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Original Version of STM Board
main.cpp@174:c828479f53f9, 2020-11-24 (annotated)
- Committer:
- Lightvalve
- Date:
- Tue Nov 24 06:09:50 2020 +0000
- Revision:
- 174:c828479f53f9
- Parent:
- 173:68c7914679ec
- Child:
- 175:2f7289dbd488
201124-2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 173:68c7914679ec | 1 | //201124_1 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 11 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 12 | #include <string> |
Lightvalve | 170:42c938a40313 | 13 | #include <iostream> |
Lightvalve | 61:bc8c8270f0ab | 14 | |
Lightvalve | 61:bc8c8270f0ab | 15 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 16 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 17 | |
Lightvalve | 31:66738bfecec5 | 18 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 19 | |
jobuuu | 7:e9086c72bb22 | 20 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 21 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 22 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 23 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 24 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 26 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 27 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 28 | |
Lightvalve | 24:ef6e1092e9e6 | 29 | |
jobuuu | 7:e9086c72bb22 | 30 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 31 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 32 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 33 | |
jobuuu | 7:e9086c72bb22 | 34 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 35 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 36 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 37 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 38 | |
jobuuu | 7:e9086c72bb22 | 39 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 40 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 41 | DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 42 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 43 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 44 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 45 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 46 | |
jobuuu | 7:e9086c72bb22 | 47 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 48 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 49 | |
jobuuu | 7:e9086c72bb22 | 50 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 51 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 52 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 53 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 54 | { |
Lightvalve | 11:82d8768d7351 | 55 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 56 | } |
jobuuu | 2:a1c0a37df760 | 57 | |
jobuuu | 7:e9086c72bb22 | 58 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 59 | State pos; |
jobuuu | 7:e9086c72bb22 | 60 | State vel; |
jobuuu | 7:e9086c72bb22 | 61 | State Vout; |
jobuuu | 7:e9086c72bb22 | 62 | State torq; |
jobuuu | 7:e9086c72bb22 | 63 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 64 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 65 | State cur; |
Lightvalve | 14:8e7590227d22 | 66 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 67 | |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 70 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 71 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 72 | |
Lightvalve | 19:23b7c1ad8683 | 73 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 74 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 75 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 76 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 77 | |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 82 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 84 | |
Lightvalve | 61:bc8c8270f0ab | 85 | |
Lightvalve | 61:bc8c8270f0ab | 86 | |
Lightvalve | 61:bc8c8270f0ab | 87 | |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 90 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 91 | |
Lightvalve | 12:6f2531038ea4 | 92 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 93 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 94 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 95 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 96 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 100 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 101 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 102 | }; |
Lightvalve | 12:6f2531038ea4 | 103 | |
Lightvalve | 12:6f2531038ea4 | 104 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 105 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 106 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 107 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 108 | //control mode |
Lightvalve | 12:6f2531038ea4 | 109 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 110 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 112 | |
Lightvalve | 47:fdcb8bd86fd6 | 113 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 114 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 171:bfc1fd2629d8 | 115 | MODE_RL, //5 |
Lightvalve | 13:747daba9cf59 | 116 | |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 118 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 120 | |
Lightvalve | 12:6f2531038ea4 | 121 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 122 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 123 | |
Lightvalve | 14:8e7590227d22 | 124 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 125 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 126 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 171:bfc1fd2629d8 | 127 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 |
Lightvalve | 13:747daba9cf59 | 128 | |
Lightvalve | 12:6f2531038ea4 | 129 | //utility |
Lightvalve | 12:6f2531038ea4 | 130 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 133 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 137 | |
Lightvalve | 12:6f2531038ea4 | 138 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 139 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 140 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 141 | MODE_SYSTEM_ID, //33 |
Lightvalve | 169:645207e160ca | 142 | MODE_FREQ_TEST, //34 |
Lightvalve | 169:645207e160ca | 143 | MODE_SEND_BUFFER, //35 |
Lightvalve | 169:645207e160ca | 144 | MODE_SEND_OVER, //36 |
Lightvalve | 169:645207e160ca | 145 | MODE_STEP_TEST, //37 |
Lightvalve | 12:6f2531038ea4 | 146 | }; |
Lightvalve | 12:6f2531038ea4 | 147 | |
Lightvalve | 65:a2d7c63419c2 | 148 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 149 | { |
Lightvalve | 169:645207e160ca | 150 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 169:645207e160ca | 151 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 152 | |
Lightvalve | 169:645207e160ca | 153 | /** Configure the main internal regulator output voltage |
Lightvalve | 169:645207e160ca | 154 | */ |
Lightvalve | 169:645207e160ca | 155 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 169:645207e160ca | 156 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 169:645207e160ca | 157 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 158 | */ |
Lightvalve | 169:645207e160ca | 159 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 169:645207e160ca | 160 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 169:645207e160ca | 161 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 169:645207e160ca | 162 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 169:645207e160ca | 163 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 169:645207e160ca | 164 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 169:645207e160ca | 165 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 169:645207e160ca | 166 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 169:645207e160ca | 167 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 169:645207e160ca | 168 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 169:645207e160ca | 169 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 170 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 171 | } |
Lightvalve | 169:645207e160ca | 172 | /** Activate the Over-Drive mode |
Lightvalve | 169:645207e160ca | 173 | */ |
Lightvalve | 169:645207e160ca | 174 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 169:645207e160ca | 175 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 176 | } |
Lightvalve | 169:645207e160ca | 177 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 178 | */ |
Lightvalve | 169:645207e160ca | 179 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 169:645207e160ca | 180 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 169:645207e160ca | 181 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 169:645207e160ca | 182 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 169:645207e160ca | 183 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 169:645207e160ca | 184 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 185 | |
Lightvalve | 169:645207e160ca | 186 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 187 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 188 | } |
Lightvalve | 65:a2d7c63419c2 | 189 | } |
Lightvalve | 65:a2d7c63419c2 | 190 | |
Lightvalve | 99:7bbcb3c0fb06 | 191 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 192 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 193 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 194 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 195 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 196 | |
Lightvalve | 73:f80dc3970c99 | 197 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 198 | |
Lightvalve | 169:645207e160ca | 199 | const float h1[num_input][16] = { |
Lightvalve | 169:645207e160ca | 200 | {-1.3752100467681885f,0.9850414395332336f,0.12903714179992676f,-0.23237967491149902f,-1.5664141178131104f,0.36565715074539185f,-0.17472904920578003f,-0.3780243396759033f,-0.5318458676338196f,-0.6931207776069641f,-0.24376395344734192f,-3.9280478954315186f,-0.259793758392334f,-0.5339483022689819f,-0.2571594715118408f,-0.4960939884185791f}, |
Lightvalve | 169:645207e160ca | 201 | {-1.184814453125f,0.8704654574394226f,-0.3927857577800751f,-0.40050771832466125f,-1.4921096563339233f,0.5157514810562134f,-0.4054011106491089f,-0.3723553717136383f,-0.264297217130661f,-0.4598728120326996f,-0.2805407643318176f,-2.543855905532837f,0.24001067876815796f,-0.9143947958946228f,-0.20967772603034973f,-0.46271881461143494f}, |
Lightvalve | 169:645207e160ca | 202 | {-0.9112814664840698f,0.6714562773704529f,0.36391180753707886f,-0.6117674708366394f,-1.1069424152374268f,0.9712548851966858f,0.2872133255004883f,-0.059537652879953384f,-0.28272250294685364f,-0.4464949667453766f,-0.3544096052646637f,-1.0609019994735718f,0.0019771659281104803f,-0.2590618431568146f,0.05590221285820007f,-1.0201798677444458f}, |
Lightvalve | 169:645207e160ca | 203 | {-0.2895396053791046f,-0.01403216365724802f,0.39742106199264526f,0.20069332420825958f,-0.6715657114982605f,0.5361601710319519f,-0.11584559082984924f,0.3479021489620209f,-0.01779201813042164f,-0.017457854002714157f,0.08943979442119598f,0.845181941986084f,-0.15994226932525635f,-0.14522784948349f,-0.2961459457874298f,-0.7345172166824341f}, |
Lightvalve | 169:645207e160ca | 204 | {1.1968307495117188f,-0.8280011415481567f,-0.0051451027393341064f,0.39627134799957275f,0.3181920051574707f,-0.05303953215479851f,0.1294034719467163f,0.16528914868831635f,0.07129872590303421f,0.7101694941520691f,0.34140077233314514f,1.623598575592041f,-0.06323867291212082f,0.27155500650405884f,-0.3865056037902832f,-0.30631402134895325f}, |
Lightvalve | 169:645207e160ca | 205 | {3.009206533432007f,-3.122997522354126f,0.21773302555084229f,0.7692314386367798f,2.249300003051758f,-2.275317907333374f,0.16514194011688232f,0.11058115214109421f,0.17132356762886047f,2.417614459991455f,-0.25413116812705994f,2.2743594646453857f,-0.25959381461143494f,0.8003392219543457f,-0.4132833778858185f,1.4499995708465576f}, |
Lightvalve | 169:645207e160ca | 206 | {-0.7179104089736938f,0.8526995182037354f,-0.2501986622810364f,-0.875395655632019f,-0.5985659956932068f,2.8744397163391113f,0.06014183163642883f,-0.8439451456069946f,-0.05617062747478485f,-0.640657901763916f,0.14294663071632385f,3.381211519241333f,-0.1638868898153305f,-0.2370987981557846f,-0.15618428587913513f,-0.7710326910018921f}, |
Lightvalve | 169:645207e160ca | 207 | {-0.5504567623138428f,0.25199615955352783f,-0.26619744300842285f,-0.08971554040908813f,-0.3043712079524994f,0.903326153755188f,-0.17925891280174255f,-0.6943695545196533f,-0.25526830554008484f,0.20558907091617584f,0.09723648428916931f,2.3618743419647217f,0.38060376048088074f,-0.1769549399614334f,0.04303058981895447f,-0.12222103029489517f}, |
Lightvalve | 169:645207e160ca | 208 | {0.06810358166694641f,0.17962348461151123f,0.10248100757598877f,-0.30372604727745056f,0.4354613721370697f,-0.7276828289031982f,-0.07246989011764526f,-0.6118704676628113f,-0.42743170261383057f,1.453460693359375f,-0.30540645122528076f,1.6834946870803833f,0.23858578503131866f,0.21455851197242737f,-0.30555272102355957f,0.8063939213752747f}, |
Lightvalve | 169:645207e160ca | 209 | {-0.0713198110461235f,-0.4495846927165985f,0.18462657928466797f,0.05500239133834839f,0.7719969153404236f,-1.2848507165908813f,-0.2990540862083435f,-0.22474081814289093f,-0.1015893891453743f,0.7663454413414001f,-0.016399379819631577f,-0.03539150580763817f,0.38201630115509033f,-0.09081173688173294f,0.3484981060028076f,0.7820040583610535f}, |
Lightvalve | 169:645207e160ca | 210 | {0.33533185720443726f,0.13371603190898895f,0.37182438373565674f,0.39484986662864685f,0.35771995782852173f,-1.3015228509902954f,-0.20339298248291016f,-0.14145439863204956f,-0.5059540271759033f,0.8015591502189636f,0.34025880694389343f,-0.6485148072242737f,-0.05657690018415451f,0.09265313297510147f,0.26688337326049805f,0.2284013032913208f}, |
Lightvalve | 169:645207e160ca | 211 | {-0.4380135238170624f,-0.15535405278205872f,-0.40320003032684326f,0.0452105812728405f,0.23505118489265442f,-0.8950125575065613f,0.1533789038658142f,0.1997886300086975f,-0.24218705296516418f,0.45601460337638855f,-0.42232224345207214f,-0.5756524205207825f,0.15488487482070923f,-0.013335001654922962f,0.10493969917297363f,0.23898905515670776f}, |
Lightvalve | 169:645207e160ca | 212 | {-0.02198643982410431f,0.009633726440370083f,0.19847965240478516f,0.0860355794429779f,0.336037278175354f,-0.277248352766037f,-0.2404318004846573f,-0.07731665670871735f,-0.2765587270259857f,-0.1708865910768509f,-0.11712735891342163f,-0.7335506677627563f,0.10241620987653732f,-0.06552530825138092f,-0.22268100082874298f,-0.13819573819637299f}, |
Lightvalve | 169:645207e160ca | 213 | {0.020149538293480873f,-0.03840681165456772f,0.4127817749977112f,-0.2523573637008667f,-0.21765978634357452f,-0.4540342092514038f,-0.32001304626464844f,-0.5396589040756226f,-0.21919101476669312f,-0.2550864815711975f,-0.20302052795886993f,-0.2918916642665863f,-0.3021690249443054f,-0.19007131457328796f,0.0479682981967926f,0.28083792328834534f}, |
Lightvalve | 169:645207e160ca | 214 | {0.19955825805664062f,0.13080951571464539f,0.20282304286956787f,-0.21126452088356018f,0.15339018404483795f,-0.06708966940641403f,0.04202890396118164f,0.06752092391252518f,0.25217023491859436f,-0.20238792896270752f,-0.2873592674732208f,-0.42253321409225464f,0.11435109376907349f,-0.2376958578824997f,0.0668090283870697f,0.04261681064963341f}, |
Lightvalve | 169:645207e160ca | 215 | {-0.03747318685054779f,-0.29164087772369385f,-0.40439701080322266f,-0.3783135414123535f,-0.40124887228012085f,-0.026558339595794678f,-0.15568238496780396f,-0.08766567707061768f,0.21709603071212769f,-0.35802650451660156f,-0.4817592203617096f,-0.3809756338596344f,-0.2601439654827118f,-0.1273980438709259f,-0.08245879411697388f,0.014104350470006466f}, |
Lightvalve | 169:645207e160ca | 216 | {0.16147102415561676f,-0.5628581643104553f,0.16706281900405884f,-0.1172998696565628f,-0.03297983109951019f,-0.9104568362236023f,-0.041414469480514526f,0.1465616226196289f,0.04248951002955437f,0.007101915311068296f,-0.3614332377910614f,-0.48312774300575256f,0.12316523492336273f,0.3939219117164612f,0.29427415132522583f,0.3038717210292816f}, |
Lightvalve | 65:a2d7c63419c2 | 217 | }; |
Lightvalve | 65:a2d7c63419c2 | 218 | |
Lightvalve | 169:645207e160ca | 219 | const float h2[16][16] = { |
Lightvalve | 168:f05a45d5f318 | 220 | {0.33418041467666626f,2.9079723358154297f,-0.06966331601142883f,-0.009902028366923332f,2.812035322189331f,4.195849418640137f,-0.038234543055295944f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.10707370936870575f,-0.20333009958267212f,-0.031739287078380585f,-3.289416551589966f,-1.172767996788025f,-0.6248859763145447f}, |
Lightvalve | 169:645207e160ca | 221 | {0.11070519685745239f,-2.3348469734191895f,0.057057321071624756f,-0.10134492069482803f,-5.252432346343994f,-1.3715343475341797f,-0.8426902890205383f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-7.361403465270996f,-0.858361005783081f,0.0845860168337822f,2.2169580459594727f,-3.0816471576690674f,-1.0190033912658691f}, |
Lightvalve | 169:645207e160ca | 222 | {-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 | 169:645207e160ca | 223 | {-0.1391567885875702f,0.03293241187930107f,-0.2894435524940491f,0.25554025173187256f,0.08946844935417175f,0.1340968757867813f,-0.39087218046188354f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.7025435566902161f,0.05798906087875366f,-0.5013425946235657f,-0.030901746824383736f,-0.06675297021865845f,-0.0446302704513073f}, |
Lightvalve | 169:645207e160ca | 224 | {-2.245600938796997f,1.6008015871047974f,-0.25313520431518555f,0.1469619870185852f,1.6072996854782104f,-1.3637473583221436f,-0.5957030653953552f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-6.811410427093506f,-0.7977238893508911f,-0.022602174431085587f,-1.6454986333847046f,0.5441725850105286f,-0.7979243397712708f}, |
Lightvalve | 169:645207e160ca | 225 | {0.5210384130477905f,-0.11346126347780228f,-0.3519742488861084f,0.29306867718696594f,-0.3572634160518646f,1.75344979763031f,-0.744201123714447f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.398893117904663f,-0.48980283737182617f,-0.45957082509994507f,0.5487804412841797f,-0.7850930690765381f,-0.7663227319717407f}, |
Lightvalve | 169:645207e160ca | 226 | {-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 | 169:645207e160ca | 227 | {-0.007747650612145662f,0.3667842745780945f,0.33083590865135193f,-0.38213321566581726f,-0.14358049631118774f,-0.2546055316925049f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.49078798294067383f,-0.3058888614177704f,-0.31673234701156616f,0.44664251804351807f,-0.9339061975479126f,-0.1061311885714531f}, |
Lightvalve | 169:645207e160ca | 228 | {-0.17694538831710815f,0.1767565757036209f,-0.11379697918891907f,-0.07116051763296127f,0.041274964809417725f,-0.517110288143158f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.3456110656261444f,-0.24793067574501038f,-0.4166972041130066f,-0.30618393421173096f,-0.33565962314605713f,-0.48154377937316895f}, |
Lightvalve | 169:645207e160ca | 229 | {0.5043365359306335f,0.1850307136774063f,-0.13502129912376404f,-0.25706031918525696f,-0.8451530337333679f,-0.9415315389633179f,-0.2777014970779419f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,1.5622152090072632f,-0.19312366843223572f,0.1250869333744049f,-0.1843482404947281f,1.0270578861236572f,-0.5840676426887512f}, |
Lightvalve | 169:645207e160ca | 230 | {-0.25693249702453613f,-0.010147050023078918f,0.0457797646522522f,-0.3549601435661316f,-0.03321319818496704f,-0.4391511380672455f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.22192376852035522f,0.3545852601528168f,-0.3647043704986572f,0.4194667637348175f,-0.3910166025161743f,-0.2837793529033661f}, |
Lightvalve | 169:645207e160ca | 231 | {2.3816981315612793f,0.4564768075942993f,0.3954955041408539f,0.11254638433456421f,1.1973353624343872f,1.804193377494812f,-0.8583166599273682f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-1.3897980451583862f,-0.5921090841293335f,-0.14213289320468903f,-0.26851770281791687f,1.597784161567688f,-0.5877130031585693f}, |
Lightvalve | 169:645207e160ca | 232 | {-0.267646849155426f,-0.20429572463035583f,-0.15798500180244446f,0.3999568819999695f,-0.37393757700920105f,0.35770177841186523f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.10294663906097412f,-0.2837170362472534f,0.41839322447776794f,-0.02792874164879322f,-0.13706544041633606f,0.11999254673719406f}, |
Lightvalve | 169:645207e160ca | 233 | {0.2282707840204239f,-0.13254989683628082f,-0.2018718123435974f,-0.07019486278295517f,0.07545611262321472f,-0.33204764127731323f,-0.4035329520702362f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.47974857687950134f,-0.8069085478782654f,-0.40297332406044006f,0.23708327114582062f,0.5259239673614502f,-0.3548051416873932f}, |
Lightvalve | 169:645207e160ca | 234 | {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 | 169:645207e160ca | 235 | {-0.5818981528282166f,0.014110059477388859f,0.12081471085548401f,-0.2973254919052124f,0.5392167568206787f,0.3773144781589508f,-0.39351940155029297f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-6.493835926055908f,-0.12242847681045532f,-0.2689415514469147f,-0.2518419325351715f,-0.1694900244474411f,-0.652117908000946f}, |
Lightvalve | 65:a2d7c63419c2 | 236 | }; |
Lightvalve | 65:a2d7c63419c2 | 237 | |
Lightvalve | 169:645207e160ca | 238 | const float h3[16][16] = { |
Lightvalve | 168:f05a45d5f318 | 239 | {-0.36079341173171997f,-1.5671656131744385f,-0.870830237865448f,-0.4786093831062317f,-0.5575059056282043f,-0.773746132850647f,0.29977259039878845f,0.1743643879890442f,-0.5892294645309448f,-0.19605471193790436f,-0.27379146218299866f,0.06893575936555862f,2.2012624740600586f,-2.7650468349456787f,-1.8527313470840454f,1.5724681615829468f}, |
Lightvalve | 169:645207e160ca | 240 | {0.047732532024383545f,-0.23476845026016235f,-2.8836917877197266f,-0.42602431774139404f,-2.397148370742798f,1.254254937171936f,-0.3198729455471039f,-0.25123724341392517f,0.013695899397134781f,-0.5729482173919678f,0.09775999933481216f,-0.5587971806526184f,-0.9381403923034668f,-1.532671570777893f,-0.6944977045059204f,1.4258947372436523f}, |
Lightvalve | 169:645207e160ca | 241 | {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 | 169:645207e160ca | 242 | {-0.30922991037368774f,-0.16969707608222961f,0.3056027889251709f,-0.380797415971756f,-0.17742466926574707f,0.10660405457019806f,0.20021501183509827f,0.07002416253089905f,-0.25412267446517944f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.13397035002708435f,0.0815882533788681f,0.15073642134666443f,0.10944337397813797f}, |
