Diff: main.cpp

Revision:

72:3436ce769b1e

Parent:

71:381188d044f4

Child:

73:f80dc3970c99

--- a/main.cpp	Mon May 18 01:47:33 2020 +0000
+++ b/main.cpp	Tue May 19 01:36:27 2020 +0000
@@ -1,4 +1,4 @@
-//200518-3
+//200518-5
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -192,109 +192,104 @@
 float input[num_input] = { 0.0f };
 
 const float h1[num_input][32] = { 
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-{-1.7749016284942627f,2.7975220680236816f,0.2844829857349396f,-1.141148328781128f,0.5162314176559448f,-0.49613815546035767f,0.22054725885391235f,3.251734733581543f,-0.1290067881345749f,-2.8023927211761475f,-0.27535533905029297f,0.20548781752586365f,0.020206838846206665f,0.09718506783246994f,0.04370078444480896f,-0.7674993872642517f,-0.1540525257587433f,0.059967368841171265f,0.2727026045322418f,1.1572362184524536f,-0.05750657245516777f,-0.11504809558391571f,-0.0905606746673584f,0.2640003263950348f,-0.12323086708784103f,0.2797521650791168f,0.12084531784057617f,1.0019421577453613f,0.04765775799751282f,0.09343862533569336f,-0.13208310306072235f,0.09386715292930603f},
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 };
 
 const float h2[32][32] = { 
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 };
 
 const float h3[32][32] = { 
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 {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
-{0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.33835604786872864f,0.027385378256440163f,0.06556430459022522f,0.29767414927482605f,0.36594903469085693f,-0.18048140406608582f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.06095482409000397f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.321990042924881f,0.37035757303237915f,0.04131292551755905f,-0.04174882173538208f,-0.11559568345546722f,-0.17430315911769867f,0.21069613099098206f,-0.19532959163188934f,-0.1387111395597458f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
+{0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.2043982446193695f,0.13894453644752502f,0.06556430459022522f,0.29767414927482605f,0.24966773390769958f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.17675906419754028f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2353842556476593f,0.23596063256263733f,0.1602974534034729f,-0.04174882173538208f,-0.11559568345546722f,-0.06235519051551819f,0.21069613099098206f,-0.19532959163188934f,-0.2486409693956375f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
 {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
-{0.07638216018676758f,0.07996532320976257f,-0.30373215675354004f,-0.2868785560131073f,0.1302153617143631f,0.015181951224803925f,0.2795381247997284f,-0.25668495893478394f,-0.0810365080833435f,0.14579007029533386f,-0.026776641607284546f,0.02524423599243164f,0.11033061146736145f,0.2571842670440674f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.12243823707103729f,0.2692778706550598f,0.13529884815216064f,-0.00019467927631922066f,-0.15799765288829803f,-0.17324526607990265f,0.21758465468883514f,0.1901901364326477f,-0.26031842827796936f,-0.06264235824346542f,-0.1070472002029419f,0.22636333107948303f,-0.2677184045314789f,0.1976069062948227f},
+{0.07638216018676758f,0.06527131050825119f,-0.30373215675354004f,-0.2754420042037964f,0.14434225857257843f,0.00017172039952129126f,0.2795381247997284f,-0.25668495893478394f,-0.0660800188779831f,-0.11634080111980438f,-0.026776641607284546f,0.02524423599243164f,0.1270872950553894f,0.24200080335140228f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.1485162079334259f,0.2475007325410843f,0.15105272829532623f,-0.014869635924696922f,-0.19381891191005707f,-0.17324526607990265f,0.20202405750751495f,0.1901901364326477f,-0.28288236260414124f,-0.04761365056037903f,-0.11869554221630096f,0.22636333107948303f,-0.2677184045314789f,0.20162822306156158f},
 };
 
-const float hout[32] = { 0.3285340666770935f,0.2551562786102295f,-0.012636851519346237f,-0.10438686609268188f,0.027978483587503433f,0.30827778577804565f,0.002162247896194458f,0.12166870385408401f,-0.1348801702260971f,0.03679719194769859f,0.04490549862384796f,-0.21492743492126465f,-0.11106962710618973f,-0.1849307417869568f,0.2356991171836853f,-0.04954531416296959f,0.09851181507110596f,-0.21499931812286377f,-0.04986921697854996f,-0.07776449620723724f,0.014431039802730083f,0.1345127671957016f,-0.2774904668331146f,-0.15596844255924225f,0.15764980018138885f,0.25172343850135803f,-0.05403050407767296f,-0.2695673406124115f,-0.004355378914624453f,-0.3257754445075989f,-0.15538199245929718f,0.08937087655067444f };
+const float hout[32] = { 0.3285340666770935f,0.21559861302375793f,-0.08759381622076035f,-0.18752218782901764f,-0.07880980521440506f,0.24804820120334625f,-0.14023931324481964f,-0.013787297531962395f,-0.06430239975452423f,0.2420935183763504f,0.06614154577255249f,-0.06488268822431564f,-0.13233189284801483f,0.07787903398275375f,0.2356991171836853f,-0.12399186939001083f,0.07342065125703812f,-0.21499931812286377f,-0.17105859518051147f,-0.23412150144577026f,0.11204441636800766f,0.09496966749429703f,-0.10224377363920212f,-0.09258242696523666f,0.10437283664941788f,0.2520971894264221f,-0.33695727586746216f,-0.1872805953025818f,0.14851516485214233f,-0.3257754445075989f,-0.28138089179992676f,-0.3072269856929779f };
 
