rainbow

Dependencies:   mbed FastPWM

Revision:
13:747daba9cf59
Parent:
12:6f2531038ea4
Child:
14:8e7590227d22
diff -r 6f2531038ea4 -r 747daba9cf59 main.cpp
--- a/main.cpp	Tue Aug 27 05:32:44 2019 +0000
+++ b/main.cpp	Tue Aug 27 06:50:54 2019 +0000
@@ -55,19 +55,8 @@
 double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
 
 double PWM_out=0.0;
-int ID_index_array[100] = {0};
-
-double CUR_PRES_DIFF_BAR = 0;
 
-double CUR_PRES_A_sum = 0.0;
-double CUR_PRES_B_sum = 0.0;
-double CUR_PRES_A_mean = 0.0;
-double CUR_PRES_B_mean = 0.0;
-double CUR_TORQUE_sum = 0.0;
-double CUR_TORQUE_mean = 0.0;
-double PRES_A_NULL = 200.0;
-double PRES_B_NULL = 200.0;
-double TORQUE_NULL = 3900;
+
 // =============================================================================
 // =============================================================================
 // =============================================================================
@@ -75,8 +64,8 @@
 /*******************************************************************************
  *  REFERENCE MODE
  ******************************************************************************/
-enum _REFERENCE_MODE{
-    MODE_REF_NO_ACT = 0,                                //0 
+enum _REFERENCE_MODE {
+    MODE_REF_NO_ACT = 0,                                //0
     MODE_REF_DIRECT,                                //1
     MODE_REF_COS_INC,                                  //2
     MODE_REF_LINE_INC,                                 //3
@@ -87,23 +76,23 @@
 /*******************************************************************************
  *  CONTROL MODE
  ******************************************************************************/
-enum _CONTROL_MODE{
+enum _CONTROL_MODE {
     //control mode
     MODE_NO_ACT = 0,                                    //0
     MODE_VALVE_OPEN_LOOP,                               //1
     MODE_VALVE_POSITION_CONTROL,                        //2
-    
+
     MODE_JOINT_POSITION_TORQUE_CONTROL_PWM,             //3
     MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION,  //4
     MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING,        //5
-    
+
     MODE_JOINT_POSITION_PRES_CONTROL_PWM,               //6
     MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION,    //7
     MODE_VALVE_POSITION_PRES_CONTROL_LEARNING,          //8
-        
+
     MODE_TEST_CURRENT_CONTROL,                          //9
     MODE_TEST_PWM_CONTROL,                              //10
-    
+
     //utility
     MODE_TORQUE_SENSOR_NULLING = 20,                    //20
     MODE_VALVE_NULLING_AND_DEADZONE_SETTING,            //21
@@ -112,7 +101,7 @@
     MODE_PRESSURE_SENSOR_NULLING,                       //24
     MODE_PRESSURE_SENSOR_CALIB,                         //25
     MODE_ROTARY_FRICTION_TUNING,                        //26
-    
+
     MODE_DDV_POS_VS_PWM_ID = 30,                           //30
     MODE_DDV_DEADZONE_AND_CENTER,                       //31
     MODE_DDV_POS_VS_FLOWRATE,                           //32
@@ -123,7 +112,7 @@
     /*********************************
     ***     Initialization
     *********************************/
-        
+
     LED = 1;
     pc.baud(9600);
 
@@ -140,7 +129,7 @@
     enc.format(8,0);
     enc.frequency(5000000); //5M
     make_delay();
-    
+
     // ADC init
     Init_ADC();
     make_delay();
@@ -149,7 +138,7 @@
     Init_PWM();
     TIM4->CR1 ^= TIM_CR1_UDIS;
     make_delay();
-    
+
     // TMR3 init
     Init_TMR3();
     TIM3->CR1 ^= TIM_CR1_UDIS;
@@ -159,43 +148,134 @@
     can.attach(&CAN_RX_HANDLER);
     CAN_ID_INIT();
     make_delay();
-    
+
     // spi _ enc
     spi_enc_set_init();
     make_delay();
-    
+
     //eeprom
     ROM_INIT_DATA();
     make_delay();
-    
+
     //DAC init
     dac_1 = PRES_A_VREF/3.3;
     dac_2 = PRES_B_VREF/3.3;
     make_delay();
-    
-    for (int i=0; i<100; i++){
+
+    for (int i=0; i<100; i++) {
         if(i%2==0)
             ID_index_array[i] = - i * 0.5;
         else
             ID_index_array[i] =  (i+1) * 0.5;