Lightvalve | 169:645207e160ca | 243 | {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.6999471187591553f,0.16012099385261536f,0.21129152178764343f,-0.08640444278717041f,-0.11053556203842163f,-0.2634495496749878f,-0.31317979097366333f,-0.1530032455921173f,-0.24679358303546906f,0.22959044575691223f,-3.0342295169830322f}, |
Lightvalve | 169:645207e160ca | 244 | {-0.37449589371681213f,-0.10077743977308273f,-4.51036262512207f,-0.04963836818933487f,-0.8192825317382812f,-0.6951172947883606f,-0.19780586659908295f,-0.09049295634031296f,-0.9114404916763306f,-0.8623005151748657f,-0.4059421718120575f,-0.16295623779296875f,-5.017462730407715f,-1.1079373359680176f,0.34683844447135925f,0.6427209377288818f}, |
Lightvalve | 169:645207e160ca | 245 | {0.4110594093799591f,0.2715781033039093f,-0.38537508249282837f,0.37246426939964294f,-0.05490662157535553f,-0.009114405140280724f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,-0.13377737998962402f,0.25604528188705444f,0.3126353323459625f,-0.1528691202402115f}, |
Lightvalve | 169:645207e160ca | 246 | {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f}, |
Lightvalve | 169:645207e160ca | 247 | {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 | 169:645207e160ca | 248 | {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 | 169:645207e160ca | 249 | {0.15459725260734558f,0.22762465476989746f,1.5232031345367432f,-0.2233445942401886f,1.524779200553894f,2.6997625827789307f,-0.08742031455039978f,0.05785742402076721f,-0.1277361363172531f,-0.37371426820755005f,-0.03133596479892731f,-0.30447322130203247f,-1.9101834297180176f,0.6954238414764404f,0.46117544174194336f,1.1762653589248657f}, |
Lightvalve | 169:645207e160ca | 250 | {-0.408692330121994f,0.07260357588529587f,-0.02147701010107994f,0.0922636091709137f,-0.1529182642698288f,-0.05657944083213806f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.6609845757484436f,-0.1087266057729721f,-0.10636871308088303f,-0.0133456289768219f}, |
Lightvalve | 169:645207e160ca | 251 | {-0.2991822361946106f,0.3794580399990082f,-0.08715943992137909f,-0.05932474136352539f,0.11478022485971451f,0.3007120192050934f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.05380958318710327f,-0.13672849535942078f,0.35829514265060425f,-0.10585878044366837f}, |
Lightvalve | 169:645207e160ca | 252 | {-0.2675279378890991f,-0.1429223269224167f,-0.9267327189445496f,-0.1256239265203476f,0.49980443716049194f,-0.843601405620575f,-0.33532586693763733f,-0.31893211603164673f,-1.478386402130127f,-1.1926257610321045f,-0.5260127782821655f,-0.8384293913841248f,0.9772797226905823f,0.1813446283340454f,0.17612296342849731f,1.590701699256897f}, |
Lightvalve | 169:645207e160ca | 253 | {-0.015470266342163086f,-0.4976375699043274f,2.497199058532715f,0.14489558339118958f,0.11334121972322464f,0.3805958926677704f,0.02394937537610531f,-0.16103173792362213f,-0.677362859249115f,-0.8498573303222656f,-0.026575788855552673f,-0.427055299282074f,0.17177484929561615f,1.67837655544281f,0.08538639545440674f,-1.3552721738815308f}, |
Lightvalve | 169:645207e160ca | 254 | {0.1863725483417511f,0.13157431781291962f,-0.047772910445928574f,-0.49708226323127747f,0.7275430560112f,-0.145163431763649f,0.04860696196556091f,0.17769548296928406f,-0.050254471600055695f,0.19876523315906525f,-0.5504136085510254f,0.19592127203941345f,0.23928996920585632f,-0.12190091609954834f,-0.1250786930322647f,0.041962411254644394f}, |
Lightvalve | 66:a8e6799dbce3 | 255 | }; |
Lightvalve | 65:a2d7c63419c2 | 256 | |
Lightvalve | 168:f05a45d5f318 | 257 | const float hout[16] = { 0.45773375034332275f,0.5733839869499207f,-0.5152473449707031f,-0.035915032029151917f,-0.306951105594635f,0.30648893117904663f,-0.1005084440112114f,-0.08898112922906876f,-0.2034129500389099f,-0.05844772607088089f,-0.07081260532140732f,0.08596939593553543f,0.5426119565963745f,0.5678461194038391f,1.0715678930282593f,-0.25178417563438416f }; |
Lightvalve | 66:a8e6799dbce3 | 258 | |
Lightvalve | 168:f05a45d5f318 | 259 | const float b1[16] = { 0.5956194400787354f,1.4903173446655273f,-1.7145336866378784f,0.2382747083902359f,1.812330722808838f,1.1310549974441528f,-0.058932315558195114f,1.0475828647613525f,0.5750831365585327f,-1.1691874265670776f,0.564017653465271f,0.8430382013320923f,-0.3627738058567047f,-0.8757394552230835f,-1.087764859199524f,1.8534502983093262f }; |
Lightvalve | 87:471334725012 | 260 | |
Lightvalve | 168:f05a45d5f318 | 261 | const float b2[16] = { -0.19254711270332336f,-1.2538373470306396f,-1.4564176797866821f,-0.6360846757888794f,-2.2159981727600098f,-0.5284036993980408f,0.07729385793209076f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.16195619106292725f,0.17741809785366058f,-0.3301374316215515f,1.8553483486175537f,-0.1654871553182602f,0.5861462950706482f }; |
Lightvalve | 65:a2d7c63419c2 | 262 | |
Lightvalve | 168:f05a45d5f318 | 263 | const float b3[16] = { -1.963319182395935f,-0.5293647646903992f,-0.10495924949645996f,-0.23769626021385193f,1.5550658702850342f,1.2147407531738281f,-0.47398853302001953f,-0.9554895758628845f,-0.067354217171669f,-0.006115084979683161f,-0.45877549052238464f,-0.290895938873291f,-1.0047727823257446f,1.1215981245040894f,-1.407442569732666f,-1.6007274389266968f }; |
Lightvalve | 87:471334725012 | 264 | |
Lightvalve | 168:f05a45d5f318 | 265 | const float bout[1] = { -0.10839174687862396f }; |
Lightvalve | 65:a2d7c63419c2 | 266 | |
Lightvalve | 170:42c938a40313 | 267 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 268 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 269 | |
Lightvalve | 170:42c938a40313 | 270 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 271 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 272 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 273 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 274 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 275 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 276 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 277 | |
Lightvalve | 170:42c938a40313 | 278 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 279 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 280 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 281 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 282 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 283 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 284 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 285 | |
Lightvalve | 170:42c938a40313 | 286 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 287 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 288 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 289 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 290 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 291 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 292 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 293 | |
Lightvalve | 170:42c938a40313 | 294 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 295 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 296 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 297 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 298 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 299 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 300 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 301 | |
Lightvalve | 87:471334725012 | 302 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 303 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 304 | |
Lightvalve | 170:42c938a40313 | 305 | |
Lightvalve | 170:42c938a40313 | 306 | float Critic_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 307 | { |
Lightvalve | 173:68c7914679ec | 308 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 309 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 310 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 311 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 312 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 313 | output1[index2] = output1[index2] + hc1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 314 | } |
Lightvalve | 173:68c7914679ec | 315 | //ReLU |
Lightvalve | 173:68c7914679ec | 316 | output1[index2] = output1[index2] + bc1[index2]; |
Lightvalve | 173:68c7914679ec | 317 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 318 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 319 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 320 | } |
Lightvalve | 173:68c7914679ec | 321 | //tanh |
Lightvalve | 173:68c7914679ec | 322 | //output1[index2] = tanh(output1[index2] + bc1[index2]); |
Lightvalve | 173:68c7914679ec | 323 | } |
Lightvalve | 173:68c7914679ec | 324 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 325 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 326 | output2[index2] = output2[index2] + hc2[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 327 | } |
Lightvalve | 173:68c7914679ec | 328 | //ReLU |
Lightvalve | 173:68c7914679ec | 329 | output2[index2] = output2[index2] + bc2[index2]; |
Lightvalve | 173:68c7914679ec | 330 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 331 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 332 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 333 | } |
Lightvalve | 173:68c7914679ec | 334 | //tanh |
Lightvalve | 173:68c7914679ec | 335 | //output2[index2] = tanh(output2[index2] + bc2[index2]); |
Lightvalve | 170:42c938a40313 | 336 | } |
Lightvalve | 170:42c938a40313 | 337 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 338 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 339 | output = output + hc3[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 340 | } |
Lightvalve | 173:68c7914679ec | 341 | output = output + bc3; |
Lightvalve | 173:68c7914679ec | 342 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 343 | } |
Lightvalve | 170:42c938a40313 | 344 | return output; |
Lightvalve | 170:42c938a40313 | 345 | } |
Lightvalve | 170:42c938a40313 | 346 | |
Lightvalve | 170:42c938a40313 | 347 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 348 | { |
Lightvalve | 173:68c7914679ec | 349 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 350 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 351 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 352 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 353 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 354 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 355 | } |
Lightvalve | 173:68c7914679ec | 356 | //ReLU |
Lightvalve | 173:68c7914679ec | 357 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 358 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 359 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 360 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 361 | } |
Lightvalve | 173:68c7914679ec | 362 | //tanh |
Lightvalve | 173:68c7914679ec | 363 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 364 | } |
Lightvalve | 173:68c7914679ec | 365 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 366 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 367 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 368 | } |
Lightvalve | 173:68c7914679ec | 369 | //ReLU |
Lightvalve | 173:68c7914679ec | 370 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 371 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 372 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 373 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 374 | } |
Lightvalve | 173:68c7914679ec | 375 | //tanh |
Lightvalve | 173:68c7914679ec | 376 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 377 | } |
Lightvalve | 170:42c938a40313 | 378 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 379 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 380 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 381 | } |
Lightvalve | 173:68c7914679ec | 382 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 383 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 384 | } |
Lightvalve | 170:42c938a40313 | 385 | return output; |
Lightvalve | 170:42c938a40313 | 386 | } |
Lightvalve | 170:42c938a40313 | 387 | |
Lightvalve | 170:42c938a40313 | 388 | |
Lightvalve | 170:42c938a40313 | 389 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 390 | { |
Lightvalve | 173:68c7914679ec | 391 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 392 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 393 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 394 | |
Lightvalve | 173:68c7914679ec | 395 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 396 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 397 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 398 | } |
Lightvalve | 173:68c7914679ec | 399 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 173:68c7914679ec | 400 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 401 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 402 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 403 | } |
Lightvalve | 173:68c7914679ec | 404 | } |
Lightvalve | 173:68c7914679ec | 405 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 406 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 407 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 408 | } |
Lightvalve | 173:68c7914679ec | 409 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 410 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 411 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 412 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 413 | } |
Lightvalve | 173:68c7914679ec | 414 | } |
Lightvalve | 173:68c7914679ec | 415 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 416 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 417 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 418 | } |
Lightvalve | 173:68c7914679ec | 419 | } |
Lightvalve | 173:68c7914679ec | 420 | hxhh_a_sum[0] = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 421 | hxhh_a_sum[1] = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 422 | |
Lightvalve | 173:68c7914679ec | 423 | mean_before_SP = output[0] + ba3[0]; //SP = softplus |
Lightvalve | 173:68c7914679ec | 424 | deviation_before_SP = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 425 | //Softplus |
Lightvalve | 173:68c7914679ec | 426 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 427 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 173:68c7914679ec | 428 | } |
Lightvalve | 173:68c7914679ec | 429 | |
Lightvalve | 173:68c7914679ec | 430 | |
Lightvalve | 173:68c7914679ec | 431 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 432 | { |
Lightvalve | 173:68c7914679ec | 433 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 434 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 435 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 436 | |
Lightvalve | 173:68c7914679ec | 437 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 438 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 439 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 440 | } |
Lightvalve | 170:42c938a40313 | 441 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 442 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 443 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 444 | } |
Lightvalve | 170:42c938a40313 | 445 | } |
Lightvalve | 173:68c7914679ec | 446 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 447 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 448 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 449 | } |
Lightvalve | 173:68c7914679ec | 450 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 451 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 452 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 453 | } |
Lightvalve | 170:42c938a40313 | 454 | } |
Lightvalve | 170:42c938a40313 | 455 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 456 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 457 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 458 | } |
Lightvalve | 170:42c938a40313 | 459 | } |
Lightvalve | 173:68c7914679ec | 460 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 461 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 462 | //Softplus |
Lightvalve | 173:68c7914679ec | 463 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 464 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 465 | } |
Lightvalve | 170:42c938a40313 | 466 | |
Lightvalve | 170:42c938a40313 | 467 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 468 | { |
Lightvalve | 170:42c938a40313 | 469 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 470 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 471 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 472 | } |
Lightvalve | 170:42c938a40313 | 473 | |
Lightvalve | 170:42c938a40313 | 474 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 475 | { |
Lightvalve | 170:42c938a40313 | 476 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 477 | grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation)); |
Lightvalve | 170:42c938a40313 | 478 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 479 | } |
Lightvalve | 170:42c938a40313 | 480 | |
Lightvalve | 173:68c7914679ec | 481 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 482 | { |
Lightvalve | 173:68c7914679ec | 483 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 484 | return x; |
Lightvalve | 173:68c7914679ec | 485 | } else { |
Lightvalve | 173:68c7914679ec | 486 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 487 | } |
Lightvalve | 173:68c7914679ec | 488 | } |
Lightvalve | 173:68c7914679ec | 489 | |
Lightvalve | 170:42c938a40313 | 490 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 491 | { |
Lightvalve | 172:63af34265fe9 | 492 | float gradient_rate = 0.001f; |
Lightvalve | 173:68c7914679ec | 493 | // float hx_sum = 0.0f; |
Lightvalve | 173:68c7914679ec | 494 | |
Lightvalve | 173:68c7914679ec | 495 | |
Lightvalve | 173:68c7914679ec | 496 | ///////////////////////////////////////////////////////////CRITIC |
Lightvalve | 173:68c7914679ec | 497 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 498 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 499 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 500 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 501 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 502 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 503 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 504 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 173:68c7914679ec | 505 | G_hc1[index1][index2] = G_hc1[index1][index2] + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 506 | } |
Lightvalve | 173:68c7914679ec | 507 | } |
Lightvalve | 170:42c938a40313 | 508 | } |
Lightvalve | 170:42c938a40313 | 509 | } |
Lightvalve | 170:42c938a40313 | 510 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 173:68c7914679ec | 511 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 512 | } |
Lightvalve | 173:68c7914679ec | 513 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 514 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 515 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 516 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 173:68c7914679ec | 517 | G_bc1[index2] = G_bc1[index2] + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 518 | } |
Lightvalve | 173:68c7914679ec | 519 | |
Lightvalve | 173:68c7914679ec | 520 | } |
Lightvalve | 173:68c7914679ec | 521 | } |
Lightvalve | 173:68c7914679ec | 522 | } |
Lightvalve | 173:68c7914679ec | 523 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 173:68c7914679ec | 524 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 525 | } |
Lightvalve | 173:68c7914679ec | 526 | |
Lightvalve | 173:68c7914679ec | 527 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 528 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 529 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 530 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 531 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 532 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 533 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 173:68c7914679ec | 534 | G_hc2[index1][index2] = G_hc2[index1][index2] + hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 535 | } |
Lightvalve | 173:68c7914679ec | 536 | } |
Lightvalve | 173:68c7914679ec | 537 | } |
Lightvalve | 173:68c7914679ec | 538 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 173:68c7914679ec | 539 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 540 | } |
Lightvalve | 173:68c7914679ec | 541 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 542 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 543 | G_bc2[index2] = G_bc2[index2] + hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 544 | } |
Lightvalve | 173:68c7914679ec | 545 | } |
Lightvalve | 173:68c7914679ec | 546 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 173:68c7914679ec | 547 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 548 | } |
Lightvalve | 173:68c7914679ec | 549 | |
Lightvalve | 173:68c7914679ec | 550 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 551 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 552 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 553 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 554 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 555 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 556 | G_hc3[index1] = G_hc3[index1] + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 557 | } |
Lightvalve | 173:68c7914679ec | 558 | } |
Lightvalve | 173:68c7914679ec | 559 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 173:68c7914679ec | 560 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 561 | } |
Lightvalve | 173:68c7914679ec | 562 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 563 | G_bc2[index2] = G_bc2[index2] + 1.0f; |
Lightvalve | 173:68c7914679ec | 564 | } |
Lightvalve | 173:68c7914679ec | 565 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 173:68c7914679ec | 566 | //bc3_temp = bc3_temp - gradient_rate * G_bc3; |
Lightvalve | 173:68c7914679ec | 567 | } |
Lightvalve | 173:68c7914679ec | 568 | |
Lightvalve | 173:68c7914679ec | 569 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 570 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 571 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 572 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 573 | } |
