Sungwoo Kim
/
HydraulicControlBoard_PostLIGHT_210420
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Diff: main.cpp
- Revision:
- 56:6f50d9d3bfee
- Parent:
- 55:b25725257569
- Child:
- 57:f4819de54e7a
diff -r b25725257569 -r 6f50d9d3bfee main.cpp
--- a/main.cpp Wed Feb 26 12:51:52 2020 +0000
+++ b/main.cpp Tue Mar 03 12:27:53 2020 +0000
@@ -64,6 +64,15 @@
State INIT_Pos;
State INIT_torq;
+float V_out=0.0f;
+float V_rem=0.0f; // for anti-windup
+float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
+
+float PWM_out=0.0f;
+
+int timer_while = 0;
+int while_index = 0;
+
extern int CID_RX_CMD;
extern int CID_RX_REF_POSITION;
extern int CID_RX_REF_VALVE_POS;
@@ -120,7 +129,7 @@
MODE_TORQUE_SENSOR_NULLING = 20, //20
MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
MODE_FIND_HOME, //22
- MODE_VALVE_GAIN_SETTING, //23
+ MODE_VALVE_GAIN_SETTING, //23
MODE_PRESSURE_SENSOR_NULLING, //24
MODE_PRESSURE_SENSOR_CALIB, //25
MODE_ROTARY_FRICTION_TUNING, //26
@@ -128,7 +137,6 @@
MODE_DDV_POS_VS_PWM_ID = 30, //30
MODE_DDV_DEADZONE_AND_CENTER, //31
MODE_DDV_POS_VS_FLOWRATE, //32
- MODE_SYSTEM_ID, //33
};
int main()
@@ -136,7 +144,7 @@
/*********************************
*** Initialization
*********************************/
- LED = 1;
+ //LED = 1;
//pc.baud(9600);
// i2c init
@@ -172,9 +180,9 @@
make_delay();
// TMR2 init
- Init_TMR2();
- TIM2->CR1 ^= TIM_CR1_UDIS;
- make_delay();
+// Init_TMR2();
+// TIM2->CR1 ^= TIM_CR1_UDIS;
+// make_delay();
// CAN
can.attach(&CAN_RX_HANDLER);
@@ -183,7 +191,7 @@
//Timer priority
NVIC_SetPriority(TIM3_IRQn, 2);
- NVIC_SetPriority(TIM2_IRQn, 3);
+// NVIC_SetPriority(TIM2_IRQn, 3);
NVIC_SetPriority(TIM4_IRQn, 3);
//can.reset();
@@ -206,7 +214,7 @@
else
ID_index_array[i] = (i+1) * 0.5f;
}
-
+
/************************************
*** Program is operating!
*************************************/
@@ -234,15 +242,15 @@
if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
if(i==0) {
if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
- Ref_Valve_Pos_FF = (float) VALVE_CENTER;
+ Ref_Valve_Pos_FF = DDV_CENTER;
} else {
- Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
+ Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
}
} else {
if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
- Ref_Valve_Pos_FF = (float) VALVE_CENTER;
+ Ref_Valve_Pos_FF = DDV_CENTER;
} else {
- Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
+ Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
}
}
break;
@@ -254,7 +262,7 @@
Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
}
- Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
+ Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER);
return Ref_Valve_Pos_FF;
}
@@ -332,86 +340,82 @@
return PWM_duty;
}
-
-
-
-
/*******************************************************************************
TIMER INTERRUPT
*******************************************************************************/
float FREQ_TMR4 = (float)FREQ_20k;
float DT_TMR4 = (float)DT_20k;
-long CNT_TMR4 = 0;
-int TMR4_FREQ_10k = (int)FREQ_10k;
extern "C" void TIM4_IRQHandler(void)
{
+
if (TIM4->SR & TIM_SR_UIF ) {
/*******************************************************
*** Sensor Read & Data Handling
********************************************************/
- //Encoder
- if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
- ENC_UPDATE();
- }
+
+ //Using LoadCell
+// ADC1->CR2 |= 0x40000000; // adc _ 12bit
+// //while((ADC1->SR & 0b10));
+// float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
+// float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
+// torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
+
+
//Pressure sensor A
ADC1->CR2 |= 0x40000000; // adc _ 12bit
//while((ADC1->SR & 0b10));
float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
+// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
float pres_A_new = ((float)ADC1->DR);
pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
- torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
+ torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
- //Pressure sensor B
- float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
- float pres_B_new = ((float)ADC2->DR);
- pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
+ //Pressure sensor 1B
+ //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
+ //float pres_B_new = ((float)ADC2->DR);
+ //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
//torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
+
//Current
//ADC3->CR2 |= 0x40000000; // adc _ 12bit
+// a1=ADC2->DR;
//int raw_cur = ADC3->DR;
//while((ADC3->SR & 0b10));
float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
//cur.sen = raw_cur;
-
- CNT_TMR4++;
+
+ /*******************************************************
+ *** Timer Counting & etc.