-const float b1[32] = { 0.4876643419265747f,3.4924867153167725f,-1.7145336866378784f,0.08961353451013565f,1.1386795043945312f,0.5310156345367432f,-0.0994354784488678f,1.122987985610962f,0.5337356925010681f,-2.1464405059814453f,0.5788223743438721f,1.547778606414795f,-0.3425353467464447f,-0.8973348736763f,-1.087764859199524f,0.8930401802062988f,0.6358370184898376f,-0.26377663016319275f,0.21948260068893433f,0.6810890436172485f,-0.3145366907119751f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.855795979499817f,-2.0880801677703857f,-1.0489267110824585f,0.7449505925178528f,0.4248124361038208f,-1.0887231826782227f,1.472203254699707f,-0.4426153898239136f };
+const float b1[32] = { 0.6303730607032776f,1.2771244049072266f,-1.7145336866378784f,-0.024331381544470787f,0.9595928192138672f,1.065868616104126f,-0.1704230010509491f,0.8563094139099121f,0.6089017987251282f,-1.044298768043518f,0.5565745234489441f,1.726973533630371f,-0.3425353467464447f,-0.8952552676200867f,-1.087764859199524f,1.1323175430297852f,0.5307965874671936f,-0.26377663016319275f,0.5580302476882935f,0.7606151700019836f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.5647425651550293f,-2.0880801677703857f,-1.0489267110824585f,0.6971176862716675f,0.16526353359222412f,-1.0887231826782227f,1.415956735610962f,-0.7934260368347168f };
 
-const float b2[32] = { -0.41471216082572937f,-0.7642630338668823f,-1.4564176797866821f,-0.564620852470398f,-0.6939148902893066f,-0.10885897278785706f,0.685957133769989f,-0.42037343978881836f,-1.20063054561615f,-1.912178635597229f,-0.017791951075196266f,0.019983429461717606f,-0.22318850457668304f,0.40243294835090637f,-0.151604562997818f,0.0058990237303078175f,-1.798204779624939f,-1.5844906568527222f,-0.08286646753549576f,-0.45091554522514343f,-0.1338617354631424f,-0.0241900272667408f,-0.06385613232851028f,-1.0450503826141357f,0.5254723429679871f,-0.5895631909370422f,0.4369310438632965f,-0.1577368527650833f,-0.6323830485343933f,-0.5159986019134521f,-1.178520679473877f,-1.3576154708862305f };
+const float b2[32] = { -0.10466054826974869f,-0.7642630338668823f,-1.4564176797866821f,-0.4875738024711609f,-0.6939148902893066f,0.11667700856924057f,0.05593651905655861f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.3189098536968231f,0.31611981987953186f,-0.07918518036603928f,2.4898033142089844f,0.15618184208869934f,1.179538607597351f,-1.798204779624939f,-1.5844906568527222f,-0.47564440965652466f,-0.3313511312007904f,-0.49963441491127014f,0.07379159331321716f,-0.07159822434186935f,-1.0362731218338013f,0.758223831653595f,0.1655489057302475f,-0.2961638867855072f,-0.22285382449626923f,-0.6323830485343933f,-0.4208582937717438f,-1.178520679473877f,-1.354332685470581f };
 
-const float b3[32] = { -1.963319182395935f,-0.5722635984420776f,0.02791612036526203f,-0.04721946641802788f,-0.10820336639881134f,0.5754797458648682f,-0.45353031158447266f,-0.8077852725982666f,-2.4385035037994385f,0.021701503545045853f,-0.5864827632904053f,-0.07983998954296112f,-0.6991575360298157f,-0.5194182991981506f,-1.1428403854370117f,-0.42275309562683105f,-1.3594286441802979f,-1.0192245244979858f,-0.4748340845108032f,-2.2864346504211426f,0.32822495698928833f,0.22720731794834137f,-1.026091456413269f,-0.9584147334098816f,-0.11634186655282974f,-0.47350677847862244f,-0.29931914806365967f,-0.2621769309043884f,-0.1290173977613449f,-2.3236680030822754f,-0.2663120925426483f,0.152870774269104f };
+const float b3[32] = { -1.963319182395935f,-0.5059564113616943f,-0.17237482964992523f,-0.17604026198387146f,-0.13820096850395203f,-0.06550032645463943f,-0.5431802868843079f,-0.7197896242141724f,-0.007029889151453972f,1.0352654457092285f,-0.23477809131145477f,-0.08210232108831406f,-0.7245506048202515f,0.11592133343219757f,-1.1428403854370117f,-0.5011612176895142f,-1.5022703409194946f,-1.0192245244979858f,-0.8375463485717773f,0.09358791261911392f,1.242738962173462f,1.2594772577285767f,-1.1541656255722046f,-0.9588961005210876f,1.081007719039917f,-0.36519983410835266f,-0.17800214886665344f,-0.6829278469085693f,-0.11213456094264984f,-2.3236680030822754f,-0.23607516288757324f,-1.4480558633804321f };
 
-const float bout[1] = { -0.06423281133174896f };
+const float bout[1] = { -0.11509382724761963f };
 
 
 int main()
@@ -1604,14 +1599,21 @@
 
                 } else {
                     float VALVE_POS_RAW_FORCE_FB = 0.0f;
-
+                    float VALVE_POS_RAW_FORCE_FF = 0.0f;
+                    float VALVE_POS_RAW = 0.0f;
+                    
                     VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
                                                           + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
 
-                    if (VALVE_POS_RAW_FORCE_FB >= 0) {
-                        valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
+                    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;
+                    
+                    VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
+                    
+                    
+                    if (VALVE_POS_RAW >= 0) {
+                        valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
                     } else {
-                        valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
+                        valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
                     }
 
                     if(I_GAIN_JOINT_TORQUE != 0) {
@@ -1635,6 +1637,8 @@
                     V_out = (float) Vout.ref;
 
                 }
+                
+                torq_ref_past = torq_ref;
 
                 break;
             }