Lightvalve | 170:42c938a40313 | 574 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 575 | } |
Lightvalve | 173:68c7914679ec | 576 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 577 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 578 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 579 | } |
Lightvalve | 173:68c7914679ec | 580 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 581 | } |
Lightvalve | 170:42c938a40313 | 582 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 583 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 584 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 585 | } |
Lightvalve | 173:68c7914679ec | 586 | bc3_temp = bc3_temp - gradient_rate * G_bc3; |
Lightvalve | 170:42c938a40313 | 587 | } |
Lightvalve | 173:68c7914679ec | 588 | |
Lightvalve | 170:42c938a40313 | 589 | } |
Lightvalve | 170:42c938a40313 | 590 | |
Lightvalve | 173:68c7914679ec | 591 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 592 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 593 | { |
Lightvalve | 173:68c7914679ec | 594 | float gradient_rate = 0.001f; |
Lightvalve | 173:68c7914679ec | 595 | |
Lightvalve | 173:68c7914679ec | 596 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 597 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 598 | float d_x_d_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 599 | float d_x_d_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 600 | float d_y_d_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 601 | float d_y_d_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 602 | |
Lightvalve | 173:68c7914679ec | 603 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 604 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 605 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 606 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 607 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 608 | } else { |
Lightvalve | 173:68c7914679ec | 609 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 610 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 611 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 173:68c7914679ec | 612 | d_x_d_ha1[index1][index2] = d_x_d_ha1[index1][index2] + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 173:68c7914679ec | 613 | d_y_d_ha1[index1][index2] = d_y_d_ha1[index1][index2] + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 614 | } |
Lightvalve | 171:bfc1fd2629d8 | 615 | } |
Lightvalve | 170:42c938a40313 | 616 | } |
Lightvalve | 170:42c938a40313 | 617 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 618 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 619 | d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 620 | d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 621 | |
Lightvalve | 173:68c7914679ec | 622 | G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 623 | } |
Lightvalve | 170:42c938a40313 | 624 | } |
Lightvalve | 170:42c938a40313 | 625 | G_ha1[index1][index2] = G_ha1[index1][index2] / batch_size; |
Lightvalve | 170:42c938a40313 | 626 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 627 | } |
Lightvalve | 173:68c7914679ec | 628 | |
Lightvalve | 173:68c7914679ec | 629 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 630 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 631 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 632 | } else { |
Lightvalve | 173:68c7914679ec | 633 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 634 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 635 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 173:68c7914679ec | 636 | d_x_d_ba1[index2] = d_x_d_ba1[index2] + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 173:68c7914679ec | 637 | d_y_d_ba1[index2] = d_y_d_ba1[index2] + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 638 | } |
Lightvalve | 171:bfc1fd2629d8 | 639 | } |
Lightvalve | 170:42c938a40313 | 640 | } |
Lightvalve | 170:42c938a40313 | 641 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 642 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 643 | d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1[index2]; |
Lightvalve | 173:68c7914679ec | 644 | d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1[index2]; |
Lightvalve | 173:68c7914679ec | 645 | |
Lightvalve | 173:68c7914679ec | 646 | G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 647 | } |
Lightvalve | 170:42c938a40313 | 648 | } |
Lightvalve | 170:42c938a40313 | 649 | G_ba1[index2] = G_ba1[index2] / batch_size; |
Lightvalve | 170:42c938a40313 | 650 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 651 | } |
Lightvalve | 170:42c938a40313 | 652 | |
Lightvalve | 173:68c7914679ec | 653 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 654 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 655 | float d_x_d_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 656 | float d_x_d_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 657 | float d_y_d_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 658 | float d_y_d_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 659 | |
Lightvalve | 173:68c7914679ec | 660 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 661 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 662 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 663 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 664 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 665 | } else { |
Lightvalve | 171:bfc1fd2629d8 | 666 | |
Lightvalve | 173:68c7914679ec | 667 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 668 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 173:68c7914679ec | 669 | d_x_d_ha2[index1][index2] = d_x_d_ha2[index1][index2] + hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 173:68c7914679ec | 670 | d_y_d_ha2[index1][index2] = d_y_d_ha2[index1][index2] + hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 671 | } |
Lightvalve | 170:42c938a40313 | 672 | } |
Lightvalve | 173:68c7914679ec | 673 | |
Lightvalve | 170:42c938a40313 | 674 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 675 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 676 | d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 677 | d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 678 | |
Lightvalve | 173:68c7914679ec | 679 | G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 680 | } |
Lightvalve | 170:42c938a40313 | 681 | } |
Lightvalve | 170:42c938a40313 | 682 | G_ha2[index1][index2] = G_ha2[index1][index2] / batch_size; |
Lightvalve | 170:42c938a40313 | 683 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 684 | } |
Lightvalve | 173:68c7914679ec | 685 | |
Lightvalve | 173:68c7914679ec | 686 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 687 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 688 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 689 | } else { |
Lightvalve | 170:42c938a40313 | 690 | |
Lightvalve | 173:68c7914679ec | 691 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 692 | d_x_d_ba2[index2] = d_x_d_ba2[index2] + ha3_temp[index2][0]; |
Lightvalve | 173:68c7914679ec | 693 | d_y_d_ba2[index2] = d_y_d_ba2[index2] + ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 694 | } |
Lightvalve | 173:68c7914679ec | 695 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 696 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 697 | d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2[index2]; |
Lightvalve | 173:68c7914679ec | 698 | d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2[index2]; |
Lightvalve | 173:68c7914679ec | 699 | |
Lightvalve | 173:68c7914679ec | 700 | G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 701 | } |
Lightvalve | 170:42c938a40313 | 702 | } |
Lightvalve | 170:42c938a40313 | 703 | G_ba2[index2] = G_ba2[index2] / batch_size; |
Lightvalve | 170:42c938a40313 | 704 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 705 | } |
Lightvalve | 173:68c7914679ec | 706 | |
Lightvalve | 173:68c7914679ec | 707 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 708 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 709 | float d_x_d_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 710 | float d_x_d_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 711 | float d_y_d_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 712 | float d_y_d_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 713 | |
Lightvalve | 173:68c7914679ec | 714 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 715 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 716 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 717 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 718 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 719 | } else { |
Lightvalve | 173:68c7914679ec | 720 | |
Lightvalve | 173:68c7914679ec | 721 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 722 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 173:68c7914679ec | 723 | d_x_d_ha3[index1][index2] = d_x_d_ha3[index1][index2] + hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 724 | d_y_d_ha3[index1][index2] = d_y_d_ha3[index1][index2] + hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 725 | |
Lightvalve | 173:68c7914679ec | 726 | } |
Lightvalve | 173:68c7914679ec | 727 | } |
Lightvalve | 173:68c7914679ec | 728 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 729 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 730 | d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 731 | d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 732 | |
Lightvalve | 173:68c7914679ec | 733 | G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 173:68c7914679ec | 734 | } |
Lightvalve | 173:68c7914679ec | 735 | } |
Lightvalve | 173:68c7914679ec | 736 | G_ha3[index1][index2] = G_ha3[index1][index2] / batch_size; |
Lightvalve | 173:68c7914679ec | 737 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 738 | } |
Lightvalve | 173:68c7914679ec | 739 | |
Lightvalve | 173:68c7914679ec | 740 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 173:68c7914679ec | 741 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 742 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 743 | } else { |
Lightvalve | 173:68c7914679ec | 744 | |
Lightvalve | 173:68c7914679ec | 745 | d_x_d_ba3[index2] = d_x_d_ba3[index2] + 1.0f; |
Lightvalve | 173:68c7914679ec | 746 | d_y_d_ba3[index2] = d_y_d_ba3[index2] + 1.0f; |
Lightvalve | 173:68c7914679ec | 747 | |
Lightvalve | 173:68c7914679ec | 748 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 749 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 750 | d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 751 | d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 752 | |
Lightvalve | 173:68c7914679ec | 753 | G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 173:68c7914679ec | 754 | } |
Lightvalve | 173:68c7914679ec | 755 | } |
Lightvalve | 173:68c7914679ec | 756 | G_ba3[index2] = G_ba3[index2] / batch_size; |
Lightvalve | 173:68c7914679ec | 757 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 758 | } |
Lightvalve | 170:42c938a40313 | 759 | } |
Lightvalve | 170:42c938a40313 | 760 | |
Lightvalve | 173:68c7914679ec | 761 | ///////////////////////////ReLU - Bad performance////////////////////////////////// |
Lightvalve | 173:68c7914679ec | 762 | //void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 173:68c7914679ec | 763 | //{ |
Lightvalve | 173:68c7914679ec | 764 | // float gradient_rate = 0.001f; //-0.01f |
Lightvalve | 173:68c7914679ec | 765 | // |
Lightvalve | 173:68c7914679ec | 766 | // float G_ha1[num_input_RL][num_hidden_unit] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 767 | // float G_ba1[num_hidden_unit] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 768 | // for (int index2 = 0; index2 < num_hidden_unit; index2++) { |
Lightvalve | 173:68c7914679ec | 769 | // for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 770 | // for (int i=0; i<batch_size; i++) { |
Lightvalve | 173:68c7914679ec | 771 | // if((advantage[i] >= 0.0f && ratio[i] >= 1.0f + epsilon) || (advantage[i] < 0.0f && ratio[i] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 772 | // G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 773 | // } else { |
Lightvalve | 173:68c7914679ec | 774 | // |
Lightvalve | 173:68c7914679ec | 775 | // float hx_sum_total = 0.0f; |
Lightvalve | 173:68c7914679ec | 776 | // for(int m = 0; m < num_hidden_unit; m++) { |
Lightvalve | 173:68c7914679ec | 777 | // for(int n = 0; n < num_input_RL; n++) { |
Lightvalve | 173:68c7914679ec | 778 | // hx_sum_total = hx_sum_total + ha1_temp[n][m]*arr[i][n]; |
Lightvalve | 173:68c7914679ec | 779 | // } |
Lightvalve | 173:68c7914679ec | 780 | // } |
Lightvalve | 173:68c7914679ec | 781 | // hx_sum_total = hx_sum_total + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 782 | // float d_mean_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 783 | // float d_dev_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 784 | // if (hx_sum_total >=0) { |
Lightvalve | 173:68c7914679ec | 785 | // float hx_sum = 0.0f; |
Lightvalve | 173:68c7914679ec | 786 | // for(int j=0; j<num_input_RL; j++) { |
Lightvalve | 173:68c7914679ec | 787 | // hx_sum = hx_sum + ha1_temp[j][index2]*arr[i][j]; |
Lightvalve | 173:68c7914679ec | 788 | // } |
Lightvalve | 173:68c7914679ec | 789 | // hx_sum = hx_sum + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 790 | // if (hx_sum >= 0) { |
Lightvalve | 173:68c7914679ec | 791 | // d_mean_d_ha1 = ha2_temp[index2][0]*arr[i][index1]; |
Lightvalve | 173:68c7914679ec | 792 | // d_dev_d_ha1 = ha2_temp[index2][1]*arr[i][index1]; |
Lightvalve | 173:68c7914679ec | 793 | // } else { |
Lightvalve | 173:68c7914679ec | 794 | // d_mean_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 795 | // d_dev_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 796 | // } |
Lightvalve | 173:68c7914679ec | 797 | // } else { |
Lightvalve | 173:68c7914679ec | 798 | // d_mean_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 799 | // d_dev_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 800 | // } |
Lightvalve | 173:68c7914679ec | 801 | // G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[i]/pi_old[i]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[i],deviation_array[i],action_array[i])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[i],deviation_array[i],action_array[i])); |
Lightvalve | 173:68c7914679ec | 802 | // } |
Lightvalve | 173:68c7914679ec | 803 | // } |
Lightvalve | 173:68c7914679ec | 804 | // G_ha1[index1][index2] = G_ha1[index1][index2] / batch_size; |
Lightvalve | 173:68c7914679ec | 805 | // ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate * G_ha1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 806 | // } |
Lightvalve | 173:68c7914679ec | 807 | // for (int i=0; i<batch_size; i++) { |
Lightvalve | 173:68c7914679ec | 808 | // if((advantage[i] >= 0.0f && ratio[i] >= 1.0f + epsilon) || (advantage[i] < 0.0f && ratio[i] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 809 | // G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 173:68c7914679ec | 810 | // } else { |
Lightvalve | 173:68c7914679ec | 811 | // |
Lightvalve | 173:68c7914679ec | 812 | // float hx_sum_total = 0.0f; |
Lightvalve | 173:68c7914679ec | 813 | // for(int m = 0; m < num_hidden_unit; m++) { |
Lightvalve | 173:68c7914679ec | 814 | // for(int n = 0; n < num_input_RL; n++) { |
Lightvalve | 173:68c7914679ec | 815 | // hx_sum_total = hx_sum_total + ha1_temp[n][m]*arr[i][n]; |
Lightvalve | 173:68c7914679ec | 816 | // } |
Lightvalve | 173:68c7914679ec | 817 | // } |
Lightvalve | 173:68c7914679ec | 818 | // hx_sum_total = hx_sum_total + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 819 | // float d_mean_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 820 | // float d_dev_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 821 | // if (hx_sum_total >=0) { |
Lightvalve | 173:68c7914679ec | 822 | // |
Lightvalve | 173:68c7914679ec | 823 | // float hx_sum = 0.0f; |
Lightvalve | 173:68c7914679ec | 824 | // for(int j=0; j<num_input_RL; j++) { |
Lightvalve | 173:68c7914679ec | 825 | // hx_sum = hx_sum + ha1_temp[j][index2]*arr[i][j]; |
Lightvalve | 173:68c7914679ec | 826 | // } |
Lightvalve | 173:68c7914679ec | 827 | // hx_sum = hx_sum + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 828 | // |
Lightvalve | 173:68c7914679ec | 829 | // if(hx_sum >=0) { |
Lightvalve | 173:68c7914679ec | 830 | // d_mean_d_ba1 = ha2_temp[index2][0]; |
Lightvalve | 173:68c7914679ec | 831 | // d_dev_d_ba1 = ha2_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 832 | // } else { |
Lightvalve | 173:68c7914679ec | 833 | // d_mean_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 834 | // d_dev_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 835 | // } |
Lightvalve | 173:68c7914679ec | 836 | // } else { |
Lightvalve | 173:68c7914679ec | 837 | // d_mean_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 838 | // d_dev_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 839 | // } |
Lightvalve | 173:68c7914679ec | 840 | // G_ba1[index2] = G_ba1[index2] + advantage[i]/pi_old[i]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[i],deviation_array[i],action_array[i])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[i],deviation_array[i],action_array[i])); |
Lightvalve | 173:68c7914679ec | 841 | // } |
Lightvalve | 173:68c7914679ec | 842 | // } |
Lightvalve | 173:68c7914679ec | 843 | // G_ba1[index2] = G_ba1[index2] / batch_size; |
Lightvalve | 173:68c7914679ec | 844 | // ba1_temp[index2] = ba1_temp[index2] - gradient_rate * G_ba1[index2]; |
Lightvalve | 173:68c7914679ec | 845 | // } |
Lightvalve | 173:68c7914679ec | 846 | // |
Lightvalve | 173:68c7914679ec | 847 | // float G_ha2[num_hidden_unit][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 848 | // float G_ba2[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 849 | // for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 850 | // for (int index1 = 0; index1 < num_hidden_unit; index1++) { |
Lightvalve | 173:68c7914679ec | 851 | // for (int i=0; i<batch_size; i++) { |
Lightvalve | 173:68c7914679ec | 852 | // if((advantage[i] >= 0.0f && ratio[i] >= 1.0f + epsilon) || (advantage[i] < 0.0f && ratio[i] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 853 | // G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 854 | // } else { |
Lightvalve | 173:68c7914679ec | 855 | // |
Lightvalve | 173:68c7914679ec | 856 | // float hx_sum_total = 0.0f; |
Lightvalve | 173:68c7914679ec | 857 | // for(int m = 0; m < num_hidden_unit; m++) { |
Lightvalve | 173:68c7914679ec | 858 | // for(int n = 0; n < num_input_RL; n++) { |
Lightvalve | 173:68c7914679ec | 859 | // hx_sum_total = hx_sum_total + ha1_temp[n][m]*arr[i][n]; |
Lightvalve | 173:68c7914679ec | 860 | // } |
Lightvalve | 173:68c7914679ec | 861 | // } |
Lightvalve | 173:68c7914679ec | 862 | // hx_sum_total = hx_sum_total + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 863 | // float d_mean_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 864 | // float d_dev_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 865 | // if (hx_sum_total >=0) { |
Lightvalve | 173:68c7914679ec | 866 | // float hx_sum = 0.0f; |
Lightvalve | 173:68c7914679ec | 867 | // for(int j=0; j<num_input_RL; j++) { |
Lightvalve | 173:68c7914679ec | 868 | // hx_sum = hx_sum + ha1_temp[j][index1]*arr[i][j]; |
Lightvalve | 173:68c7914679ec | 869 | // } |
Lightvalve | 173:68c7914679ec | 870 | // hx_sum = hx_sum + bc1_temp[index1]; |
Lightvalve | 173:68c7914679ec | 871 | // if (hx_sum >= 0) { |
Lightvalve | 173:68c7914679ec | 872 | // d_mean_d_ha2 = hx_sum; |
Lightvalve | 173:68c7914679ec | 873 | // d_dev_d_ha2 = hx_sum; |
Lightvalve | 173:68c7914679ec | 874 | // } else { |
Lightvalve | 173:68c7914679ec | 875 | // d_mean_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 876 | // d_mean_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 877 | // } |
Lightvalve | 173:68c7914679ec | 878 | // } else { |
Lightvalve | 173:68c7914679ec | 879 | // d_mean_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 880 | // d_mean_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 881 | // } |
Lightvalve | 173:68c7914679ec | 882 | // G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[i]/pi_old[i]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[i],deviation_array[i],action_array[i])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[i],deviation_array[i],action_array[i])); |
Lightvalve | 173:68c7914679ec | 883 | // } |
Lightvalve | 173:68c7914679ec | 884 | // } |
Lightvalve | 173:68c7914679ec | 885 | // G_ha2[index1][index2] = G_ha2[index1][index2] / batch_size; |
Lightvalve | 173:68c7914679ec | 886 | // ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate * G_ha2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 887 | // } |
Lightvalve | 173:68c7914679ec | 888 | // for (int i=0; i<batch_size; i++) { |
Lightvalve | 173:68c7914679ec | 889 | // if((advantage[i] >= 0.0f && ratio[i] >= 1.0f + epsilon) || (advantage[i] < 0.0f && ratio[i] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 890 | // G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 173:68c7914679ec | 891 | // } else { |
Lightvalve | 173:68c7914679ec | 892 | // |
Lightvalve | 173:68c7914679ec | 893 | // float d_mean_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 894 | // float d_dev_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 895 | // d_mean_d_ba2 = 1.0f; |
Lightvalve | 173:68c7914679ec | 896 | // d_dev_d_ba2 = 1.0f; |
Lightvalve | 173:68c7914679ec | 897 | // G_ba1[index2] = G_ba1[index2] + advantage[i]/pi_old[i]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[i],deviation_array[i],action_array[i])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[i],deviation_array[i],action_array[i])); |
Lightvalve | 173:68c7914679ec | 898 | // } |
Lightvalve | 173:68c7914679ec | 899 | // } |
Lightvalve | 173:68c7914679ec | 900 | // G_ba2[index2] = G_ba2[index2] / batch_size; |
Lightvalve | 173:68c7914679ec | 901 | // ba2_temp[index2] = ba2_temp[index2] - gradient_rate * G_ba2[index2]; |
Lightvalve | 173:68c7914679ec | 902 | // } |
Lightvalve | 173:68c7914679ec | 903 | //} |
Lightvalve | 173:68c7914679ec | 904 | |
Lightvalve | 170:42c938a40313 | 905 | |
Lightvalve | 170:42c938a40313 | 906 | |
Lightvalve | 170:42c938a40313 | 907 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 908 | { |