+ ********************************************************/
+ //CNT_TMR4++;
}
TIM4->SR = 0x0; // reset the status register
}
int j =0;
+//unsigned long CNT_TMR3 = 0;
+//float FREQ_TMR3 = (float)FREQ_5k;
float FREQ_TMR3 = (float)FREQ_5k;
float DT_TMR3 = (float)DT_5k;
+//float DT_TMR3 = (float)DT_1k;
int cnt_trans = 0;
double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
-int can_rest =0;
+int canfreq = CAN_FREQUENCY;
extern "C" void TIM3_IRQHandler(void)
{
if (TIM3->SR & TIM_SR_UIF ) {
-
-
-
- if ((OPERATING_MODE&0b110) == 0) {
- K_v = 0.4f; // Moog (LPM >> mA) , 100bar
- mV_PER_mA = 500.0f; // 5000mV/10mA
- mV_PER_pulse = 0.5f; // 5000mV/10000pulse
- mA_PER_pulse = 0.001f; // 10mA/10000pulse
- } else if ((OPERATING_MODE&0b110) == 1) {
- K_v = 0.5f; // KNR (LPM >> mA) , 100bar
- mV_PER_mA = 166.6666f; // 5000mV/30mA
- mV_PER_pulse = 0.5f; // 5000mV/10000pulse
- mA_PER_pulse = 0.003f; // 30mA/10000pulse
- }
+ ENC_UPDATE();
if(MODE_POS_FT_TRANS == 1) {
alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
@@ -434,26 +438,392 @@
}
- int UTILITY_MODE = 0;
- int CONTROL_MODE = 0;
-
- if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
- UTILITY_MODE = CONTROL_UTILITY_MODE;
- CONTROL_MODE = MODE_NO_ACT;
- } else {
- CONTROL_MODE = CONTROL_UTILITY_MODE;
- UTILITY_MODE = MODE_NO_ACT;
- }
+
+ // CONTROL LOOP ------------------------------------------------------------
+
+ switch (CONTROL_MODE) {
+ case MODE_NO_ACT: {
+ V_out = 0.0f;
+ break;
+ }
+
+ case MODE_VALVE_POSITION_CONTROL: {
+ VALVE_POS_CONTROL(valve_pos.ref);
+ break;
+ }
+
+ case MODE_JOINT_CONTROL: {
+
+ float VALVE_POS_RAW_FORCE_FB = 0.0f;
+
+
+ double torq_ref = 0.0f;
+ //if(TMR3_COUNT_TEST % (int) (50) == 0){
+ pos.err = pos.ref - pos.sen; //[pulse]
+ vel.err = vel.ref - vel.sen; //[pulse/s]
+ torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
+ //torq_ref_logging = torq_ref
+ //}
+
+ // torque feedback
+ torq.err = torq_ref - torq.sen; //[pulse]
+ torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse]
+// if (torq.err_sum > 1000) torq.err_sum = 1000;
+// if (torq.err_sum<-1000) torq.err_sum = -1000;
+
+
+ VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f
+ + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref));
+
+ if (VALVE_POS_RAW_FORCE_FB >= 0) {
+ valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
+ } else {
+ valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
+ }
+
+ if(I_GAIN_JOINT_TORQUE != 0){
+ double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * (float) TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f;
+ if(valve_pos.ref>VALVE_MAX_POS){
+ double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
+ valve_pos_rem = valve_pos_rem * Ka;
+ valve_pos.ref = VALVE_MAX_POS;
+ torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
+ }
+ else if(valve_pos.ref < VALVE_MIN_POS){
+ double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
+ valve_pos_rem = valve_pos_rem * Ka;
+ valve_pos.ref = VALVE_MIN_POS;
+ torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
+ }
+ }
+
+ VALVE_POS_CONTROL(valve_pos.ref);
+
+ //TMR3_COUNT_TEST++;
+
+ break;
+ }
+
+
+ case MODE_VALVE_OPEN_LOOP: {
+ V_out = (float) Vout.ref;
+ break;
+ }
+
+ case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
+ float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
+ //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
+ float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
+ //int DDV_JOINT_CAN = 0;
+ // feedback input for position control
+ pos.err = pos.ref - (float) pos.sen;
+ pos.err_diff = pos.err - pos.err_old;
+ pos.err_old = pos.err;
+ pos.err_sum += pos.err;
+ if (pos.err_sum > 1000) pos.err_sum = 1000;
+ if (pos.err_sum<-1000) pos.err_sum = -1000;
+ VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum/(float) ENC_PULSE_PER_POSITION + (float) D_GAIN_JOINT_POSITION * pos.err_diff/(float) ENC_PULSE_PER_POSITION;
+
+
+ //Ref_Joint_Vel = Ref_Vel_Test;
+ // feedforward input for position control
+ // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ // float K_ff = 0.9f;
+ // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
+ // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
+ // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
+
+ //torque feedback
+ torq.err = - torq.ref + torq.sen;
+ torq.err_diff = torq.err - torq.err_old;
+ torq.err_old = torq.err;
+ torq.err_sum += torq.err;
+ if (torq.err_sum > 1000) torq.err_sum = 1000;