     }
-    
-    
+
+
     /************************************
     ***     Program is operating!
     *************************************/
     while(1) {
-        
+
         //spi _ enc
         //int a = spi_enc_read();
-        
+
         //i2c
         read_field(i2c_slave_addr1);
     }
 }
 
+int DDV_JOINT_POS_FF(double REF_JOINT_VEL){
+    
+    int i = 0;
+    int Ref_Valve_Pos_FF = DDV_CENTER;
+    for(i=0; i<VALVE_POS_NUM; i++)
+    {
+        if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <=  max(JOINT_VEL[i],JOINT_VEL[i+1]))
+        {
+            if(i==0)
+            {
+                Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
+            }
+            else
+            {
+                Ref_Valve_Pos_FF = ((int) 50.0*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + 50*ID_index_array[i-1];
+            }
+            break;
+        }
+    }
+    if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2]))
+    {
+        Ref_Valve_Pos_FF = VALVE_MAX_POS;
+    }
+    else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2]))
+    {
+        Ref_Valve_Pos_FF = VALVE_MIN_POS;
+    }
+    return Ref_Valve_Pos_FF;
+}
 
 
+void VALVE_POS_CONTROL(double REF_VALVE_POS){
+    int i = 0;
+
+    valve_pos_err = REF_VALVE_POS - value;
+    valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
+    valve_pos_err_old = valve_pos_err;
+    valve_pos_err_sum += valve_pos_err;
+    if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
+    if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
+
+    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;
+    
+    if(REF_VALVE_POS > VALVE_MAX_POS)
+    {
+        REF_VALVE_POS = VALVE_MAX_POS;
+    }
+    else if(REF_VALVE_POS < VALVE_MIN_POS)
+    {
+        REF_VALVE_POS = VALVE_MIN_POS;
+    }
+    
+    for(i=0; i<16; i++)
+    {
+        if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <=  max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]))
+        {
+            if(i==0)
+            {
+                VALVE_PWM_RAW_FF = (double) 1000.0/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
+            }
+            else
+            {
+                VALVE_PWM_RAW_FF = (double) 1000.0*(ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000*ID_index_array[i-1];
+            }
+            break;
+        }
+    }
+    VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;   
+}
+
+
+double PWM_duty_byLT(double Ref_V) {
+    double PWM_duty = 0.0;
+    if(Ref_V<LT_Voltage_Output[0]) {
+        PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
+    } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
+        PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
+    } else {
+        int idx = 0;
+        for(idx=0; idx<LT_MAX_IDX-1; idx++) {
+            double ini_x = LT_Voltage_Output[idx];
+            double fin_x = LT_Voltage_Output[idx+1];
+            double ini_y = LT_PWM_duty[idx];
+            double fin_y = LT_PWM_duty[idx+1];
+            if(Ref_V>=ini_x && Ref_V<fin_x) {
+                PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
+                break;
+            }
+        }
+    }
+    
+    return PWM_duty;
+}
 
 /*******************************************************************************
                             TIMER INTERRUPT
@@ -208,18 +288,18 @@
 {
     if ( TIM4->SR & TIM_SR_UIF ) {
         /*******************************************************
-        ***     Sensor Read & Data Handling 
+        ***     Sensor Read & Data Handling
         ********************************************************/
-        
-        if((CNT_TMR4%2)==0){
-    
+
+        if((CNT_TMR4%2)==0) {
+
             //ADC
             ADC3->CR2  |= 0x40000000;                        // adc _ 12bit
 //          a1=ADC1->DR;
 //          a1=ADC2->DR;
 //          int raw_cur = ADC3->DR;
             while((ADC3->SR & 0b10));
-                    
+
             double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
             double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
             cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
@@ -229,12 +309,12 @@
 //      dac_1 = ADC1->DR;
 //      dac_2 = ADC2->DR;
 
-        
-        
+
+
         /*******************************************************
         ***     Timer Counting & etc.
         ********************************************************/
-        CNT_TMR4++; 
+        CNT_TMR4++;
     }
     TIM4->SR = 0x0;  // reset the status register
 }
@@ -245,23 +325,21 @@
 extern "C" void TIM3_IRQHandler(void)
 {
     if ( TIM3->SR & TIM_SR_UIF ) {
-        
+
         ENC_UPDATE();
         CUR_PRES_A_BAR = (CUR_PRES_A - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR + 1.;
         CUR_PRES_B_BAR = (CUR_PRES_B - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR + 1.;
         //CUR_TORQUE_NM = (CUR_TORQUE - TORQUE_NULL) / (double) TORQUE_SENSOR_PULSE_PER_TORQUE; //
         CUR_TORQUE_NM = CUR_TORQUE; //
         CUR_TORQUE_NM_PRESS = 1. * (CUR_PRES_A_BAR - CUR_PRES_B_BAR);
-        
-            // Reference Loop
+
+        // Reference Loop
         switch (REFERENCE_MODE) {
-            case MODE_REF_NO_ACT:
-            {
+            case MODE_REF_NO_ACT: {
                 break;
             }
-            
-            case MODE_REF_DIRECT:
-            {
+
+            case MODE_REF_DIRECT: {
                 if (FLAG_REFERENCE_VALVE_PWM) {
                     Ref_PWM = (double) REF_PWM;
                 }
@@ -277,9 +355,8 @@
                 }
                 break;
             }
-            
-            case MODE_REF_COS_INC:
-            {
+
+            case MODE_REF_COS_INC: {
                 if (FLAG_REFERENCE_VALVE_PWM) {
                     Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_PWM;
                 }
@@ -300,10 +377,9 @@
                 }
                 break;
             }
-         
-            
-            case MODE_REF_LINE_INC:
-            {
+
+
+            case MODE_REF_LINE_INC: {
                 if (FLAG_REFERENCE_VALVE_PWM) {
                     Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_PWM;
                 }
@@ -327,9 +403,8 @@
                 }
                 break;
             }
-            
-            case MODE_REF_SIN_WAVE:
-            {
+
+            case MODE_REF_SIN_WAVE: {
                 if (FLAG_REFERENCE_VALVE_PWM) {
                     Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM;
                 }
@@ -349,9 +424,8 @@
                 }
                 break;
             }
-            
-            case MODE_REF_SQUARE_WAVE:
-            {
+
+            case MODE_REF_SQUARE_WAVE: {
                 if (FLAG_REFERENCE_VALVE_PWM) {
                     Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM;
                     if (Ref_PWM >= REF_PWM) Ref_PWM = REF_MAG + REF_PWM;
@@ -379,33 +453,1172 @@
                 }
                 break;
             }
+
+            default:
+                break;
+        }
+
+        // CONTROL LOOP ------------------------------------------------------------
+        switch (CONTROL_MODE) {
+            case MODE_NO_ACT:
+            {
+                //            SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
+                VALVE_PWM_RAW = 0;
+                break;
+            }
             
+            case MODE_VALVE_OPEN_LOOP:
+            {
+                VALVE_PWM_RAW = Ref_PWM;
+                break;
+            }
+            
+            case MODE_VALVE_POSITION_CONTROL:
+            {
+                VALVE_POS_CONTROL(Ref_Valve_Pos);               
+                break;
+            }
+            
+            case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM:
+            {
+                double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
+                double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
+                double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
+                
+                // feedback input for position control
+                joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
+                joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
+                joint_pos_err_old = joint_pos_err;
+                joint_pos_err_sum += joint_pos_err;
+                if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
+                if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
+    //            PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff                        PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff;
+                PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err;
+                PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