Lightvalve | 170:42c938a40313 | 909 | //Box muller method |
Lightvalve | 170:42c938a40313 | 910 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 911 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 912 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 913 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 914 | do { |
Lightvalve | 170:42c938a40313 | 915 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 916 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 917 | |
Lightvalve | 170:42c938a40313 | 918 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 919 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 920 | { |
Lightvalve | 170:42c938a40313 | 921 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 922 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 923 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 924 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 925 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 926 | return result; |
Lightvalve | 170:42c938a40313 | 927 | } |
Lightvalve | 170:42c938a40313 | 928 | } else { |
Lightvalve | 170:42c938a40313 | 929 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 930 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 931 | } |
Lightvalve | 170:42c938a40313 | 932 | } |
Lightvalve | 170:42c938a40313 | 933 | |
Lightvalve | 173:68c7914679ec | 934 | |
Lightvalve | 170:42c938a40313 | 935 | void Overwirte_Critic_Networks() |
Lightvalve | 170:42c938a40313 | 936 | { |
Lightvalve | 173:68c7914679ec | 937 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 938 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 939 | hc1[index1][index2] = hc1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 940 | } |
Lightvalve | 170:42c938a40313 | 941 | bc1[index2] = bc1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 942 | } |
Lightvalve | 173:68c7914679ec | 943 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 944 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 945 | hc2[index1][index2] = hc2_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 946 | } |
Lightvalve | 173:68c7914679ec | 947 | bc2[index2] = bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 948 | hc3[index2] = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 949 | } |
Lightvalve | 173:68c7914679ec | 950 | bc3 = bc3_temp; |
Lightvalve | 170:42c938a40313 | 951 | } |
Lightvalve | 170:42c938a40313 | 952 | void Overwirte_Actor_Networks() |
Lightvalve | 170:42c938a40313 | 953 | { |
Lightvalve | 173:68c7914679ec | 954 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 955 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 956 | ha1[index1][index2] = ha1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 957 | } |
Lightvalve | 170:42c938a40313 | 958 | ba1[index2] = ba1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 959 | } |
Lightvalve | 173:68c7914679ec | 960 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 961 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 170:42c938a40313 | 962 | ha2[index1][index2] = ha2_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 963 | } |
Lightvalve | 170:42c938a40313 | 964 | ba2[index2] = ba2_temp[index2]; |
Lightvalve | 170:42c938a40313 | 965 | } |
Lightvalve | 173:68c7914679ec | 966 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 967 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 968 | ha3[index1][index2] = ha3_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 969 | } |
Lightvalve | 173:68c7914679ec | 970 | ba3[index2] = ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 971 | } |
Lightvalve | 170:42c938a40313 | 972 | } |
Lightvalve | 170:42c938a40313 | 973 | |
Lightvalve | 170:42c938a40313 | 974 | |
GiJeongKim | 0:51c43836c1d7 | 975 | int main() |
GiJeongKim | 0:51c43836c1d7 | 976 | { |
Lightvalve | 66:a8e6799dbce3 | 977 | |
Lightvalve | 65:a2d7c63419c2 | 978 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 979 | SystemClock_Config(); |
Lightvalve | 169:645207e160ca | 980 | |
jobuuu | 6:df07d3491e3a | 981 | /********************************* |
jobuuu | 1:e04e563be5ce | 982 | *** Initialization |
jobuuu | 6:df07d3491e3a | 983 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 984 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 985 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 986 | |
GiJeongKim | 0:51c43836c1d7 | 987 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 988 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 989 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 990 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 991 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 992 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 993 | |
GiJeongKim | 0:51c43836c1d7 | 994 | // // spi init |
Lightvalve | 170:42c938a40313 | 995 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 996 | eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 997 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 998 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 999 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 1000 | |
Lightvalve | 16:903b5a4433b4 | 1001 | //rom |
Lightvalve | 19:23b7c1ad8683 | 1002 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 1003 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 1004 | |
GiJeongKim | 0:51c43836c1d7 | 1005 | // ADC init |
jobuuu | 5:a4319f79457b | 1006 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 1007 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 1008 | |
GiJeongKim | 0:51c43836c1d7 | 1009 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 1010 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 1011 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 1012 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 1013 | |
Lightvalve | 11:82d8768d7351 | 1014 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 1015 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 1016 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 1017 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 1018 | |
Lightvalve | 50:3c630b5eba9f | 1019 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 1020 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 1021 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 1022 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 1023 | |
GiJeongKim | 0:51c43836c1d7 | 1024 | // CAN |
jobuuu | 2:a1c0a37df760 | 1025 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 1026 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 1027 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 1028 | |
Lightvalve | 23:59218d4a256d | 1029 | //Timer priority |
Lightvalve | 23:59218d4a256d | 1030 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 1031 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 1032 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 1033 | |
Lightvalve | 23:59218d4a256d | 1034 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 1035 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 1036 | |
GiJeongKim | 0:51c43836c1d7 | 1037 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 1038 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 1039 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 1040 | |
Lightvalve | 11:82d8768d7351 | 1041 | //DAC init |
Lightvalve | 58:2eade98630e2 | 1042 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1043 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 1044 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 1045 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1046 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 1047 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 1048 | } |
Lightvalve | 11:82d8768d7351 | 1049 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 1050 | |
Lightvalve | 19:23b7c1ad8683 | 1051 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 1052 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 1053 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 1054 | else |
Lightvalve | 38:118df027d851 | 1055 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 1056 | } |
Lightvalve | 169:645207e160ca | 1057 | |
Lightvalve | 173:68c7914679ec | 1058 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 1059 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 1060 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.01f ; |
Lightvalve | 170:42c938a40313 | 1061 | } |
Lightvalve | 170:42c938a40313 | 1062 | bc1_temp[index2] = (float) (rand()%100) * 0.01f; |
Lightvalve | 173:68c7914679ec | 1063 | } |
Lightvalve | 173:68c7914679ec | 1064 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 1065 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 1066 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.01f; |
Lightvalve | 173:68c7914679ec | 1067 | } |
Lightvalve | 173:68c7914679ec | 1068 | bc2[index2] = (float) (rand()%100) * 0.01f; |
Lightvalve | 173:68c7914679ec | 1069 | hc3[index2] = (float) (rand()%100) * 0.01f; |
Lightvalve | 170:42c938a40313 | 1070 | } |
Lightvalve | 173:68c7914679ec | 1071 | bc3 = (float) (rand()%100) * 0.01f; |
Lightvalve | 173:68c7914679ec | 1072 | |
Lightvalve | 173:68c7914679ec | 1073 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 1074 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 1075 | ha1[index1][index2] = (float) (rand()%100) * 0.01f; |
Lightvalve | 170:42c938a40313 | 1076 | } |
Lightvalve | 173:68c7914679ec | 1077 | ba1[index2] = (float) (rand()%100) * 0.01f; |
Lightvalve | 173:68c7914679ec | 1078 | } |
Lightvalve | 173:68c7914679ec | 1079 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 1080 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 1081 | ha2[index1][index2] = (float) (rand()%100) * 0.01f; |
Lightvalve | 173:68c7914679ec | 1082 | } |
Lightvalve | 173:68c7914679ec | 1083 | ba2[index2] = (float) (rand()%100) * 0.01f; |
Lightvalve | 170:42c938a40313 | 1084 | } |
Lightvalve | 170:42c938a40313 | 1085 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 1086 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 1087 | ha3[index1][index2] = (float) (rand()%100) * 0.01f; |
Lightvalve | 170:42c938a40313 | 1088 | } |
Lightvalve | 173:68c7914679ec | 1089 | ba3[index2] = (float) (rand()%100) * 0.01f; |
Lightvalve | 170:42c938a40313 | 1090 | } |
Lightvalve | 171:bfc1fd2629d8 | 1091 | |
Lightvalve | 170:42c938a40313 | 1092 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1093 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 1094 | |
jobuuu | 6:df07d3491e3a | 1095 | /************************************ |
jobuuu | 1:e04e563be5ce | 1096 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 1097 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 1098 | while(1) { |
Lightvalve | 169:645207e160ca | 1099 | |
Lightvalve | 171:bfc1fd2629d8 | 1100 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 1101 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 1102 | // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5); |
Lightvalve | 171:bfc1fd2629d8 | 1103 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 1104 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 1105 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 1106 | // } |
Lightvalve | 169:645207e160ca | 1107 | |
Lightvalve | 171:bfc1fd2629d8 | 1108 | |
Lightvalve | 171:bfc1fd2629d8 | 1109 | //i2c |
Lightvalve | 171:bfc1fd2629d8 | 1110 | //read_field(i2c_slave_addr1); |
Lightvalve | 171:bfc1fd2629d8 | 1111 | //if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 1112 | |
Lightvalve | 171:bfc1fd2629d8 | 1113 | // timer_while ++; |
Lightvalve | 169:645207e160ca | 1114 | |
Lightvalve | 170:42c938a40313 | 1115 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1116 | |
Lightvalve | 73:f80dc3970c99 | 1117 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1118 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1119 | } |
Lightvalve | 169:645207e160ca | 1120 | |
Lightvalve | 73:f80dc3970c99 | 1121 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1122 | |
Lightvalve | 162:9dd4f35e9de8 | 1123 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1124 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1125 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1126 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1127 | } |
Lightvalve | 162:9dd4f35e9de8 | 1128 | |
Lightvalve | 162:9dd4f35e9de8 | 1129 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1130 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1131 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1132 | } |
Lightvalve | 162:9dd4f35e9de8 | 1133 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1134 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1135 | |
Lightvalve | 162:9dd4f35e9de8 | 1136 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1137 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1138 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1139 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1140 | |
Lightvalve | 162:9dd4f35e9de8 | 1141 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1142 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1143 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1144 | } |
Lightvalve | 162:9dd4f35e9de8 | 1145 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1146 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1147 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 168:f05a45d5f318 | 1148 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f; |
Lightvalve | 168:f05a45d5f318 | 1149 | input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1150 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1151 | } |
Lightvalve | 169:645207e160ca | 1152 | |
Lightvalve | 112:8dcb1600cb90 | 1153 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1154 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1155 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1156 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1157 | |
Lightvalve | 112:8dcb1600cb90 | 1158 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1159 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1160 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1161 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1162 | } |
Lightvalve | 66:a8e6799dbce3 | 1163 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1164 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1165 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1166 | } |
Lightvalve | 66:a8e6799dbce3 | 1167 | } |
Lightvalve | 65:a2d7c63419c2 | 1168 | |
Lightvalve | 112:8dcb1600cb90 | 1169 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1170 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1171 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1172 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1173 | } |
Lightvalve | 66:a8e6799dbce3 | 1174 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1175 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1176 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1177 | } |
Lightvalve | 66:a8e6799dbce3 | 1178 | } |
Lightvalve | 65:a2d7c63419c2 | 1179 | |
Lightvalve | 112:8dcb1600cb90 | 1180 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1181 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1182 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1183 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1184 | } |
Lightvalve | 66:a8e6799dbce3 | 1185 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1186 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1187 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1188 | } |
Lightvalve | 65:a2d7c63419c2 | 1189 | } |
Lightvalve | 66:a8e6799dbce3 | 1190 | |
Lightvalve | 66:a8e6799dbce3 | 1191 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1192 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1193 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1194 | } |
Lightvalve | 66:a8e6799dbce3 | 1195 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1196 | |
Lightvalve | 66:a8e6799dbce3 | 1197 | } |
Lightvalve | 73:f80dc3970c99 | 1198 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1199 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1200 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1201 | |
Lightvalve | 66:a8e6799dbce3 | 1202 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1203 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1204 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1205 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1206 | } |
Lightvalve | 87:471334725012 | 1207 | |
Lightvalve | 169:645207e160ca | 1208 | |
Lightvalve | 69:3995ffeaa786 | 1209 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1210 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1211 | } else |
Lightvalve | 69:3995ffeaa786 | 1212 | LED = 1; |
Lightvalve | 169:645207e160ca | 1213 | |
Lightvalve | 65:a2d7c63419c2 | 1214 | } |
Lightvalve | 171:bfc1fd2629d8 | 1215 | |
Lightvalve | 171:bfc1fd2629d8 | 1216 | |
Lightvalve | 170:42c938a40313 | 1217 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1218 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1219 | case 0: { |
Lightvalve | 170:42c938a40313 | 1220 | break; |
Lightvalve | 170:42c938a40313 | 1221 | } |
Lightvalve | 170:42c938a40313 | 1222 | case 1: { |
Lightvalve | 170:42c938a40313 | 1223 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1224 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1225 | float loss_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1226 | for (int i=batch_size-1; i>=0; i--) { |
Lightvalve | 170:42c938a40313 | 1227 | //Calculate Estimated V |
Lightvalve | 170:42c938a40313 | 1228 | //float temp_array[3] = {state_array[i][0], state_array[i][1], state_array[i][2]}; |
Lightvalve | 170:42c938a40313 | 1229 | float temp_array[2] = {state_array[i][0], state_array[i][1]}; |
Lightvalve | 170:42c938a40313 | 1230 | V[i] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1231 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 1232 | hx_c_sum_array[RL_timer][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1233 | } |
Lightvalve | 173:68c7914679ec | 1234 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 1235 | hxh_c_sum_array[RL_timer][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1236 | } |
Lightvalve | 173:68c7914679ec | 1237 | hxhh_c_sum_array[RL_timer] = hxhh_c_sum; |
Lightvalve | 170:42c938a40313 | 1238 | pi[i] = exp(-(action_array[i]-mean_array[i])*(action_array[i]-mean_array[i])/(2.0f*deviation_array[i]*deviation_array[i]))/(sqrt(2.0f*PI)*deviation_array[i]); |
Lightvalve | 170:42c938a40313 | 1239 | Actor_Network_Old(temp_array); |
Lightvalve | 170:42c938a40313 | 1240 | pi_old[i] = exp(-(action_array[i]-mean_old)*(action_array[i]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old); |
Lightvalve | 173:68c7914679ec | 1241 | r[i] = exp(-0.25f * state_array[i][1] * state_array[i][1]); |
Lightvalve | 173:68c7914679ec | 1242 | if(i == batch_size-1) return_G[i] = 0.0f; |
Lightvalve | 173:68c7914679ec | 1243 | else return_G[i] = gamma * return_G[i+1] + r[i]; |
Lightvalve | 170:42c938a40313 | 1244 | if(i == batch_size-1) td_target[i] = r[i]; |
Lightvalve | 170:42c938a40313 | 1245 | else td_target[i] = r[i] + gamma * V[i+1]; |
Lightvalve | 170:42c938a40313 | 1246 | delta[i] = td_target[i] - V[i]; |
Lightvalve | 170:42c938a40313 | 1247 | if(i == batch_size-1) advantage[i] = 0.0f; |
Lightvalve | 170:42c938a40313 | 1248 | else advantage[i] = gamma * lmbda * advantage[i+1] + delta[i]; |
Lightvalve | 170:42c938a40313 | 1249 | ratio[i] = pi[i]/pi_old[i]; |
Lightvalve | 170:42c938a40313 | 1250 | surr1[i] = ratio[i] * advantage[i]; |
Lightvalve | 170:42c938a40313 | 1251 | if (ratio[i] > 1.0f + epsilon) { |
Lightvalve | 170:42c938a40313 | 1252 | surr2[i] = (1.0f + epsilon)*advantage[i]; |
Lightvalve | 170:42c938a40313 | 1253 | } else if( ratio[i] < 1.0f - epsilon) { |
Lightvalve | 170:42c938a40313 | 1254 | surr2[i] = (1.0f - epsilon)*advantage[i]; |
Lightvalve | 170:42c938a40313 | 1255 | } else { |
Lightvalve | 170:42c938a40313 | 1256 | surr2[i] = ratio[i]*advantage[i]; |
Lightvalve | 170:42c938a40313 | 1257 | } |
Lightvalve | 170:42c938a40313 | 1258 | loss[i] = -min(surr1[i], surr2[i]); |
Lightvalve | 170:42c938a40313 | 1259 | loss_sum = loss_sum + loss[i]; |
Lightvalve | 170:42c938a40313 | 1260 | } |
Lightvalve | 170:42c938a40313 | 1261 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1262 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1263 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1264 | } |
Lightvalve | 170:42c938a40313 | 1265 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1266 | |
Lightvalve | 171:bfc1fd2629d8 | 1267 | |
Lightvalve | 170:42c938a40313 | 1268 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1269 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1270 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1271 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1272 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1273 | } |
Lightvalve | 170:42c938a40313 | 1274 | //virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1275 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1276 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1277 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1278 | |
Lightvalve | 170:42c938a40313 | 1279 | break; |
Lightvalve | 170:42c938a40313 | 1280 | } |
Lightvalve | 170:42c938a40313 | 1281 | case 2: { |
Lightvalve | 170:42c938a40313 | 1282 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1283 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1284 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1285 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1286 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1287 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1288 | break; |
Lightvalve | 170:42c938a40313 | 1289 | } |
Lightvalve | 169:645207e160ca | 1290 | |
Lightvalve | 170:42c938a40313 | 1291 | } |
GiJeongKim | 0:51c43836c1d7 | 1292 | } |
jobuuu | 1:e04e563be5ce | 1293 | } |
jobuuu | 1:e04e563be5ce | 1294 | |
Lightvalve | 33:91b17819ec30 | 1295 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1296 | { |
Lightvalve | 14:8e7590227d22 | 1297 | |
Lightvalve | 13:747daba9cf59 | 1298 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1299 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1300 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1301 | 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 | 1302 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1303 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1304 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1305 | } else { |