+ if (torq.err_sum<-1000) torq.err_sum = -1000;
+ VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
+ VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
+
+// valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
+ valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref);
+
+ if (valve_pos.ref >= 0) {
+ valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS;
+ } else if(valve_pos.ref < 0) {
+ valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_MINUS;
+ }
+ VALVE_POS_CONTROL(valve_pos.ref);
-
- // UTILITY MODE ------------------------------------------------------------
-
- switch (UTILITY_MODE) {
- case MODE_NO_ACT: {
break;
}
+// case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
+//
+// break;
+// }
+
+// case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
+// pos.err = pos.ref - (float) pos.sen;
+// pos.err_diff = pos.err - pos.err_old;
+// pos.err_old = pos.err;
+// pos.err_sum += pos.err;
+// if (pos.err_sum > 1000) pos.err_sum = 1000;
+// if (pos.err_sum<-1000) pos.err_sum = -1000;
+// VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff)/(float) ENC_PULSE_PER_POSITION;
+//
+// torq.err = torq.ref - torq.sen;
+// torq.err_diff = torq.err - torq.err_old;
+// torq.err_old = torq.err;
+// torq.err_sum += torq.err;
+// if (torq.err_sum > 1000) torq.err_sum = 1000;
+// if (torq.err_sum<-1000) torq.err_sum = -1000;
+// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
+//
+// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
+//
+// V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
+//
+// CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
+// CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
+// if (DIR_VALVE > 0) {
+// if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
+// else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
+// else VALVE_FF_VOLTAGE = 0;
+// } else {
+// if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
+// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
+// else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
+// else VALVE_FF_VOLTAGE = 0;
+// }
+// // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
+//
+// if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
+// else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
+//
+// V_out = V_out + VALVE_FF_VOLTAGE;
+// break;
+// }
+
+// case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
+//
+// pos.err = pos.ref - (float) pos.sen;
+// pos.err_diff = pos.err - pos.err_old;
+// pos.err_old = pos.err;
+// pos.err_sum += pos.err;
+// if (pos.err_sum > 1000) pos.err_sum = 1000;
+// if (pos.err_sum<-1000) pos.err_sum = -1000;
+// VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
+//
+// torq.err = torq.ref - torq.sen;
+// torq.err_diff = torq.err - torq.err_old;
+// torq.err_old = torq.err;
+// torq.err_sum += torq.err;
+// if (torq.err_sum > 1000) torq.err_sum = 1000;
+// if (torq.err_sum<-1000) torq.err_sum = -1000;
+// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
+//
+// valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
+// VALVE_POS_CONTROL(valve_pos.ref);
+//
+// break;
+// }
+
+// case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
+//
+// break;
+// }
+
+
+// case MODE_TEST_CURRENT_CONTROL: {
+// if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
+// TMR3_COUNT_IREF = 0;
+// }
+// TMR3_COUNT_IREF++;
+//
+// // Set Current Reference
+// float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
+// float I_REF_MID = 0.0f;
+// if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
+// I_REF = I_REF_MID + 1.0f;
+// } else {
+// I_REF = I_REF_MID - 1.0f;
+// }
+//// float T = 1.0; // wave period
+//// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
+//// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
+//
+// if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
+// //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
+// }
+// break;
+// }
+
+// case MODE_TEST_PWM_CONTROL: {
+// if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
+// TMR3_COUNT_IREF = 0;
+// }
+// TMR3_COUNT_IREF++;
+//
+// // Set PWM reference
+// float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
+// //float I_REF_MID = 0.0f;
+// if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
+// CUR_PWM = 1000;
+// } else {
+// CUR_PWM = -1000;
+// }
+//
+// if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