+                
+                // feedforward input for position control
+                double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] 
+                double K_ff = 0.9;
+                if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
+                if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
+                PWM_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
+                
+                // torque feedback
+                //            joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
+                //            joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
+                //            joint_torq_err_old = joint_torq_err;
+                //            joint_torq_err_sum += joint_torq_err;
+                //            if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
+                //            if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
+                //            VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+                //            VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
+                PWM_RAW_FORCE_FB = 0.0;
+                           
+    //            VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
+                VALVE_PWM_RAW = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
+    
+                break;
+            }
+            
+            case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION:
+            {
+                TMR2_COUNT_JOINT++;
+                double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
+                double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
+                double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
+                int DDV_JOINT_CAN = 0;
+                // feedback input for position control
+                joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
+                joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
+                joint_pos_err_old = joint_pos_err;
+                joint_pos_err_sum += joint_pos_err;
+                if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
+                if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
+                VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff;
+                VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
+                
+                
+                //Ref_Joint_Vel =  Ref_Vel_Test;
+                // feedforward input for position control
+    //            double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] 
+    //            double K_ff = 0.9;
+    //            if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
+    //            if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
+    //            VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
+                
+                // torque feedback
+                //            joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
+                //            joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
+                //            joint_torq_err_old = joint_torq_err;
+                //            joint_torq_err_sum += joint_torq_err;
+                //            if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
+                //            if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
+                //            VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+                //            VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
+                VALVE_POS_RAW_FORCE_FB = 0.0;
+                
+                Ref_Valve_Pos = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(Ref_Joint_Vel) + VALVE_POS_RAW_FORCE_FB;
+                //Ref_Valve_Pos = DDV_JOINT_POS_FF(Ref_Joint_Vel);
+                
+                VALVE_POS_CONTROL(Ref_Valve_Pos);
+                break;
+            }
+            
+            case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING:
+            {
+                
+                break;
+            }
+            
+            case MODE_JOINT_POSITION_PRES_CONTROL_PWM:
+            {
+                joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
+                joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
+                joint_pos_err_old = joint_pos_err;
+                joint_pos_err_sum += joint_pos_err;
+                if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
+                if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
+                VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01;
+                
+                joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
+                joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
+                joint_torq_err_old = joint_torq_err;
+                joint_torq_err_sum += joint_torq_err;
+                if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
+                if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
+                VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+                
+                VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
+                
+                VALVE_PWM_RAW = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
+                
+                CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
+                CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
+                if (DIR_VALVE > 0) {
+                    if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
+                    else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
+                    else VALVE_FF_VOLTAGE = 0;
+                } else {
+                    if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
+                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
+                    else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
+                    else VALVE_FF_VOLTAGE = 0;
+                }
+                //            VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
+                
+                if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
+                else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
+                
+                VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE;
+                break;
+            }
+            
+            case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION:
+            {
+                joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
+                joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
+                joint_pos_err_old = joint_pos_err;
+                joint_pos_err_sum += joint_pos_err;
+                if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
+                if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
+                VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01;
+                
+                joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
+                joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
+                joint_torq_err_old = joint_torq_err;
+                joint_torq_err_sum += joint_torq_err;
+                if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
+                if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
+                VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+                
+                Ref_Valve_Pos = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
+                
+                valve_pos_err = Ref_Valve_Pos - value;
+                valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
+                valve_pos_err_old = valve_pos_err;
+                valve_pos_err_sum += valve_pos_err;
+                if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
+                if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
+                
+                VALVE_PWM_RAW = (double) P_GAIN_VALVE_POSITION * valve_pos_err + (double) I_GAIN_VALVE_POSITION * valve_pos_err_sum + (double) D_GAIN_VALVE_POSITION * valve_pos_err_diff;
+                
+                break;
+            }
+            
+            case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING:
+            {
+                
+                break;
+            }
+            
+            case MODE_TORQUE_SENSOR_NULLING:
+            {
+                // DAC Voltage reference set
+                if (TMR2_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
+                    CUR_TORQUE_sum += CUR_TORQUE;
+                    
+                    if (TMR2_COUNT_TORQUE_NULL % 10 == 0) {