Lightvalve | 57:f4819de54e7a | 1306 | 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 | 1307 | } |
Lightvalve | 14:8e7590227d22 | 1308 | } else { |
Lightvalve | 50:3c630b5eba9f | 1309 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1310 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1311 | } else { |
Lightvalve | 57:f4819de54e7a | 1312 | 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 | 1313 | } |
Lightvalve | 13:747daba9cf59 | 1314 | } |
Lightvalve | 13:747daba9cf59 | 1315 | break; |
Lightvalve | 13:747daba9cf59 | 1316 | } |
Lightvalve | 13:747daba9cf59 | 1317 | } |
Lightvalve | 14:8e7590227d22 | 1318 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1319 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1320 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1321 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1322 | } |
Lightvalve | 36:a46e63505ed8 | 1323 | |
Lightvalve | 57:f4819de54e7a | 1324 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1325 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1326 | |
Lightvalve | 13:747daba9cf59 | 1327 | } |
jobuuu | 6:df07d3491e3a | 1328 | |
jobuuu | 6:df07d3491e3a | 1329 | |
Lightvalve | 30:8d561f16383b | 1330 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1331 | { |
Lightvalve | 13:747daba9cf59 | 1332 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1333 | |
Lightvalve | 38:118df027d851 | 1334 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1335 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1336 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1337 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1338 | } |
Lightvalve | 38:118df027d851 | 1339 | |
Lightvalve | 89:a7b45368ea0f | 1340 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1341 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1342 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1343 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1344 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1345 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1346 | |
Lightvalve | 13:747daba9cf59 | 1347 | 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 | 1348 | |
Lightvalve | 18:b8adf1582ea3 | 1349 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1350 | 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 | 1351 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1352 | 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 | 1353 | } else { |
Lightvalve | 48:889798ff9329 | 1354 | 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 | 1355 | } |
Lightvalve | 13:747daba9cf59 | 1356 | break; |
Lightvalve | 13:747daba9cf59 | 1357 | } |
Lightvalve | 13:747daba9cf59 | 1358 | } |
Lightvalve | 59:f308b1656d9c | 1359 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1360 | } |
Lightvalve | 13:747daba9cf59 | 1361 | |
Lightvalve | 14:8e7590227d22 | 1362 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1363 | 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 | 1364 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1365 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1366 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1367 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1368 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1369 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1370 | 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 | 1371 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1372 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1373 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1374 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1375 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1376 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1377 | |
Lightvalve | 30:8d561f16383b | 1378 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1379 | { |
Lightvalve | 30:8d561f16383b | 1380 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1381 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1382 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1383 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1384 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1385 | } else { |
Lightvalve | 13:747daba9cf59 | 1386 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1387 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1388 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1389 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1390 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1391 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1392 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1393 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1394 | break; |
Lightvalve | 13:747daba9cf59 | 1395 | } |
Lightvalve | 13:747daba9cf59 | 1396 | } |
Lightvalve | 13:747daba9cf59 | 1397 | } |
Lightvalve | 14:8e7590227d22 | 1398 | |
Lightvalve | 13:747daba9cf59 | 1399 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1400 | } |
jobuuu | 6:df07d3491e3a | 1401 | |
Lightvalve | 57:f4819de54e7a | 1402 | |
Lightvalve | 57:f4819de54e7a | 1403 | |
Lightvalve | 57:f4819de54e7a | 1404 | |
Lightvalve | 57:f4819de54e7a | 1405 | |
jobuuu | 2:a1c0a37df760 | 1406 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1407 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1408 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1409 | |
Lightvalve | 51:b46bed7fec80 | 1410 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1411 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1412 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1413 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1414 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1415 | { |
Lightvalve | 19:23b7c1ad8683 | 1416 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1417 | |
Lightvalve | 21:e5f1a43ea6f9 | 1418 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1419 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1420 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1421 | |
Lightvalve | 57:f4819de54e7a | 1422 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1423 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1424 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1425 | } |
Lightvalve | 61:bc8c8270f0ab | 1426 | |
Lightvalve | 61:bc8c8270f0ab | 1427 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1428 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1429 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1430 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1431 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1432 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 1433 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1434 | |
Lightvalve | 67:c2812cf26c38 | 1435 | |
Lightvalve | 67:c2812cf26c38 | 1436 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1437 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1438 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1439 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1440 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1441 | |
Lightvalve | 17:1865016ca2e7 | 1442 | |
Lightvalve | 58:2eade98630e2 | 1443 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1444 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1445 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1446 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1447 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1448 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1449 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1450 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1451 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1452 | |
Lightvalve | 58:2eade98630e2 | 1453 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1454 | 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 | 1455 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1456 | 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 | 1457 | } |
Lightvalve | 58:2eade98630e2 | 1458 | } |
Lightvalve | 61:bc8c8270f0ab | 1459 | |
Lightvalve | 58:2eade98630e2 | 1460 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1461 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1462 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1463 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1464 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1465 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1466 | // 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 | 1467 | // |
Lightvalve | 58:2eade98630e2 | 1468 | // |
Lightvalve | 58:2eade98630e2 | 1469 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1470 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1471 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1472 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1473 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1474 | |
Lightvalve | 17:1865016ca2e7 | 1475 | |
Lightvalve | 21:e5f1a43ea6f9 | 1476 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1477 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1478 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1479 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1480 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1481 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1482 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1483 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1484 | |
Lightvalve | 57:f4819de54e7a | 1485 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1486 | } |
Lightvalve | 11:82d8768d7351 | 1487 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1488 | } |
Lightvalve | 19:23b7c1ad8683 | 1489 | |
Lightvalve | 19:23b7c1ad8683 | 1490 | |
Lightvalve | 18:b8adf1582ea3 | 1491 | int j =0; |
Lightvalve | 54:647072f5307a | 1492 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1493 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1494 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1495 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1496 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 1497 | |
Lightvalve | 11:82d8768d7351 | 1498 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1499 | { |
Lightvalve | 19:23b7c1ad8683 | 1500 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1501 | |
Lightvalve | 57:f4819de54e7a | 1502 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1503 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1504 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1505 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1506 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1507 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1508 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1509 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1510 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1511 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1512 | } |
Lightvalve | 50:3c630b5eba9f | 1513 | |
Lightvalve | 50:3c630b5eba9f | 1514 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1515 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1516 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1517 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1518 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1519 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1520 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1521 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1522 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1523 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1524 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1525 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1526 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1527 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1528 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1529 | } else { |
Lightvalve | 58:2eade98630e2 | 1530 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1531 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1532 | } |
Lightvalve | 45:35fa6884d0c6 | 1533 | |
Lightvalve | 50:3c630b5eba9f | 1534 | |
Lightvalve | 57:f4819de54e7a | 1535 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1536 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1537 | |
Lightvalve | 57:f4819de54e7a | 1538 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1539 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1540 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1541 | } else { |
Lightvalve | 57:f4819de54e7a | 1542 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1543 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1544 | } |
Lightvalve | 56:6f50d9d3bfee | 1545 | |
Lightvalve | 56:6f50d9d3bfee | 1546 | |
Lightvalve | 56:6f50d9d3bfee | 1547 | |
Lightvalve | 57:f4819de54e7a | 1548 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1549 | |
Lightvalve | 57:f4819de54e7a | 1550 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1551 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1552 | break; |
Lightvalve | 13:747daba9cf59 | 1553 | } |
Lightvalve | 14:8e7590227d22 | 1554 | |
Lightvalve | 14:8e7590227d22 | 1555 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1556 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1557 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1558 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1559 | |
Lightvalve | 14:8e7590227d22 | 1560 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1561 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1562 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1563 | |
Lightvalve | 84:c355d3e52bf1 | 1564 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1565 | |
Lightvalve | 30:8d561f16383b | 1566 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1567 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1568 | |
Lightvalve | 16:903b5a4433b4 | 1569 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1570 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1571 | } |
Lightvalve | 13:747daba9cf59 | 1572 | } else { |
Lightvalve | 58:2eade98630e2 | 1573 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1574 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1575 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1576 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1577 | |
Lightvalve | 170:42c938a40313 | 1578 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1579 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1580 | |
Lightvalve | 30:8d561f16383b | 1581 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1582 | |
Lightvalve | 13:747daba9cf59 | 1583 | } |
Lightvalve | 14:8e7590227d22 | 1584 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1585 | break; |
Lightvalve | 19:23b7c1ad8683 | 1586 | } |
Lightvalve | 14:8e7590227d22 | 1587 | |
Lightvalve | 50:3c630b5eba9f | 1588 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1589 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1590 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1591 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1592 | // } |
Lightvalve | 50:3c630b5eba9f | 1593 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1594 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1595 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1596 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1597 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1598 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1599 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1600 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1601 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1602 | // } |
Lightvalve | 50:3c630b5eba9f | 1603 | // |
Lightvalve | 50:3c630b5eba9f | 1604 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1605 | // 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 | 1606 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1607 | // |
Lightvalve | 50:3c630b5eba9f | 1608 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1609 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1610 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1611 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1612 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1613 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1614 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1615 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1616 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1617 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1618 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1619 | // |
Lightvalve | 50:3c630b5eba9f | 1620 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1621 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1622 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1623 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1624 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1625 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1626 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1627 | // |
Lightvalve | 50:3c630b5eba9f | 1628 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1629 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1630 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1631 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1632 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1633 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1634 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1635 | // } |
Lightvalve | 50:3c630b5eba9f | 1636 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1637 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1638 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1639 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1640 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1641 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1642 | // } |
Lightvalve | 50:3c630b5eba9f | 1643 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1644 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1645 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1646 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1647 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1648 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1649 | // } |
Lightvalve | 50:3c630b5eba9f | 1650 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1651 | // |
Lightvalve | 50:3c630b5eba9f | 1652 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1653 | // |
Lightvalve | 50:3c630b5eba9f | 1654 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1655 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1656 | // |
Lightvalve | 50:3c630b5eba9f | 1657 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1658 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1659 | // } |
Lightvalve | 50:3c630b5eba9f | 1660 | // } |
Lightvalve | 50:3c630b5eba9f | 1661 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1662 | // break; |
Lightvalve | 50:3c630b5eba9f | 1663 | // } |
Lightvalve | 14:8e7590227d22 | 1664 | |
Lightvalve | 14:8e7590227d22 | 1665 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1666 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1667 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1668 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1669 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1670 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1671 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1672 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1673 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1674 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1675 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1676 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1677 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1678 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1679 | } |
Lightvalve | 29:69f3f5445d6d | 1680 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1681 | |
Lightvalve | 29:69f3f5445d6d | 1682 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1683 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1684 | } else { |
Lightvalve | 29:69f3f5445d6d | 1685 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1686 | } |
Lightvalve | 19:23b7c1ad8683 | 1687 | |
Lightvalve | 57:f4819de54e7a | 1688 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1689 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1690 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1691 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1692 | |
Lightvalve | 59:f308b1656d9c | 1693 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1694 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1695 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1696 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1697 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1698 | |
Lightvalve | 59:f308b1656d9c | 1699 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1700 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1701 | |
Lightvalve | 34:bb2ca2fc2a8e | 1702 | |
Lightvalve | 29:69f3f5445d6d | 1703 | } else { |
Lightvalve | 29:69f3f5445d6d | 1704 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1705 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1706 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1707 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1708 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1709 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1710 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1711 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1712 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1713 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1714 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1715 | |
Lightvalve | 67:c2812cf26c38 | 1716 | |
Lightvalve | 67:c2812cf26c38 | 1717 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1718 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1719 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1720 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1721 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1722 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1723 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1724 | |