+// //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
+// }
+// break;
+// }
+
+
+// case MODE_CURRENT_CONTROL: {
+//
+// cur.ref = cur.ref; // Unit : mA
+// CurrentControl();
+// break;
+// }
+
+// case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
+// float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
+// float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
+// float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
+// float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
+//
+// // feedback input for position control
+// pos.err = pos.ref - pos.sen;
+// float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
+// float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
+// pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
+// pos.err_old = pos.err;
+// I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
+//
+// // feedforward input for position control
+// float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
+// float K_ff = 1.3f;
+// float K_v = 0.0f;
+// if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
+// if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
+// I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
+//
+// // feedback input for position control
+// I_REF_FORCE_FB = 0.0f;
+//
+// // feedforward input for position control
+// I_REF_FORCE_FF = 0.0f;
+//
+// cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
+//
+// CurrentControl();
+//
+// break;
+// }
+
+// case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
+// //float T_REF = 0.0; // Torque Reference
+// float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
+// float I_REF_VC = 0.; // I_REF for velocity compensation
+//
+// // feedback input for position control
+// //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+// //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+// //float K_spring = 0.7f;
+// //float D_damper = 0.02f;
+//// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
+//
+// // torque feedback
+// torq.err = torq.ref - torq.sen;
+// // torq.err_diff = torq.err - torq.err_old;
+// // torq.err_old = torq.err;
+// torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
+// I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
+//
+// // velocity compensation for torque control
+// float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+// float K_vc = 1.5f; // Velocity comp. gain
+// float K_v = 0.0f; // Valve gain
+// if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
+// if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
+// I_REF_VC = K_vc*K_v*Joint_Vel_Act;
+//
+// cur.ref = I_REF_VC + I_REF_FORCE_FB;
+// // cur.ref = I_REF_FORCE_FB;
+//
+// float I_MAX = 10.0f; // Maximum Current : 10mV
+// float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
+// if(cur.ref > I_MAX) {
+// float I_rem = cur.ref-I_MAX;
+// I_rem = Ka*I_rem;
+// cur.ref = I_MAX;
+// torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
+// } else if(cur.ref < -I_MAX) {
+// float I_rem = cur.ref-(-I_MAX);
+// I_rem = Ka*I_rem;
+// cur.ref = -I_MAX;
+// torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
+// }
+//
+// CurrentControl();
+//
+//
+// /*
+// float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
+// float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
+// float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
+// float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
+//
+// // feedback input for position control
+// pos.err = pos.ref - pos.sen;
+// float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
+// float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
+// pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
+// pos.err_old = pos.err;
+// I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
+//
+// // feedforward input for position control
+// float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
+// float K_ff = 1.3f;
+// float K_v = 0.0f;
+// if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
+// if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
+// I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
+//
+// // feedback input for position control
+// I_REF_FORCE_FB = 0.0f;
+//
+// // feedforward input for position control
+// I_REF_FORCE_FF = 0.0f;
+//
+// cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
+//
+// CurrentControl();
+// */
+//
+// break;
+// }
+
case MODE_TORQUE_SENSOR_NULLING: {
// DAC Voltage reference set