+                        CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
+                        CUR_TORQUE_sum = 0;
+                        
+                        TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
+                        
+                        //                    TORQUE_VREF = 0;
+                        if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
+                        if (TORQUE_VREF < 0) TORQUE_VREF = 0;
+                        
+                        spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
+                        spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
+                    }
+                } else {
+                    CONTROL_MODE = MODE_NO_ACT;
+                    TMR2_COUNT_TORQUE_NULL = 0;
+                    CUR_TORQUE_sum = 0;
+                    CUR_TORQUE_mean = 0;
+                    spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
+                    
+                }
+                TMR2_COUNT_TORQUE_NULL++;
+                break;
+            }
+            
+            case MODE_VALVE_NULLING_AND_DEADZONE_SETTING:
+            {
+                if (TMR2_COUNT_DEADZONE == 0) {
+                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
+                    else temp_time = 0;
+                }
+                if (need_enc_init) {
+                    if (TMR2_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
+                        VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        pos_plus_end = CUR_POSITION;
+                    } else if (TMR2_COUNT_DEADZONE < TMR_FREQ_5k) {
+                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        pos_minus_end = CUR_POSITION;
+                    } else if (TMR2_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
+                    temp_time = TMR_FREQ_5k;
+                }
+                
+                if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
+                    VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+                    VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
+                    
+                } else if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
+                    VALVE_PWM_RAW = 0;
+                    CUR_VELOCITY_sum += CUR_VELOCITY;
+                } else if (TMR2_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
+                    if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
+                    else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
+                    else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
+                    else DZ_temp_cnt2 = DZ_end;
+                    CUR_VELOCITY_sum = 0;
+                } else if (TMR2_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
+                    if (TMR2_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
+                    
+                    // Position of Dead Zone
+                    //  (CUR_VELOCITY < 0)  (CUR_VELOCITY == 0)  (CUR_VELOCITY > 0)
+                    //     |        /                 |    /                      |/ 
+                    //     | ______/               ___|___/                ______/|
+                    //     |/                     /   |                   /       |
+                    //    /|                     /    |                  /        |
+                    //     0V                         0V                          0V
+                    
+                    if (DZ_temp_cnt2 < DZ_end) {
+                        if (TMR2_COUNT_DEADZONE % 20 != 0) {
+                            CUR_VELOCITY_sum += CUR_VELOCITY;
+                        } else {
+                            VALVE_PWM_RAW -= DZ_dir;
+                            if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
+                            CUR_VELOCITY_sum = 0;
+                        }
+                        if (DZ_temp_cnt == 5) {
+                            if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) VALVE_PWM_RAW;
+                            else VALVE_DEADZONE_PLUS = (int16_t) VALVE_PWM_RAW;
+                            DZ_dir = -DZ_dir;
+                            DZ_temp_cnt = 0;
+                            DZ_temp_cnt2++;
+                        }
+                    } else {
+                        TMR2_COUNT_DEADZONE = -1;
+                        VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
+                        if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
+                            VALVE_DEADZONE_PLUS = VALVE_CENTER;
+                            VALVE_DEADZONE_MINUS = VALVE_CENTER;
+                        }
+                        VALVE_PWM_RAW = 0;
+                        spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
+                        spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
+                        
+                        CONTROL_MODE = MODE_NO_ACT;
+                        DZ_temp_cnt2 = 0;
+                    }
+                }
+                TMR2_COUNT_DEADZONE++;
+                break;
+            }
+            
+            case MODE_FIND_HOME:
+            {
+                if (FLAG_FIND_HOME == true) {
+                    cnt_findhome = 0;
+                    cnt_vel_findhome = 0;
+                    REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
+                    Ref_Joint_Pos = CUR_POSITION;
+                    FLAG_FIND_HOME = false;
+                }
+                
+                int check_enc = (TMR_FREQ_5k/10);
+                if(cnt_findhome%check_enc == 0){
+                    FINDHOME_POSITION = CUR_POSITION;
+                    FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
+                    FINDHOME_POSITION_OLD = FINDHOME_POSITION;
+                } cnt_findhome++;
+                if(cnt_findhome == 10000) cnt_findhome = 0;
+                
+                if (abs(FINDHOME_VELOCITY) <= 1) {
+                    cnt_vel_findhome = cnt_vel_findhome + 1;
+                } else {
+                    cnt_vel_findhome = 0;
+                }
+                
+                if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
+                    REFERENCE_MODE = MODE_REF_NO_ACT;
+                    if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
+                    else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
+                    joint_pos_err = Ref_Joint_Pos - CUR_POSITION;
+                    VALVE_PWM_RAW = ((double) P_GAIN_JOINT_POSITION * joint_pos_err) * 0.01;
+    //                if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100;
+    //                else VALVE_PWM_RAW = -100;
+                } else {
+                    ENC_SET(HOMEPOS_OFFSET);
+                    FLAG_REFERENCE_JOINT_POSITION = 1;
+                    INIT_REF_POS = HOMEPOS_OFFSET;
+                    REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
+                    TMR2_COUNT_REFERENCE = 0;
+                    Ref_Joint_Vel = 0.0;
+                    REFERENCE_MODE = MODE_REF_COS_INC;
+                    CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
+                    
+                    FINDHOME_POSITION = 0;
+                    FINDHOME_POSITION_OLD = 0;
+                    FINDHOME_VELOCITY = 0;
+                    cnt_findhome = 0;
+                    cnt_vel_findhome = 0;
+                }
+                break;
+            }
+            
+            case MODE_VALVE_GAIN_SETTING:
+            {
+                if (TMR2_COUNT_FLOWRATE == 0) {
+                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
+                    else {
+                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
+                    }
+                }
+                if (need_enc_init) {
+                    if (TMR2_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
+                        VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        pos_plus_end = CUR_POSITION;
+                    } else if (TMR2_COUNT_FLOWRATE < TMR_FREQ_5k) {
+                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        pos_minus_end = CUR_POSITION;
+                    } else if (TMR2_COUNT_FLOWRATE == TMR_FREQ_5k) {
+                        need_enc_init = false;
+                        check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
+                        check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
+                        check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
+                    }
+                    temp_time = TMR_FREQ_5k;
+                }
+                TMR2_COUNT_FLOWRATE++;