Lightvalve | 169:645207e160ca | 1725 | |
Lightvalve | 29:69f3f5445d6d | 1726 | } |
Lightvalve | 29:69f3f5445d6d | 1727 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1728 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1729 | 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 | 1730 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1731 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1732 | |
Lightvalve | 29:69f3f5445d6d | 1733 | // input for position control |
Lightvalve | 169:645207e160ca | 1734 | |
Lightvalve | 67:c2812cf26c38 | 1735 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1736 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1737 | |
Lightvalve | 67:c2812cf26c38 | 1738 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1739 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1740 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1741 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1742 | |
Lightvalve | 67:c2812cf26c38 | 1743 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1744 | |
Lightvalve | 67:c2812cf26c38 | 1745 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1746 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1747 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1748 | |
Lightvalve | 67:c2812cf26c38 | 1749 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1750 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1751 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1752 | |
Lightvalve | 69:3995ffeaa786 | 1753 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1754 | 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 | 1755 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1756 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1757 | 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 | 1758 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1759 | } |
Lightvalve | 67:c2812cf26c38 | 1760 | 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 | 1761 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1762 | |
Lightvalve | 67:c2812cf26c38 | 1763 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1764 | |
Lightvalve | 67:c2812cf26c38 | 1765 | |
Lightvalve | 67:c2812cf26c38 | 1766 | |
Lightvalve | 67:c2812cf26c38 | 1767 | } else { |
Lightvalve | 67:c2812cf26c38 | 1768 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1769 | 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 | 1770 | |
Lightvalve | 67:c2812cf26c38 | 1771 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1772 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1773 | } else { |
Lightvalve | 67:c2812cf26c38 | 1774 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1775 | } |
Lightvalve | 67:c2812cf26c38 | 1776 | |
Lightvalve | 67:c2812cf26c38 | 1777 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1778 | |
Lightvalve | 67:c2812cf26c38 | 1779 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1780 | |
Lightvalve | 67:c2812cf26c38 | 1781 | } |
Lightvalve | 67:c2812cf26c38 | 1782 | |
Lightvalve | 67:c2812cf26c38 | 1783 | |
Lightvalve | 169:645207e160ca | 1784 | |
Lightvalve | 169:645207e160ca | 1785 | |
Lightvalve | 59:f308b1656d9c | 1786 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1787 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1788 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1789 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1790 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1791 | |
Lightvalve | 29:69f3f5445d6d | 1792 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1793 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1794 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1795 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1796 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1797 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1798 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1799 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1800 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1801 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1802 | } |
Lightvalve | 13:747daba9cf59 | 1803 | } |
Lightvalve | 19:23b7c1ad8683 | 1804 | |
Lightvalve | 13:747daba9cf59 | 1805 | break; |
Lightvalve | 13:747daba9cf59 | 1806 | } |
Lightvalve | 14:8e7590227d22 | 1807 | |
Lightvalve | 50:3c630b5eba9f | 1808 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1809 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1810 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1811 | // else { |
Lightvalve | 50:3c630b5eba9f | 1812 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1813 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1814 | // } |
Lightvalve | 50:3c630b5eba9f | 1815 | // } |
Lightvalve | 50:3c630b5eba9f | 1816 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1817 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1818 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1819 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1820 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1821 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1822 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1823 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1824 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1825 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1826 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1827 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1828 | // } |
Lightvalve | 50:3c630b5eba9f | 1829 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1830 | // } |
Lightvalve | 50:3c630b5eba9f | 1831 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1832 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1833 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1834 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1835 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1836 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1837 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1838 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1839 | // 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 | 1840 | // // 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 | 1841 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1842 | // } |
Lightvalve | 50:3c630b5eba9f | 1843 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1844 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1845 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1846 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1847 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1848 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1849 | // 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 | 1850 | // // 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 | 1851 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1852 | // } |
Lightvalve | 50:3c630b5eba9f | 1853 | // } |
Lightvalve | 50:3c630b5eba9f | 1854 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1855 | // |
Lightvalve | 50:3c630b5eba9f | 1856 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1857 | // |
Lightvalve | 50:3c630b5eba9f | 1858 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1859 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1860 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1861 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1862 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1863 | // } |
Lightvalve | 50:3c630b5eba9f | 1864 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1865 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1866 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1867 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1868 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1869 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1870 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1871 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1872 | // } |
Lightvalve | 50:3c630b5eba9f | 1873 | // |
Lightvalve | 50:3c630b5eba9f | 1874 | // } |
Lightvalve | 50:3c630b5eba9f | 1875 | // break; |
Lightvalve | 50:3c630b5eba9f | 1876 | // } |
Lightvalve | 50:3c630b5eba9f | 1877 | // |
Lightvalve | 50:3c630b5eba9f | 1878 | // } |
Lightvalve | 14:8e7590227d22 | 1879 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1880 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1881 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1882 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1883 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1884 | |
Lightvalve | 14:8e7590227d22 | 1885 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1886 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1887 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1888 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1889 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1890 | |
Lightvalve | 38:118df027d851 | 1891 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1892 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1893 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1894 | |
Lightvalve | 30:8d561f16383b | 1895 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1896 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1897 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1898 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1899 | |
Lightvalve | 30:8d561f16383b | 1900 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1901 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1902 | } |
Lightvalve | 13:747daba9cf59 | 1903 | } else { |
Lightvalve | 57:f4819de54e7a | 1904 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1905 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1906 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1907 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1908 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1909 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1910 | |
Lightvalve | 170:42c938a40313 | 1911 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1912 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1913 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1914 | |
Lightvalve | 30:8d561f16383b | 1915 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1916 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1917 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1918 | } |
Lightvalve | 14:8e7590227d22 | 1919 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1920 | break; |
Lightvalve | 13:747daba9cf59 | 1921 | } |
Lightvalve | 14:8e7590227d22 | 1922 | |
Lightvalve | 50:3c630b5eba9f | 1923 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1924 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1925 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1926 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1927 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1928 | // } |
Lightvalve | 50:3c630b5eba9f | 1929 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1930 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1931 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1932 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1933 | // } |
Lightvalve | 50:3c630b5eba9f | 1934 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1935 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1936 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1937 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1938 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1939 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1940 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1941 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1942 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1943 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1944 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1945 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1946 | // |
Lightvalve | 50:3c630b5eba9f | 1947 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1948 | // |
Lightvalve | 50:3c630b5eba9f | 1949 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1950 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1951 | // } |
Lightvalve | 50:3c630b5eba9f | 1952 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1953 | // break; |
Lightvalve | 50:3c630b5eba9f | 1954 | // } |
Lightvalve | 19:23b7c1ad8683 | 1955 | |
Lightvalve | 50:3c630b5eba9f | 1956 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1957 | // 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 | 1958 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1959 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1960 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1961 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1962 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1963 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1964 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1965 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1966 | // } |
Lightvalve | 50:3c630b5eba9f | 1967 | // break; |
Lightvalve | 50:3c630b5eba9f | 1968 | // } |
Lightvalve | 14:8e7590227d22 | 1969 | |
Lightvalve | 14:8e7590227d22 | 1970 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1971 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1972 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1973 | |
Lightvalve | 14:8e7590227d22 | 1974 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1975 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1976 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1977 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1978 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1979 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1980 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1981 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1982 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1983 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1984 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1985 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1986 | } else { |
Lightvalve | 13:747daba9cf59 | 1987 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1988 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1989 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1990 | } |
Lightvalve | 14:8e7590227d22 | 1991 | |
Lightvalve | 17:1865016ca2e7 | 1992 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1993 | int i; |
Lightvalve | 13:747daba9cf59 | 1994 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1995 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1996 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1997 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1998 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1999 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 2000 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 2001 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 2002 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 2003 | } |
Lightvalve | 13:747daba9cf59 | 2004 | } |
Lightvalve | 170:42c938a40313 | 2005 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2006 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2007 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 2008 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 2009 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 2010 | } |
Lightvalve | 13:747daba9cf59 | 2011 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 2012 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2013 | } |
Lightvalve | 14:8e7590227d22 | 2014 | |
Lightvalve | 14:8e7590227d22 | 2015 | |
Lightvalve | 13:747daba9cf59 | 2016 | break; |
Lightvalve | 13:747daba9cf59 | 2017 | } |
Lightvalve | 14:8e7590227d22 | 2018 | |
Lightvalve | 14:8e7590227d22 | 2019 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 2020 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2021 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2022 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2023 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2024 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2025 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2026 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2027 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 2028 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2029 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2030 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2031 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2032 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 2033 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2034 | 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 | 2035 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2036 | 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 | 2037 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 2038 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 2039 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2040 | 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 | 2041 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 2042 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2043 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 2044 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 2045 | |
Lightvalve | 30:8d561f16383b | 2046 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2047 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 2048 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2049 | |
Lightvalve | 30:8d561f16383b | 2050 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2051 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 2052 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2053 | |
Lightvalve | 30:8d561f16383b | 2054 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2055 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 2056 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2057 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2058 | |
Lightvalve | 60:64181f1d3e60 | 2059 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 2060 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 2061 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 2062 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 2063 | } else { |
Lightvalve | 13:747daba9cf59 | 2064 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 2065 | } |
Lightvalve | 61:bc8c8270f0ab | 2066 | |
Lightvalve | 60:64181f1d3e60 | 2067 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 2068 | |
Lightvalve | 13:747daba9cf59 | 2069 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2070 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2071 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2072 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 2073 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 2074 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 2075 | |
Lightvalve | 13:747daba9cf59 | 2076 | } |
Lightvalve | 19:23b7c1ad8683 | 2077 | } else { |
Lightvalve | 14:8e7590227d22 | 2078 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 2079 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2080 | 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 | 2081 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2082 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2083 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2084 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2085 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2086 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2087 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2088 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2089 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2090 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2091 | } |
Lightvalve | 14:8e7590227d22 | 2092 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2093 | |
Lightvalve | 30:8d561f16383b | 2094 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2095 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2096 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2097 | |
Lightvalve | 14:8e7590227d22 | 2098 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2099 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2100 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2101 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2102 | } else { |
Lightvalve | 13:747daba9cf59 | 2103 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2104 | } |
Lightvalve | 14:8e7590227d22 | 2105 | |
Lightvalve | 13:747daba9cf59 | 2106 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2107 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2108 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2109 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2110 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2111 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2112 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2113 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2114 | } |
Lightvalve | 13:747daba9cf59 | 2115 | } |
Lightvalve | 14:8e7590227d22 | 2116 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2117 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2118 | 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 | 2119 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2120 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2121 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2122 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2123 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2124 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2125 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2126 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2127 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2128 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2129 | } |
Lightvalve | 14:8e7590227d22 | 2130 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2131 | |
Lightvalve | 30:8d561f16383b | 2132 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2133 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2134 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2135 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2136 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2137 | |