if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
@@ -479,11 +849,61 @@
ROM_RESET_DATA();
+ //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
+
+ //pc.printf("%f\n", TORQUE_VREF);
dac_1 = TORQUE_VREF / 3.3f;
}
TMR3_COUNT_TORQUE_NULL++;
break;
+
+
+
+ // // DAC Voltage reference set
+// if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
+// CUR_PRES_A_sum += pres_A.sen;
+// CUR_PRES_B_sum += pres_B.sen;
+//
+// if (TMR3_COUNT_PRES_NULL % 10 == 0) {
+// CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
+// CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
+// CUR_PRES_A_sum = 0;
+// CUR_PRES_B_sum = 0;
+//
+// float VREF_NullingGain = 0.0003f;
+// PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
+// PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
+//
+// if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
+// if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
+// if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
+// if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
+//
+// dac_1 = PRES_A_VREF / 3.3f;
+// dac_2 = PRES_B_VREF / 3.3f;
+// }
+// } else {
+// CONTROL_MODE = MODE_NO_ACT;
+// TMR3_COUNT_PRES_NULL = 0;
+// CUR_PRES_A_sum = 0;
+// CUR_PRES_B_sum = 0;
+// CUR_PRES_A_mean = 0;
+// CUR_PRES_B_mean = 0;
+//
+// ROM_RESET_DATA();
+//
+// dac_1 = PRES_A_VREF / 3.3f;
+// dac_2 = PRES_B_VREF / 3.3f;
+// //pc.printf("nulling end");
+// }
+// TMR3_COUNT_PRES_NULL++;
+// break;
+
+
+
+
+
}
// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
@@ -571,6 +991,7 @@
pos.ref_home_pos = pos.sen;
vel.ref_home_pos = 0.0f;
FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
+ CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
int cnt_check_enc = (TMR_FREQ_5k/500);
if(cnt_findhome%cnt_check_enc == 0) {
@@ -579,6 +1000,7 @@
FINDHOME_POSITION_OLD = FINDHOME_POSITION;
}
cnt_findhome++;
+ //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
if (abs(FINDHOME_VELOCITY) <= 1) {
cnt_vel_findhome = cnt_vel_findhome + 1;
@@ -586,14 +1008,14 @@
cnt_vel_findhome = 0;
}
- if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
+ if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
//REFERENCE_MODE = MODE_REF_NO_ACT;
if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
pos.err = pos.ref_home_pos - pos.sen;
float VALVE_POS_RAW_POS_FB = 0.0f;
VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
- valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
+ valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
//float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
@@ -623,7 +1045,7 @@
pos.err = pos.ref_home_pos - (float)pos.sen;
float VALVE_POS_RAW_POS_FB = 0.0f;
VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
- valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
+ valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
cnt_findhome++;
@@ -635,7 +1057,7 @@
pos.ref_home_pos = 0.0f;
vel.ref_home_pos = 0.0f;
FINDHOME_STAGE = FINDHOME_INIT;
- CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
+ CONTROL_MODE = MODE_JOINT_CONTROL;
}
}
@@ -739,7 +1161,7 @@
dac_2 = PRES_B_VREF / 3.3f;
}
} else {
- CONTROL_UTILITY_MODE = MODE_NO_ACT;
+ CONTROL_MODE = MODE_NO_ACT;
TMR3_COUNT_PRES_NULL = 0;
CUR_PRES_A_sum = 0;
CUR_PRES_B_sum = 0;
@@ -837,7 +1259,7 @@
}
//ROM_RESET_DATA();
ID_index = 0;
- CONTROL_UTILITY_MODE = MODE_NO_ACT;
+ CONTROL_MODE = MODE_NO_ACT;
}
@@ -984,7 +1406,7 @@
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
SECOND_DZ = valve_pos.ref;
- VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
+ DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
first_check = 0;
VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
@@ -1069,12 +1491,12 @@
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
SECOND_DZ = valve_pos.ref;
- VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
+ DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
first_check = 0;
VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
- CONTROL_UTILITY_MODE = MODE_NO_ACT;
+ CONTROL_MODE = MODE_NO_ACT;
DZ_index = 1;
}
}
@@ -1101,7 +1523,7 @@
pos_minus_end = pos.sen;
first_check = 1;
VALVE_FR_timer = 0;
- valve_pos.ref = (float) VALVE_CENTER;
+ valve_pos.ref = DDV_CENTER;
ID_index = 0;
max_check = 0;
min_check = 0;
@@ -1111,12 +1533,12 @@
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;
} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
data_num = 0;
- valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
+ valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
START_POS = pos.sen;
} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
- valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
+ valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
data_num = data_num + 1;
if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
@@ -1150,194 +1572,42 @@
ID_index = 0;
first_check = 0;
VALVE_FR_timer = 0;
- CONTROL_UTILITY_MODE = MODE_NO_ACT;
+ CONTROL_MODE = MODE_NO_ACT;
// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
}
}
break;
}
-
- case MODE_SYSTEM_ID: {
- freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
- valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
- CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
- cnt_sysid++;
- if (freq_sysid_Iref >= 300) {
- cnt_sysid = 0;
- CONTROL_UTILITY_MODE = MODE_NO_ACT;
- }
- break;
- }
-
-
-
- default:
- break;
- }
-
- // CONTROL MODE ------------------------------------------------------------
-
- switch (CONTROL_MODE) {
- case MODE_NO_ACT: {
- V_out = 0.0f;
- break;
- }
-
- case MODE_VALVE_POSITION_CONTROL: {
- if ((OPERATING_MODE&0b110) == 0) { //Moog Valve
- I_REF = valve_pos.ref;
- } else if ((OPERATING_MODE&0b110) == 1) { //KNR Valve
- V_out = valve_pos.ref;
- } else { //SW Valve
- VALVE_POS_CONTROL(valve_pos.ref);
- }
-
- break;
- }
-
- case MODE_JOINT_CONTROL: {
-
- float VALVE_POS_RAW_FORCE_FB = 0.0f;
-
-
- double torq_ref = 0.0f;
- //if(TMR3_COUNT_TEST % (int) (50) == 0){
- pos.err = pos.ref - pos.sen; //[pulse]
- vel.err = vel.ref - vel.sen; //[pulse/s]
- torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
- //torq_ref_logging = torq_ref
- //}
-
- // torque feedback
- torq.err = torq_ref - torq.sen; //[pulse]
- torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse]
-// if (torq.err_sum > 1000) torq.err_sum = 1000;
-// if (torq.err_sum<-1000) torq.err_sum = -1000;
-
-
- VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f
- + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref));
-
- if (VALVE_POS_RAW_FORCE_FB >= 0) {
- valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
- } else {
- valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
- }
-
- if(I_GAIN_JOINT_TORQUE != 0){
- double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * (float) TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f;
- if(valve_pos.ref>VALVE_MAX_POS){
- double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
- valve_pos_rem = valve_pos_rem * Ka;
- valve_pos.ref = VALVE_MAX_POS;
- torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
- }
- else if(valve_pos.ref < VALVE_MIN_POS){
- double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
- valve_pos_rem = valve_pos_rem * Ka;
- valve_pos.ref = VALVE_MIN_POS;
- torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
- }
- }
-
- VALVE_POS_CONTROL(valve_pos.ref);
-
- //TMR3_COUNT_TEST++;
-
- break;
- }
-
- case MODE_VALVE_OPEN_LOOP: {
- V_out = (float) Vout.ref;
- break;
- }
default:
break;
}
-
- if ((OPERATING_MODE&0b110) == 0 || (OPERATING_MODE&0b110) == 1) { //Moog Valve or KNR Valve
-
- ////////////////////////////////////////////////////////////////////////////
- //////////////////////////// CURRENT CONTROL //////////////////////////////
- ////////////////////////////////////////////////////////////////////////////
- if (CURRENT_CONTROL_MODE) {
- double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
- I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
-
- I_ERR = I_REF_fil - CUR_CURRENT_mA;
- I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
-
-
- // Moog Valve Current Control Gain
- double R_model = 539.0f; // ohm
- double L_model = 1.2f;
- double w0 = 2.0f * 3.14f * 150.0f;
- double KP_I = 0.1f * L_model*w0;
- double KI_I = 0.1f * R_model*w0;
-
- // KNR Valve Current Control Gain
- if ((OPERATING_MODE & 0b110) == 1) { // KNR Valve
- R_model = 163.0f; // ohm
- L_model = 1.0f;
- w0 = 2.0f * 3.14f * 80.0f;
- KP_I = 1.0f * L_model*w0;
- KI_I = 0.08f * R_model*w0;
- }
-
- double FF_gain = 1.0f;
-
- VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
- // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
- I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
- I_REF_fil_old = I_REF_fil;
- VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
- double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
-
- double Ka = 3.0f / KP_I;
- if (VALVE_PWM_RAW > V_MAX) {