+                if (TMR2_COUNT_FLOWRATE > temp_time) {
+                    if (flag_flowrate % 2 == 0) { // (+)
+                        VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1);
+                        VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
+                        if (CUR_POSITION > (pos_minus_end + check_vel_pos_init) && CUR_POSITION < (pos_minus_end + check_vel_pos_fin)) {
+                            fl_temp_cnt++;
+                        } else if (CUR_POSITION >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
+                            VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
+                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
+                            fl_temp_cnt2++;
+                        }
+                    } else if (flag_flowrate % 2 == 1) { // (-)
+                        VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
+                        VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
+                        if (CUR_POSITION < (pos_plus_end - check_vel_pos_init) && CUR_POSITION > (pos_plus_end - check_vel_pos_fin)) {
+                            fl_temp_cnt++;
+                        } else if (CUR_POSITION <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
+                            VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
+                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
+                            fl_temp_cnt2++;
+                        }
+                    }
+                    if (fl_temp_cnt2 == 100) {
+                        spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
+                        cur_vel_sum = 0;
+                        fl_temp_cnt = 0;
+                        fl_temp_cnt2 = 0;
+                        flag_flowrate++;
+                    }
+                    if (flag_flowrate == 10) {
+                        VALVE_PWM_RAW = 0;
+                        flag_flowrate = 0;
+                        TMR2_COUNT_FLOWRATE = 0;
+                        valve_gain_repeat_cnt++;
+                        if (valve_gain_repeat_cnt >= 1) {
+                            CONTROL_MODE = MODE_NO_ACT;
+                            valve_gain_repeat_cnt = 0;
+                        }
+                        
+                    }
+                    break;
+                }
+                
+            }
+            
+            case MODE_PRESSURE_SENSOR_NULLING:
+            {
+                // DAC Voltage reference set
+                if (TMR2_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
+                    CUR_PRES_A_sum += CUR_PRES_A;
+                    CUR_PRES_B_sum += CUR_PRES_B;
+    
+                    if (TMR2_COUNT_PRES_NULL % 10 == 0) {
+                        CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
+                        CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
+                        CUR_PRES_A_sum = 0;
+                        CUR_PRES_B_sum = 0;
+    
+                        double VREF_NullingGain = 0.0003;
+                        PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
+                        PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
+    
+                        if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
+                        if (PRES_A_VREF < 0) PRES_A_VREF = 0;
+                        if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
+                        if (PRES_B_VREF < 0) PRES_B_VREF = 0;
+    
+                        spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
+                        spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
+                    }
+                } else {
+                    CONTROL_MODE = MODE_NO_ACT;
+                    TMR2_COUNT_PRES_NULL = 0;
+                    CUR_PRES_A_sum = 0;
+                    CUR_PRES_B_sum = 0;
+                    CUR_PRES_A_mean = 0;
+                    CUR_PRES_B_mean = 0;
+    
+                    spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
+                    spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
+                }
+                TMR2_COUNT_PRES_NULL++;
+                break;
+            }
+            
+            case MODE_PRESSURE_SENSOR_CALIB:
+            {
+                if (TMR2_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
+                    VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
+                    if (TMR2_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
+                        CUR_PRES_A_sum += CUR_PRES_A;
+                    }
+                } else if (TMR2_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
+                    VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
+                    if (TMR2_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
+                        CUR_PRES_B_sum += CUR_PRES_B;
+                    }
+                } else {
+                    CONTROL_MODE = MODE_NO_ACT;
+                    TMR2_COUNT_PRES_CALIB = 0;
+                    VALVE_PWM_RAW = 0;
+                    PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL;
+                    PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
+                    PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.) - PRES_B_NULL;
+                    PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
+                    CUR_PRES_A_sum = 0;
+                    CUR_PRES_B_sum = 0;
+                    CUR_PRES_A_mean = 0;
+                    CUR_PRES_B_mean = 0;
+                    
+                    spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
+                    spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
+                }
+                TMR2_COUNT_PRES_CALIB++;
+                break;
+            }
+            
+            case MODE_ROTARY_FRICTION_TUNING:
+            {
+                if (TMR2_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
+                VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001);
+                if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL;
+                else VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                TMR2_COUNT_ROTARY_FRIC_TUNE++;
+                if (TMR2_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
+                    TMR2_COUNT_ROTARY_FRIC_TUNE = 0;
+                    VALVE_PWM_RAW = 0;
+                    CONTROL_MODE = MODE_NO_ACT;
+                }
+                break;
+            }
+            
+            case MODE_DDV_POS_VS_PWM_ID:
+            {
+                VALVE_ID_timer = VALVE_ID_timer + 1;
+                
+                if(VALVE_ID_timer < TMR_FREQ_5k*1)
+                {
+                    VALVE_PWM_RAW = 3000 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100);
+                }
+                else if(VALVE_ID_timer < TMR_FREQ_5k*2)
+                {
+                    VALVE_PWM_RAW = 1000*(ID_index_array[ID_index]);
+                }
+                else if(VALVE_ID_timer == TMR_FREQ_5k*2)
+                {
+                    VALVE_POS_TMP = 0;
+                    data_num = 0;
+                }
+                else if(VALVE_ID_timer < TMR_FREQ_5k*3)
+                {
+                    data_num = data_num + 1;
+                    VALVE_POS_TMP = VALVE_POS_TMP + value;
+                }
+                else if(VALVE_ID_timer == TMR_FREQ_5k*3)
+                {
+                    VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
+                    VALVE_ID_timer = 0;
+                    ID_index= ID_index +1;
+                }
+                
+                if(ID_index>=18)
+                {
+                    int i;
+                    VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
+                    for(i=0;i<18;i++)
+                    {
+                        VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
+                        spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
+                        if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD)
+                        {
+                            VALVE_MAX_POS = VALVE_POS_AVG[i];
+                            VALVE_POS_AVG_OLD = VALVE_MAX_POS;
+                        }
+                        else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD)
+                        {
+                            VALVE_MIN_POS = VALVE_POS_AVG[i];
+                            VALVE_POS_AVG_OLD = VALVE_MIN_POS;
+                        }
+                    }
+                    spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
