f4819de54e7a | 1837 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1838 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1839 | 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 | 1840 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1841 | 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 | 1842 | } |
Lightvalve | 52:8ea76864368a | 1843 | } |
Lightvalve | 52:8ea76864368a | 1844 | } |
Lightvalve | 56:6f50d9d3bfee | 1845 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1846 | //valve position |
Lightvalve | 54:647072f5307a | 1847 | double t_value = 0; |
Lightvalve | 97:d71c57e3515e | 1848 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1849 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1850 | } else { |
Lightvalve | 97:d71c57e3515e | 1851 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1852 | } |
Lightvalve | 97:d71c57e3515e | 1853 | // if(OPERATING_MODE==5) { |
Lightvalve | 97:d71c57e3515e | 1854 | // if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1855 | // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1856 | // } else { |
Lightvalve | 97:d71c57e3515e | 1857 | // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1858 | // } |
Lightvalve | 97:d71c57e3515e | 1859 | //t_value = (double) value; |
Lightvalve | 97:d71c57e3515e | 1860 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 97:d71c57e3515e | 1861 | // t_value = cur.sen * 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1862 | // } else { |
Lightvalve | 97:d71c57e3515e | 1863 | // t_value = V_out; |
Lightvalve | 89:a7b45368ea0f | 1864 | // } |
Lightvalve | 67:c2812cf26c38 | 1865 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1866 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1867 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1868 | } |
Lightvalve | 58:2eade98630e2 | 1869 | |
Lightvalve | 58:2eade98630e2 | 1870 | |
Lightvalve | 98:cd1b2da4704f | 1871 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 89:a7b45368ea0f | 1872 | //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 |
Lightvalve | 89:a7b45368ea0f | 1873 | double t_value = 0; |
Lightvalve | 89:a7b45368ea0f | 1874 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 89:a7b45368ea0f | 1875 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1876 | } else { |
Lightvalve | 89:a7b45368ea0f | 1877 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1878 | } |
Lightvalve | 89:a7b45368ea0f | 1879 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400 |
Lightvalve | 55:b25725257569 | 1880 | } |
Lightvalve | 58:2eade98630e2 | 1881 | |
Lightvalve | 57:f4819de54e7a | 1882 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1883 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1884 | ; |
Lightvalve | 57:f4819de54e7a | 1885 | } |
Lightvalve | 58:2eade98630e2 | 1886 | |
Lightvalve | 56:6f50d9d3bfee | 1887 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1888 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1889 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 73:f80dc3970c99 | 1890 | CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 |
Lightvalve | 54:647072f5307a | 1891 | } |
Lightvalve | 57:f4819de54e7a | 1892 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1893 | // ; |
Lightvalve | 57:f4819de54e7a | 1894 | // } |
Lightvalve | 56:6f50d9d3bfee | 1895 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1896 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1897 | 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 | 1898 | } |
Lightvalve | 20:806196fda269 | 1899 | |
Lightvalve | 54:647072f5307a | 1900 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1901 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1902 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1903 | // } |
Lightvalve | 54:647072f5307a | 1904 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1905 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1906 | //} |
Lightvalve | 52:8ea76864368a | 1907 | |
Lightvalve | 54:647072f5307a | 1908 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1909 | } |
Lightvalve | 54:647072f5307a | 1910 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1911 | |
Lightvalve | 20:806196fda269 | 1912 | } |
Lightvalve | 52:8ea76864368a | 1913 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1914 | |
Lightvalve | 58:2eade98630e2 | 1915 | } |