- V_rem = VALVE_PWM_RAW - V_MAX;
- V_rem = Ka*V_rem;
- VALVE_PWM_RAW = V_MAX;
- I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
- } else if (VALVE_PWM_RAW < -V_MAX) {
- V_rem = VALVE_PWM_RAW - (-V_MAX);
- V_rem = Ka*V_rem;
- VALVE_PWM_RAW = -V_MAX;
- I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
- }
- Cur_Valve_Open_pulse = CUR_CURRENT_mA / mA_PER_pulse;
- } else {
- VALVE_PWM_RAW = I_REF * mV_PER_mA;
- Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
- }
-
- ////////////////////////////////////////////////////////////////////////////
- ///////////////// Dead Zone Cancellation & Linearization //////////////////
- ////////////////////////////////////////////////////////////////////////////
- // Dead Zone Cancellation (Mechanical Valve dead-zone)
- if (FLAG_VALVE_DEADZONE) {
- if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
- else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
-
- VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
-
- } else {
- VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
- }
-
- // Output Voltage Linearization
- double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
- double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
-
- // Dead Zone Cancellation (Electrical dead-zone)
- if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
- else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
- else V_out = CUR_PWM_lin;
- }
-
-
+// if (FLAG_VALVE_OUTPUT_CALIB) {
+// // Valve Dead Zone (Mechanical dead-zone canceling)
+// // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
+// // if (V_out > 0.) {
+// // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
+// // } else if (V_out < 0.) {
+// // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
+// // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
+// // } else VALVE_PWM_VALVE_DZ = (int) V_out;
+//
+// if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
+// else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
+//
+// VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
+//
+// // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
+// float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
+// float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
+//
+// if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
+// else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
+// else V_out = CUR_PWM_DZ;
+// } else {
+// V_out = V_out;
+// }
/*******************************************************
*** PWM
@@ -1349,6 +1619,10 @@
}
PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
+ // Saturation of output voltage to 5.0V
+// if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
+// else if (PWM_out < -0.41667) PWM_out=-0.41667;
+
// Saturation of output voltage to 12.0V
if(PWM_out > 1.0f) PWM_out=1.0f;
else if (PWM_out < -1.0f) PWM_out=-1.0f;
@@ -1366,17 +1640,19 @@
TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
- if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
+
+ if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/canfreq) == 0) {
+// if (TMR2_COUNT_CAN_TX % 10 == 0) {
// Position, Velocity, and Torque (ID:1200)
- if (flag_data_request[0] == LOW) {
- if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
+ if (flag_data_request[0] == HIGH) {
+ if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
if (SENSING_MODE == 0) {
CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
} else if (SENSING_MODE == 1) {
CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
}
- } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
+ } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
if (SENSING_MODE == 0) {
CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
} else if (SENSING_MODE == 1) {
@@ -1384,38 +1660,30 @@
}
}
}
- if (flag_data_request[1] == LOW) {
+ if (flag_data_request[1] == HIGH) {
//valve position
double t_value = 0;
- if(value>=(float) VALVE_CENTER) {
- t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
+ if(value>=DDV_CENTER) {
+ t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
} else {
- t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
+ t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
}
- CAN_TX_TORQUE((int16_t) (t_value)); //1300
- }
-
-
- if (flag_data_request[2] == LOW) {
- //pressure A and B
- CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
+ CAN_TX_TORQUE((int16_t) (t_value));
}
-
- //If it doesn't rest, below can can not work.