+                    spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
+                    CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
+                    ID_index = 0;
+                    CONTROL_MODE = MODE_NO_ACT;
+                }
+                
+                
+                break;
+            }
+            
+            case MODE_DDV_DEADZONE_AND_CENTER:
+            {
+                
+                VALVE_DZ_timer = VALVE_DZ_timer + 1;
+                if(first_check == 0)
+                {
+                    if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                    }
+                    else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        pos_plus_end = CUR_POSITION;
+                    }
+                    else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                    }
+                    else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        pos_minus_end = CUR_POSITION;
+                    }
+                    else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+                    }
+                    else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+                        data_num = data_num + 1;
+                        VALVE_POS_TMP = VALVE_POS_TMP + value;
+                    }
+                    else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+                        DDV_POS_AVG = VALVE_POS_TMP / data_num;
+                        START_POS = CUR_POSITION;
+                        CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
+                        VALVE_POS_TMP = 0;
+                        data_num = 0;
+                        
+                    }
+                    else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k))
+                    {
+                        Ref_Valve_Pos = DDV_POS_AVG;
+                        VALVE_POS_CONTROL(Ref_Valve_Pos);
+                        //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
+                        
+                    }
+                    else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k))
+                    {
+                        Ref_Valve_Pos = DDV_POS_AVG;
+                        VALVE_POS_CONTROL(Ref_Valve_Pos);
+                        if(CUR_VELOCITY >= 0)
+                            VEL_POINT = VEL_POINT + 1;
+                        else
+                            VEL_POINT = VEL_POINT - 1;
+                    }
+                    else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k))
+                    {
+                        Ref_Valve_Pos = DDV_POS_AVG;
+                        VALVE_POS_CONTROL(Ref_Valve_Pos);
+                        FINAL_POS = CUR_POSITION;
+    //                    if(VEL_POINT >= 0)
+    //                    {
+    //                        DZ_case = 1;
+    //                    }
+    //                    else
+    //                    {
+    //                        DZ_case = -1;
+    //                    }
+    //                    if(abs(FINAL_POS - START_POS) < 100)
+    //                    {
+    //                        DZ_case = 0;
+    //                    }
+                        
+                        if((FINAL_POS - START_POS)>100)
+                        {
+                            DZ_case = 1;
+                        }
+                        else if((FINAL_POS - START_POS)<-100)
+                        {
+                            DZ_case = -1;
+                        }
+                        else
+                        {
+                            DZ_case = 0;
+                        }
+                        
+                        VEL_POINT = 0;     
+                        first_check = 1;
+                        DZ_DIRECTION = 1;
+                        VALVE_DZ_timer = 0;
+                        Ref_Valve_Pos_Old = DDV_POS_AVG;
+                        DZ_NUM = 1;
+                        DZ_index = 1;
+                        CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
+                        
+                    }
+                }
+                else
+                {
+                    if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1))
+                    {
+                        if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+                        {
+                            VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+                        }
+                        else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+                        {
+                            START_POS = CUR_POSITION;
+                        }
+                        else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+                        {
+                            Ref_Valve_Pos = Ref_Valve_Pos_Old  - DZ_case * DZ_DIRECTION * 64 / DZ_index;
+                            if(Ref_Valve_Pos <= VALVE_MIN_POS)
+                            {
+                                Ref_Valve_Pos = VALVE_MIN_POS;
+                            }
+                            else if(Ref_Valve_Pos >= VALVE_MAX_POS)
+                            {
+                                Ref_Valve_Pos = VALVE_MAX_POS;
+                            }
+                            VALVE_POS_CONTROL(Ref_Valve_Pos);
+                            if(CUR_VELOCITY >= 0)
+                                VEL_POINT = VEL_POINT + 1;
+                            else
+                                VEL_POINT = VEL_POINT - 1;
+                        }
+                        else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+                        {
+                            Ref_Valve_Pos_Old = Ref_Valve_Pos;
+                            FINAL_POS = CUR_POSITION;
+    //                        if(VEL_POINT >= 0)
+    //                            DZ_DIRECTION = 1 * DZ_case;
+    //                        else
+    //                            DZ_DIRECTION = -1 * DZ_case;
+    //                        if(abs(FINAL_POS - START_POS) < 100)
+    //                            DZ_DIRECTION = 1 * DZ_case;
+                            
+                            if((FINAL_POS - START_POS)>100)
+                            {
+                                DZ_DIRECTION = 1 * DZ_case;
+                            }
+                            else if((FINAL_POS - START_POS)<-100)
+                            {
+                                DZ_DIRECTION = -1 * DZ_case;
+                            }
+                            else
+                            {
+                                DZ_DIRECTION = 1 * DZ_case;
+                            }
+                        
+                            VEL_POINT = 0;  
+                            
+                            VALVE_DZ_timer = 0;
+                            DZ_index= DZ_index *2;
+                            if(DZ_index >= 128)
+                            {
+                                FIRST_DZ = Ref_Valve_Pos;
+                                DZ_NUM = 2;
+                                Ref_Valve_Pos_Old = FIRST_DZ;
+                                DZ_index = 1;
+                                DZ_DIRECTION = 1;
+                            }
+                            
+                            //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
+                        }
+                    }
+                    else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2))
+                    {
+                        if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+                        {
+                            VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+                        }
+                        else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+                        {
+                            START_POS = CUR_POSITION;
+                        }
+                        else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+                        {
+                            Ref_Valve_Pos = Ref_Valve_Pos_Old  + DZ_DIRECTION + 64 / DZ_index;
+                            if(Ref_Valve_Pos <= VALVE_MIN_POS)
+                            {
+                                Ref_Valve_Pos = VALVE_MIN_POS;
+                            }
+                            else if(Ref_Valve_Pos >= VALVE_MAX_POS)
+                            {
+                                Ref_Valve_Pos = VALVE_MAX_POS;
+                            }
+                            VALVE_POS_CONTROL(Ref_Valve_Pos);
+                            if(CUR_VELOCITY >= 0)
+                                VEL_POINT = VEL_POINT + 1;
+                            else
+                                VEL_POINT = VEL_POINT - 1;