Lightvalve | 14:8e7590227d22 | 2138 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2139 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2140 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2141 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2142 | } else { |
Lightvalve | 60:64181f1d3e60 | 2143 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2144 | } |
Lightvalve | 14:8e7590227d22 | 2145 | |
Lightvalve | 13:747daba9cf59 | 2146 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2147 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2148 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2149 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2150 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2151 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2152 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2153 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2154 | |
Lightvalve | 170:42c938a40313 | 2155 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2156 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2157 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2158 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2159 | |
Lightvalve | 60:64181f1d3e60 | 2160 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2161 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2162 | } |
Lightvalve | 13:747daba9cf59 | 2163 | } |
Lightvalve | 14:8e7590227d22 | 2164 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2165 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2166 | 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 | 2167 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2168 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2169 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2170 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2171 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2172 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2173 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2174 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2175 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2176 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2177 | } |
Lightvalve | 14:8e7590227d22 | 2178 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2179 | |
Lightvalve | 30:8d561f16383b | 2180 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2181 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2182 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2183 | |
Lightvalve | 14:8e7590227d22 | 2184 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2185 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2186 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2187 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2188 | } else { |
Lightvalve | 13:747daba9cf59 | 2189 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2190 | } |
Lightvalve | 13:747daba9cf59 | 2191 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2192 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2193 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2194 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2195 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2196 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2197 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2198 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2199 | } |
Lightvalve | 13:747daba9cf59 | 2200 | } |
Lightvalve | 14:8e7590227d22 | 2201 | } else { |
Lightvalve | 30:8d561f16383b | 2202 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2203 | 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 | 2204 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2205 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2206 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2207 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2208 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2209 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2210 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2211 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2212 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2213 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2214 | } |
Lightvalve | 14:8e7590227d22 | 2215 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2216 | |
Lightvalve | 30:8d561f16383b | 2217 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2218 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2219 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2220 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2221 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2222 | |
Lightvalve | 60:64181f1d3e60 | 2223 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2224 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2225 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2226 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2227 | } else { |
Lightvalve | 13:747daba9cf59 | 2228 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2229 | } |
Lightvalve | 14:8e7590227d22 | 2230 | |
Lightvalve | 13:747daba9cf59 | 2231 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2232 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2233 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2234 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2235 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2236 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2237 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2238 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2239 | |
Lightvalve | 170:42c938a40313 | 2240 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2241 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2242 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2243 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2244 | |
Lightvalve | 57:f4819de54e7a | 2245 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2246 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2247 | } |
Lightvalve | 13:747daba9cf59 | 2248 | } |
Lightvalve | 13:747daba9cf59 | 2249 | } |
Lightvalve | 14:8e7590227d22 | 2250 | } |
Lightvalve | 13:747daba9cf59 | 2251 | break; |
Lightvalve | 13:747daba9cf59 | 2252 | } |
Lightvalve | 14:8e7590227d22 | 2253 | |
Lightvalve | 14:8e7590227d22 | 2254 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2255 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2256 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2257 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2258 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2259 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2260 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2261 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2262 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2263 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2264 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2265 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2266 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2267 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2268 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2269 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2270 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2271 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2272 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2273 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2274 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2275 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2276 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2277 | } |
Lightvalve | 14:8e7590227d22 | 2278 | } else { |
Lightvalve | 30:8d561f16383b | 2279 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2280 | //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 | 2281 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2282 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2283 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2284 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2285 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2286 | |
Lightvalve | 14:8e7590227d22 | 2287 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2288 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2289 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2290 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2291 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2292 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2293 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2294 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2295 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2296 | } |
Lightvalve | 30:8d561f16383b | 2297 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2298 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2299 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2300 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2301 | } |
Lightvalve | 14:8e7590227d22 | 2302 | |
Lightvalve | 14:8e7590227d22 | 2303 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2304 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2305 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2306 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2307 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2308 | } |
Lightvalve | 13:747daba9cf59 | 2309 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2310 | |
Lightvalve | 13:747daba9cf59 | 2311 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2312 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2313 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2314 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2315 | } |
Lightvalve | 14:8e7590227d22 | 2316 | |
Lightvalve | 14:8e7590227d22 | 2317 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2318 | |
Lightvalve | 13:747daba9cf59 | 2319 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2320 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2321 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2322 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2323 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2324 | } |
Lightvalve | 13:747daba9cf59 | 2325 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2326 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2327 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2328 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2329 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2330 | } |
Lightvalve | 13:747daba9cf59 | 2331 | } |
Lightvalve | 13:747daba9cf59 | 2332 | break; |
Lightvalve | 13:747daba9cf59 | 2333 | } |
Lightvalve | 58:2eade98630e2 | 2334 | |
Lightvalve | 57:f4819de54e7a | 2335 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2336 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2337 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2338 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2339 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2340 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2341 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2342 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2343 | } |
Lightvalve | 57:f4819de54e7a | 2344 | break; |
Lightvalve | 57:f4819de54e7a | 2345 | } |
Lightvalve | 58:2eade98630e2 | 2346 | |
Lightvalve | 169:645207e160ca | 2347 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2348 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2349 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2350 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2351 | } else { |
Lightvalve | 169:645207e160ca | 2352 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2353 | } |
Lightvalve | 169:645207e160ca | 2354 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2355 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2356 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2357 | } else { |
Lightvalve | 169:645207e160ca | 2358 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2359 | } |
Lightvalve | 58:2eade98630e2 | 2360 | |
Lightvalve | 169:645207e160ca | 2361 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2362 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2363 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2364 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2365 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2366 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2367 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2368 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2369 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2370 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2371 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2372 | } |
Lightvalve | 169:645207e160ca | 2373 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2374 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2375 | |
Lightvalve | 169:645207e160ca | 2376 | } |
Lightvalve | 169:645207e160ca | 2377 | break; |
Lightvalve | 169:645207e160ca | 2378 | } |
Lightvalve | 169:645207e160ca | 2379 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2380 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2381 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2382 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2383 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2384 | // } |
Lightvalve | 169:645207e160ca | 2385 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2386 | // } |
Lightvalve | 169:645207e160ca | 2387 | |
Lightvalve | 169:645207e160ca | 2388 | break; |
Lightvalve | 169:645207e160ca | 2389 | } |
Lightvalve | 169:645207e160ca | 2390 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2391 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2392 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2393 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2394 | break; |
Lightvalve | 169:645207e160ca | 2395 | } |
Lightvalve | 170:42c938a40313 | 2396 | |
Lightvalve | 169:645207e160ca | 2397 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2398 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2399 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2400 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2401 | } else { |
Lightvalve | 169:645207e160ca | 2402 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2403 | } |
Lightvalve | 169:645207e160ca | 2404 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2405 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2406 | } else { |
Lightvalve | 169:645207e160ca | 2407 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2408 | } |
Lightvalve | 169:645207e160ca | 2409 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2410 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2411 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2412 | } else { |
Lightvalve | 169:645207e160ca | 2413 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2414 | } |
Lightvalve | 169:645207e160ca | 2415 | |
Lightvalve | 169:645207e160ca | 2416 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2417 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2418 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2419 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2420 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2421 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2422 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2423 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2424 | } |
Lightvalve | 169:645207e160ca | 2425 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2426 | // { |
Lightvalve | 169:645207e160ca | 2427 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2428 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2429 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2430 | // } |
Lightvalve | 170:42c938a40313 | 2431 | |
Lightvalve | 169:645207e160ca | 2432 | break; |
Lightvalve | 169:645207e160ca | 2433 | } |
Lightvalve | 57:f4819de54e7a | 2434 | |
Lightvalve | 57:f4819de54e7a | 2435 | default: |
Lightvalve | 57:f4819de54e7a | 2436 | break; |
Lightvalve | 57:f4819de54e7a | 2437 | } |
Lightvalve | 57:f4819de54e7a | 2438 | |
Lightvalve | 57:f4819de54e7a | 2439 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2440 | |
Lightvalve | 57:f4819de54e7a | 2441 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2442 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2443 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2444 | break; |
Lightvalve | 57:f4819de54e7a | 2445 | } |
Lightvalve | 57:f4819de54e7a | 2446 | |
Lightvalve | 57:f4819de54e7a | 2447 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2448 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 2449 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 2450 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2451 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2452 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2453 | } else { |
Lightvalve | 67:c2812cf26c38 | 2454 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2455 | } |
Lightvalve | 57:f4819de54e7a | 2456 | break; |
Lightvalve | 57:f4819de54e7a | 2457 | } |
Lightvalve | 57:f4819de54e7a | 2458 | |
Lightvalve | 57:f4819de54e7a | 2459 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2460 | |
Lightvalve | 57:f4819de54e7a | 2461 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2462 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2463 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2464 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2465 | |
Lightvalve | 67:c2812cf26c38 | 2466 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2467 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2468 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2469 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2470 | |
Lightvalve | 139:15621998925b | 2471 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2472 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2473 | |
Lightvalve | 57:f4819de54e7a | 2474 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2475 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2476 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2477 | |
Lightvalve | 57:f4819de54e7a | 2478 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2479 | |
Lightvalve | 57:f4819de54e7a | 2480 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2481 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2482 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2483 | |
Lightvalve | 57:f4819de54e7a | 2484 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2485 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2486 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2487 | |
Lightvalve | 69:3995ffeaa786 | 2488 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2489 | 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 | 2490 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2491 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2492 | 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 | 2493 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2494 | } |
Lightvalve | 57:f4819de54e7a | 2495 | 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 | 2496 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2497 | |
Lightvalve | 57:f4819de54e7a | 2498 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2499 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2500 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2501 | // 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 | 2502 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2503 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2504 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2505 | 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 | 2506 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2507 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2508 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2509 | } |
Lightvalve | 57:f4819de54e7a | 2510 | 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 | 2511 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2512 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2513 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2514 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2515 | |
Lightvalve | 57:f4819de54e7a | 2516 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2517 | |
Lightvalve | 67:c2812cf26c38 | 2518 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2519 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2520 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2521 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2522 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2523 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2524 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2525 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2526 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2527 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2528 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2529 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2530 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2531 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2532 | } |
Lightvalve | 67:c2812cf26c38 | 2533 | } |
Lightvalve | 57:f4819de54e7a | 2534 | |
Lightvalve | 57:f4819de54e7a | 2535 | } else { |
Lightvalve | 57:f4819de54e7a | 2536 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2537 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2538 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2539 | |
Lightvalve | 57:f4819de54e7a | 2540 | 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 | 2541 | + 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 | 2542 | |
Lightvalve | 72:3436ce769b1e | 2543 | VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; |
Lightvalve | 169:645207e160ca | 2544 | |
Lightvalve | 72:3436ce769b1e | 2545 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2546 | |
Lightvalve | 169:645207e160ca | 2547 | |
Lightvalve | 72:3436ce769b1e | 2548 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2549 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2550 | } else { |
Lightvalve | 72:3436ce769b1e | 2551 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2552 | } |
Lightvalve | 57:f4819de54e7a | 2553 | |