- for (can_rest = 0; can_rest < 10000; can_rest++) {
- ;
+
+ if (flag_data_request[2] == HIGH) {
+ //pressure A and B
+ CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
}
-
- if (flag_data_request[3] == LOW) {
+
+ if (flag_data_request[3] == HIGH) {
//PWM
- CAN_TX_PWM((int16_t) cur.sen); //1500
+ CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
}
- //for (i = 0; i < 10000; i++) {
-// ;
-// }
- if (flag_data_request[4] == LOW) {
+
+ if (flag_data_request[4] == HIGH) {
//valve position
- CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
+ CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
}
// Others : Reference position, Reference FT, PWM, Current (ID:1300)
@@ -1430,6 +1698,8 @@
}
TMR2_COUNT_CAN_TX++;
+
+
}
TIM3->SR = 0x0; // reset the status register
@@ -1440,63 +1710,58 @@
//unsigned long CNT_TMR5 = 0;
//float FREQ_TMR5 = (float)FREQ_500;
//float DT_TMR5 = (float)DT_500;
-
//extern "C" void TIM2_IRQHandler(void)
//{
// LED = 1;
// if (TIM2->SR & TIM_SR_UIF ) {
//
// //CAN ----------------------------------------------------------------------
-// //if (flag_data_request[0] == LOW) {
+// if (flag_data_request[0] == HIGH) {
// //position+velocity
// CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
-// //}
+// }
//
-// //if (flag_data_request[1] == LOW) {
+// if (flag_data_request[1] == HIGH) {
// //valve position
// double t_value = 0;
-// if(value>=(double)VALVE_CENTER) {
-// t_value = 10000.0f*((double)value-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
+// if(value>=DDV_CENTER) {
+// t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
// } else {
-// t_value = -10000.0f*((double)value-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
+// t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
// }
// CAN_TX_TORQUE((int16_t) (t_value));
-// //}
+// }
//
-// //if (flag_data_request[2] == LOW) {
+// if (flag_data_request[2] == HIGH) {
// //pressure A and B
// CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
+// //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
+// // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
+// // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
+// // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
//
-// //}
+// }
//
-// //if (flag_data_request[3] == LOW) {
+// if (flag_data_request[3] == HIGH) {
// //PWM
-// int i = 0;
-// for (i = 0; i < 10000; i++) {
-// ;
-// }
// CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
// // CAN_TX_PWM((int16_t) cnt_vel_findhome);
// // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
// // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
//
-// //}
-//
-// //if (flag_data_request[4] == LOW) {
-// //valve position
+// }
//
-// for (i = 0; i < 10000; i++) {
-// ;
-// }
+// if (flag_data_request[4] == HIGH) {
+// //valve position
// CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
-// //CAN_TX_VALVE_POSITION((int16_t) ((float) VALVE_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
+// //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
//
// //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
// // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
// // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
// // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
// // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
-// //}
+// }
//
//
// }
@@ -1504,39 +1769,39 @@
//}
-//
-//void CurrentControl()
-//{
-// cur.err = cur.ref - cur.sen;
-// cur.err_int = cur.err_int + cur.err*DT_TMR4;
-// cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
-// cur.err_old = cur.err;
-//
-// float R_model = 150.0f; // ohm
-// float L_model = 0.3f;
-// float w0 = 2.0f*3.14f*90.0f;
-// float KP_I = L_model*w0;
-// float KI_I = R_model*w0;
-// float KD_I = 0.0f;
-//
-// float FF_gain = 0.0f;
-// V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
-// // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
-// V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
-//
-// float Ka = 5.0f/KP_I;
-// if(V_out > V_MAX) {
-// V_rem = V_out-V_MAX;
-// V_rem = Ka*V_rem;
-// V_out = V_MAX;
-// cur.err_int = cur.err_int - V_rem*DT_5k;
-// } else if(V_out < -V_MAX) {
-// V_rem = V_out-(-V_MAX);
-// V_rem = Ka*V_rem;
-// V_out = -V_MAX;
-// cur.err_int = cur.err_int - V_rem*DT_5k;
-// }
-//}
+
+void CurrentControl()
+{
+ cur.err = cur.ref - cur.sen;
+ cur.err_int = cur.err_int + cur.err*DT_TMR4;
+ cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
+ cur.err_old = cur.err;
+
+ float R_model = 150.0f; // ohm
+ float L_model = 0.3f;
+ float w0 = 2.0f*3.14f*90.0f;
+ float KP_I = L_model*w0;
+ float KI_I = R_model*w0;
+ float KD_I = 0.0f;
+
+ float FF_gain = 0.0f;
+ V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
+ // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
+ V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
+
+ float Ka = 5.0f/KP_I;
+ if(V_out > V_MAX) {
+ V_rem = V_out-V_MAX;
+ V_rem = Ka*V_rem;
+ V_out = V_MAX;
+ cur.err_int = cur.err_int - V_rem*DT_5k;
+ } else if(V_out < -V_MAX) {
+ V_rem = V_out-(-V_MAX);
+ V_rem = Ka*V_rem;
+ V_out = -V_MAX;
+ cur.err_int = cur.err_int - V_rem*DT_5k;
+ }
+}
@@ -1545,3 +1810,4 @@
+