+                        }
+                        else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+                        {
+                            Ref_Valve_Pos_Old = Ref_Valve_Pos;
+                            FINAL_POS = CUR_POSITION;
+    //                        if(VEL_POINT >= 0)
+    //                            DZ_DIRECTION = 1 * DZ_case;
+    //                        else
+    //                            DZ_DIRECTION = -1 * DZ_case;
+    //                        if(abs(FINAL_POS - START_POS) < 100)
+    //                            DZ_DIRECTION = -1 * DZ_case;
+                            
+                            if((FINAL_POS - START_POS)>100)
+                            {
+                                DZ_DIRECTION = -1;
+                            }
+                            else if((FINAL_POS - START_POS)<-100)
+                            {
+                                DZ_DIRECTION = 1;
+                            }
+                            else
+                            {
+                                DZ_DIRECTION = 1;
+                            }
+                        
+                            VEL_POINT = 0;  
+                            
+                            
+                            VALVE_DZ_timer = 0;
+                            DZ_index= DZ_index *2;
+                            if(DZ_index >= 128)
+                            {
+                                SECOND_DZ = Ref_Valve_Pos;
+                                DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
+                                first_check = 0;
+                                spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
+                                spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
+                                spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
+                                //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
+                                CONTROL_MODE = MODE_NO_ACT;
+                                DZ_index = 1;
+                            }
+                            
+                            CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
+                        }
+                    }
+                    else if(DZ_case == 0 && DZ_NUM ==1)
+                    {
+                        if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+                        {
+                            VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+                        }
+                        else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+                        {
+                            START_POS = CUR_POSITION;
+                        }
+                        else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+                        {
+                            Ref_Valve_Pos = Ref_Valve_Pos_Old  - DZ_DIRECTION * 64 / DZ_index;
+                            if(Ref_Valve_Pos <= VALVE_MIN_POS)
+                            {
+                                Ref_Valve_Pos = VALVE_MIN_POS;
+                            }
+                            else if(Ref_Valve_Pos >= VALVE_MAX_POS)
+                            {
+                                Ref_Valve_Pos = VALVE_MAX_POS;
+                            }
+                            VALVE_POS_CONTROL(Ref_Valve_Pos);
+                            if(CUR_VELOCITY >= 0)
+                                VEL_POINT = VEL_POINT + 1;
+                            else
+                                VEL_POINT = VEL_POINT - 1;
+                        }
+                        else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+                        {
+                            Ref_Valve_Pos_Old = Ref_Valve_Pos;
+                            FINAL_POS = CUR_POSITION;
+    //                        if(VEL_POINT >= 0)
+    //                            DZ_DIRECTION = 1;
+    //                        else
+    //                            DZ_DIRECTION = -1;
+    //                        if(abs(FINAL_POS - START_POS) < 100)
+    //                            DZ_DIRECTION = 1;
+                            
+                            if((FINAL_POS - START_POS)>100)
+                            {
+                                DZ_DIRECTION = 1;
+                            }
+                            else if((FINAL_POS - START_POS)<-100)
+                            {
+                                DZ_DIRECTION = -1;
+                            }
+                            else
+                            {
+                                DZ_DIRECTION = 1;
+                            }
+                        
+                            VEL_POINT = 0;  
+                            //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
+                            VALVE_DZ_timer = 0;
+                            DZ_index= DZ_index *2;
+                            if(DZ_index >= 128)
+                            {
+                                FIRST_DZ = Ref_Valve_Pos;
+                                DZ_NUM = 2;
+                                Ref_Valve_Pos_Old = FIRST_DZ;
+                                DZ_index = 1;
+                                DZ_DIRECTION = 1;
+                            }
+                        }
+                    }
+                    else
+                    {
+                        if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+                        {
+                            VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+                        }
+                        else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+                        {
+                            START_POS = CUR_POSITION;
+                        }
+                        else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+                        {
+                            Ref_Valve_Pos = Ref_Valve_Pos_Old  + DZ_DIRECTION * 64 / DZ_index;
+                            if(Ref_Valve_Pos <= VALVE_MIN_POS)
+                            {
+                                Ref_Valve_Pos = VALVE_MIN_POS;
+                            }
+                            else if(Ref_Valve_Pos > VALVE_MAX_POS)
+                            {
+                                Ref_Valve_Pos = VALVE_MAX_POS - 1;
+                            }
+                            VALVE_POS_CONTROL(Ref_Valve_Pos);
+                            if(CUR_VELOCITY >= 0)
+                                VEL_POINT = VEL_POINT + 1;
+                            else
+                                VEL_POINT = VEL_POINT - 1;
+                        }
+                        else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+                        {
+                            Ref_Valve_Pos_Old = Ref_Valve_Pos;
+                            FINAL_POS = CUR_POSITION;
+                            if(VEL_POINT >= 0)
+                                DZ_DIRECTION = -1;
+                            else
+                                DZ_DIRECTION = 1;
+                            if(abs(FINAL_POS - START_POS) < 100)
+                                DZ_DIRECTION = 1;
+                        
+                            VEL_POINT = 0;  
+                            
+                            
+                            VALVE_DZ_timer = 0;
+                            //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
+                            DZ_index= DZ_index *2;
+                            if(DZ_index >= 128)
+                            {
+                                SECOND_DZ = Ref_Valve_Pos;
+                                DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
+                                first_check = 0;
+                                VALVE_DEADZONE_MINUS = FIRST_DZ;
+                                spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
+                                VALVE_DEADZONE_PLUS = SECOND_DZ;
+                                spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
+                                spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
+                                CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
+                                CONTROL_MODE = MODE_NO_ACT;
+                                DZ_index = 1;
+                            }
+                            
+                            //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
+                        }
+                    }
+                }          
+                break;
+            }
+            
+            case MODE_DDV_POS_VS_FLOWRATE:
+            {