Lightvalve | 57:f4819de54e7a | 2554 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2555 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2556 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2557 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2558 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2559 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2560 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2561 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2562 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2563 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2564 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2565 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2566 | } |
Lightvalve | 57:f4819de54e7a | 2567 | } |
Lightvalve | 61:bc8c8270f0ab | 2568 | |
Lightvalve | 57:f4819de54e7a | 2569 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2570 | |
Lightvalve | 67:c2812cf26c38 | 2571 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2572 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2573 | |
Lightvalve | 57:f4819de54e7a | 2574 | } |
Lightvalve | 169:645207e160ca | 2575 | |
Lightvalve | 72:3436ce769b1e | 2576 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2577 | |
Lightvalve | 133:22ab22818e01 | 2578 | |
Lightvalve | 57:f4819de54e7a | 2579 | break; |
Lightvalve | 57:f4819de54e7a | 2580 | } |
Lightvalve | 58:2eade98630e2 | 2581 | |
Lightvalve | 57:f4819de54e7a | 2582 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2583 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2584 | break; |
Lightvalve | 57:f4819de54e7a | 2585 | } |
Lightvalve | 169:645207e160ca | 2586 | |
Lightvalve | 138:a843f32ced33 | 2587 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2588 | |
Lightvalve | 169:645207e160ca | 2589 | |
Lightvalve | 139:15621998925b | 2590 | float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 |
Lightvalve | 139:15621998925b | 2591 | float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 169:645207e160ca | 2592 | |
Lightvalve | 139:15621998925b | 2593 | // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 |
Lightvalve | 139:15621998925b | 2594 | // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 170:42c938a40313 | 2595 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2596 | |
Lightvalve | 169:645207e160ca | 2597 | |
Lightvalve | 170:42c938a40313 | 2598 | float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 169:645207e160ca | 2599 | |
Lightvalve | 138:a843f32ced33 | 2600 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2601 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2602 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2603 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2604 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2605 | } else { |
Lightvalve | 138:a843f32ced33 | 2606 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2607 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2608 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2609 | } else { |
Lightvalve | 138:a843f32ced33 | 2610 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2611 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2612 | } |
Lightvalve | 138:a843f32ced33 | 2613 | } |
Lightvalve | 138:a843f32ced33 | 2614 | float tau = 0.01f; |
Lightvalve | 142:43026242815a | 2615 | float K_valve = 0.0004f; |
Lightvalve | 169:645207e160ca | 2616 | |
Lightvalve | 138:a843f32ced33 | 2617 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2618 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2619 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2620 | } else { |
Lightvalve | 138:a843f32ced33 | 2621 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2622 | } |
Lightvalve | 138:a843f32ced33 | 2623 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2624 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2625 | |
Lightvalve | 139:15621998925b | 2626 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2627 | |
Lightvalve | 138:a843f32ced33 | 2628 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2629 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2630 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2631 | |
Lightvalve | 138:a843f32ced33 | 2632 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2633 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2634 | |
Lightvalve | 142:43026242815a | 2635 | float k3 = 20000.0f; //2000 |
Lightvalve | 142:43026242815a | 2636 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2637 | float rho3 = 3.2f; |
Lightvalve | 142:43026242815a | 2638 | float rho4 = 25000000.0f; |
Lightvalve | 139:15621998925b | 2639 | float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2640 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2641 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2642 | |
Lightvalve | 139:15621998925b | 2643 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2644 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2645 | } else { |
Lightvalve | 139:15621998925b | 2646 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2647 | } |
Lightvalve | 169:645207e160ca | 2648 | |
Lightvalve | 169:645207e160ca | 2649 | |
Lightvalve | 138:a843f32ced33 | 2650 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2651 | x_4_des_old = x_4_des; |
Lightvalve | 169:645207e160ca | 2652 | |
Lightvalve | 139:15621998925b | 2653 | V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; |
Lightvalve | 169:645207e160ca | 2654 | |
Lightvalve | 142:43026242815a | 2655 | float rho_gamma = 50000.0f;//5000 |
Lightvalve | 139:15621998925b | 2656 | float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); |
Lightvalve | 138:a843f32ced33 | 2657 | gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 169:645207e160ca | 2658 | break; |
Lightvalve | 138:a843f32ced33 | 2659 | } |
Lightvalve | 171:bfc1fd2629d8 | 2660 | |
Lightvalve | 170:42c938a40313 | 2661 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2662 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2663 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2664 | |
Lightvalve | 170:42c938a40313 | 2665 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2666 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2667 | |
Lightvalve | 170:42c938a40313 | 2668 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2669 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2670 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2671 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2672 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2673 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2674 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2675 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2676 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2677 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2678 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2679 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2680 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2681 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2682 | } |
Lightvalve | 173:68c7914679ec | 2683 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2684 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2685 | } |
Lightvalve | 173:68c7914679ec | 2686 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2687 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2688 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2689 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2690 | mean_before_SP_array[RL_timer] = mean_before_SP; |
Lightvalve | 170:42c938a40313 | 2691 | deviation_before_SP_array[RL_timer] = deviation_before_SP; |
Lightvalve | 170:42c938a40313 | 2692 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2693 | |
Lightvalve | 170:42c938a40313 | 2694 | |
Lightvalve | 170:42c938a40313 | 2695 | virt_pos = virt_pos + (action_array[RL_timer] - 3.0f) * 1000.0f * 0.0002f; |
Lightvalve | 170:42c938a40313 | 2696 | if (virt_pos > 70.0f ) { |
Lightvalve | 170:42c938a40313 | 2697 | virt_pos = 70.0f; |
Lightvalve | 170:42c938a40313 | 2698 | } else if(virt_pos < -70.0f) { |
Lightvalve | 170:42c938a40313 | 2699 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2700 | } |
Lightvalve | 171:bfc1fd2629d8 | 2701 | |
Lightvalve | 170:42c938a40313 | 2702 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2703 | |
Lightvalve | 170:42c938a40313 | 2704 | |
Lightvalve | 170:42c938a40313 | 2705 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2706 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2707 | batch++; |
Lightvalve | 170:42c938a40313 | 2708 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2709 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2710 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2711 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2712 | } |
Lightvalve | 170:42c938a40313 | 2713 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2714 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2715 | logging1 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2716 | //virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2717 | |
Lightvalve | 170:42c938a40313 | 2718 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2719 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2720 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2721 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2722 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2723 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2724 | } |
Lightvalve | 170:42c938a40313 | 2725 | } |
Lightvalve | 170:42c938a40313 | 2726 | } |
Lightvalve | 170:42c938a40313 | 2727 | |
Lightvalve | 170:42c938a40313 | 2728 | else { |
Lightvalve | 170:42c938a40313 | 2729 | |
Lightvalve | 170:42c938a40313 | 2730 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2731 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2732 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2733 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2734 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2735 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2736 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2737 | //logging1 = action; |
Lightvalve | 170:42c938a40313 | 2738 | logging2 = mean; |
Lightvalve | 170:42c938a40313 | 2739 | logging4 = deviation; |
Lightvalve | 170:42c938a40313 | 2740 | virt_pos = virt_pos + (action-3.0f) * 1000.0f * 0.0002f; |
Lightvalve | 170:42c938a40313 | 2741 | if (virt_pos > 70.0f) { |
Lightvalve | 170:42c938a40313 | 2742 | virt_pos = 70.0f; |
Lightvalve | 170:42c938a40313 | 2743 | } else if(virt_pos < -70.0f) { |
Lightvalve | 170:42c938a40313 | 2744 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2745 | } |
Lightvalve | 170:42c938a40313 | 2746 | |
Lightvalve | 170:42c938a40313 | 2747 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2748 | } |
Lightvalve | 170:42c938a40313 | 2749 | |
Lightvalve | 170:42c938a40313 | 2750 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2751 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2752 | |
Lightvalve | 170:42c938a40313 | 2753 | break; |
Lightvalve | 170:42c938a40313 | 2754 | } |
Lightvalve | 14:8e7590227d22 | 2755 | |
Lightvalve | 12:6f2531038ea4 | 2756 | default: |
Lightvalve | 12:6f2531038ea4 | 2757 | break; |
Lightvalve | 12:6f2531038ea4 | 2758 | } |
Lightvalve | 14:8e7590227d22 | 2759 | |
Lightvalve | 57:f4819de54e7a | 2760 | |
Lightvalve | 57:f4819de54e7a | 2761 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2762 | |
Lightvalve | 57:f4819de54e7a | 2763 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2764 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2765 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2766 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2767 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2768 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2769 | |
Lightvalve | 57:f4819de54e7a | 2770 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2771 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2772 | |
Lightvalve | 57:f4819de54e7a | 2773 | |
Lightvalve | 57:f4819de54e7a | 2774 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2775 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2776 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2777 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2778 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2779 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2780 | |
Lightvalve | 57:f4819de54e7a | 2781 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2782 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2783 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2784 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2785 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2786 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2787 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2788 | } |
Lightvalve | 57:f4819de54e7a | 2789 | |
Lightvalve | 57:f4819de54e7a | 2790 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2791 | |
Lightvalve | 67:c2812cf26c38 | 2792 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2793 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2794 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2795 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2796 | // 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 | 2797 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2798 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2799 | |
Lightvalve | 57:f4819de54e7a | 2800 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2801 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2802 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2803 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2804 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2805 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2806 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2807 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2808 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2809 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2810 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2811 | } |
Lightvalve | 57:f4819de54e7a | 2812 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2813 | } else { |
Lightvalve | 57:f4819de54e7a | 2814 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2815 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2816 | } |
Lightvalve | 57:f4819de54e7a | 2817 | |
Lightvalve | 57:f4819de54e7a | 2818 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2819 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2820 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2821 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2822 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2823 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2824 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2825 | |
Lightvalve | 57:f4819de54e7a | 2826 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2827 | |
Lightvalve | 57:f4819de54e7a | 2828 | } else { |
Lightvalve | 57:f4819de54e7a | 2829 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2830 | } |
Lightvalve | 57:f4819de54e7a | 2831 | |
Lightvalve | 57:f4819de54e7a | 2832 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2833 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2834 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2835 | |
Lightvalve | 57:f4819de54e7a | 2836 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2837 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2838 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2839 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2840 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2841 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2842 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2843 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2844 | |
Lightvalve | 89:a7b45368ea0f | 2845 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2846 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2847 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2848 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2849 | |
Lightvalve | 135:79885a39c161 | 2850 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2851 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2852 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2853 | } |
Lightvalve | 169:645207e160ca | 2854 | |
Lightvalve | 67:c2812cf26c38 | 2855 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2856 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2857 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2858 | |
jobuuu | 7:e9086c72bb22 | 2859 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2860 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2861 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2862 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2863 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2864 | } |
Lightvalve | 169:645207e160ca | 2865 | |
Lightvalve | 49:e7bcfc244d40 | 2866 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2867 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2868 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2869 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2870 | } |
Lightvalve | 49:e7bcfc244d40 | 2871 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2872 | |
Lightvalve | 19:23b7c1ad8683 | 2873 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2874 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2875 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2876 | |
Lightvalve | 30:8d561f16383b | 2877 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2878 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2879 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2880 | } else { |
jobuuu | 2:a1c0a37df760 | 2881 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2882 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2883 | } |
Lightvalve | 13:747daba9cf59 | 2884 | |
jobuuu | 1:e04e563be5ce | 2885 | //pwm |
Lightvalve | 30:8d561f16383b | 2886 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2887 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2888 | |
Lightvalve | 61:bc8c8270f0ab | 2889 | |
Lightvalve | 57:f4819de54e7a | 2890 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 2891 | |
Lightvalve | 54:647072f5307a | 2892 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2893 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2894 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2895 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2896 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2897 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2898 | 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 | 2899 | } |
Lightvalve | 57:f4819de54e7a | 2900 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2901 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2902 | 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 | 2903 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2904 | 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 | 2905 | } |
Lightvalve | 52:8ea76864368a | 2906 | } |
Lightvalve | 52:8ea76864368a | 2907 | } |
Lightvalve | 56:6f50d9d3bfee | 2908 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 2909 | //valve position |
Lightvalve | 169:645207e160ca | 2910 | double t_value = 0.0f; |
Lightvalve | 97:d71c57e3515e | 2911 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 2912 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 2913 | } else { |
Lightvalve | 97:d71c57e3515e | 2914 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 2915 | } |
Lightvalve | 67:c2812cf26c38 | 2916 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 54:647072f5307a | 2917 | } |
Lightvalve | 58:2eade98630e2 | 2918 | |
Lightvalve | 58:2eade98630e2 | 2919 | |
Lightvalve | 171:bfc1fd2629d8 | 2920 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2921 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2922 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2923 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2924 | } else { |
Lightvalve | 131:d08121ac87ba | 2925 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2926 | } |
Lightvalve | 169:645207e160ca | 2927 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2928 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2929 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2930 | } else { |
Lightvalve | 169:645207e160ca | 2931 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2932 | } |
Lightvalve | 169:645207e160ca | 2933 | |
Lightvalve | 169:645207e160ca | 2934 | |
Lightvalve | 169:645207e160ca | 2935 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2936 | } |
Lightvalve | 58:2eade98630e2 | 2937 | |
Lightvalve | 57:f4819de54e7a | 2938 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 2939 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2940 | ; |
Lightvalve | 57:f4819de54e7a | 2941 | } |
Lightvalve | 58:2eade98630e2 | 2942 | |
Lightvalve | 169:645207e160ca | 2943 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2944 | //PWM |
Lightvalve | 73:f80dc3970c99 | 2945 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 139:15621998925b | 2946 | CAN_TX_PWM((int16_t) gamma_hat); //1500 |
Lightvalve | 54:647072f5307a | 2947 | } |
Lightvalve | 57:f4819de54e7a | 2948 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 2949 | // ; |
Lightvalve | 57:f4819de54e7a | 2950 | // } |
Lightvalve | 56:6f50d9d3bfee | 2951 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2952 | //valve position |
Lightvalve | 171:bfc1fd2629d8 | 2953 | CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) 0, (int16_t) 0); //1600 |
Lightvalve | 54:647072f5307a | 2954 | } |
Lightvalve | 20:806196fda269 | 2955 | |
Lightvalve | 54:647072f5307a | 2956 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 2957 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 2958 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 2959 | // } |
Lightvalve | 54:647072f5307a | 2960 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 2961 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 2962 | //} |
Lightvalve | 52:8ea76864368a | 2963 | |
Lightvalve | 54:647072f5307a | 2964 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2965 | } |
Lightvalve | 54:647072f5307a | 2966 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 2967 | |
Lightvalve | 20:806196fda269 | 2968 | } |
Lightvalve | 52:8ea76864368a | 2969 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2970 | |
Lightvalve | 58:2eade98630e2 | 2971 | } |