+                VALVE_FR_timer = VALVE_FR_timer + 1;
+                if(first_check == 0)
+                {
+                    if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
+                    }
+                    else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        pos_plus_end = CUR_POSITION;
+    //                    CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (7));
+                    }
+                    else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                    }
+                    else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+                    {
+    //                    CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (8));
+                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        pos_minus_end = CUR_POSITION;
+                        first_check = 1;
+                        VALVE_FR_timer = 0;
+                        Ref_Valve_Pos = DDV_CENTER;
+                        ID_index = 0;
+                        max_check = 0;
+                        min_check = 0;
+                    }
+                }
+                else
+                {
+                    if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+                    {
+                        VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+                    }
+                    else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+                    {
+                        data_num = 0;
+                        Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER;
+                        
+                        VALVE_POS_CONTROL(Ref_Valve_Pos);
+                        START_POS = CUR_POSITION;
+                    }
+                    else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k))
+                    {
+                        Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER;
+                        VALVE_POS_CONTROL(Ref_Valve_Pos);
+                        data_num = data_num + 1;
+                        if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION) > 20000)
+                        {
+                            FINAL_POS = CUR_POSITION;
+                            one_period_end = 1;   
+                        }
+                    }
+                    else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k))
+                    {
+                        FINAL_POS = CUR_POSITION;
+                        one_period_end = 1;
+                    }
+    
+                    if(one_period_end == 1){
+                        if(Ref_Valve_Pos > VALVE_MAX_POS)
+                        {
+                            max_check = 1;
+                        }
+                        else if(Ref_Valve_Pos < VALVE_MIN_POS)
+                        {
+                            min_check = 1;
+                        }
+                        JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k;   //  pulse/sec
+                        spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
+                        spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
+                        VALVE_FR_timer = 0;
+                        one_period_end = 0;
+                        ID_index= ID_index +1;
+    //                    CAN_TX_PRES((int16_t) (Ref_Valve_Pos), (int16_t) (ID_index));
+                    }
+    
+                    if(max_check == 1 && min_check == 1)
+                    {
+                        spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
+                        VALVE_POS_NUM = ID_index;
+                        ID_index = 0;
+                        first_check = 0;
+                        VALVE_FR_timer = 0;
+    //                    CAN_TX_PRES((int16_t) (123), (int16_t) (123));
+                        CONTROL_MODE = MODE_NO_ACT;
+                    }
+                }
+                break;
+            }
             default:
                 break;
         }
         
+        if (FLAG_VALVE_OUTPUT_CALIB) {
+            // Valve Dead Zone (Mechanical dead-zone canceling)
+        //    if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
+        //        if (VALVE_PWM_RAW > 0.) {
+        //            VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_PLUS;
+        //        } else if (VALVE_PWM_RAW < 0.) {
+        //            VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_MINUS;
+        //        } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_CENTER;
+        //    } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW;
+    
+            if(VALVE_PWM_RAW>0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS;
+            else if(VALVE_PWM_RAW<0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS;
+      
+            VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_CENTER;
         
+            // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
+            double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOL*SUPPLY_VOLTAGE*1000.0; // convert PWM duty to mV
+            double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
+           
+            if (CUR_PWM_DZ > 0) CUR_PWM = (int)CUR_PWM_DZ + 143;
+            else if (CUR_PWM_DZ < 0) CUR_PWM = (int)CUR_PWM_DZ - 138;
+            else CUR_PWM = CUR_PWM_DZ;        
+        } else {
+            CUR_PWM = VALVE_PWM_RAW;
+        }
+        
+        VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
         
+        //CAN ----------------------------------------------------------------------    
+        if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
+            
+            if (flag_data_request[0] == HIGH) {
+                //position+velocity
+                CAN_TX_POSITION((long) CUR_POSITION, (long) CUR_VELOCITY);
+                //                        CAN_TX_POSITION((int) (PRES_A_VREF * 100.), (int) (PRES_B_VREF * 100.));
+                //                                    CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
+            }
+            
+            if (flag_data_request[1] == HIGH) {
+                //torque
+                //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
+                CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
+                //            CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
+            }
+            
+            if (flag_data_request[2] == HIGH) {
+                //pressure A and B 
+                CAN_TX_PRES((int16_t) (CUR_PRES_A), (int16_t) (CUR_PRES_B)); // CUR_PRES_X : 0(0bar)~4096(210bar)
+                //                        CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
+                //            CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
+                //            CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
+                
+            }
+            
+            if (flag_data_request[3] == HIGH) {
+                //PWM
+                CAN_TX_PWM((int16_t) CUR_PWM);
+                //            CAN_TX_PWM((int16_t) (CONTROL_MODE));
+                //            CAN_TX_PWM((int16_t) cnt_vel_findhome);
+                //            CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
+                //                        CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
+                
+            }
+            
+            if (flag_data_request[4] == HIGH) {
+                //valve position
+                CAN_TX_VALVE_POSITION((int16_t) (I2C_val));
+                //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
+                //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
+                
+                
+                //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
+                //                        CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE));
+                //            CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
+                //            CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
+                //            CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
+            }
+            
+            TMR3_COUNT_CAN_TX = 0;
+            
+        }
+        TMR3_COUNT_CAN_TX++;
+
         /*******************************************************
-        ***     Valve Control 
+        ***     Valve Control
         ********************************************************/
         ValveControl(CONTROL_MODE);
-        
+
         double t = (double)CNT_TMR4*DT_TMR4;
-        double T = 5.0; 
+        double T = 5.0;
         V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
 //      if(V_out > 0.0) V_out = 1000.0;
-//      else if(V_out < 0.0) V_out = -1000.0; 
+//      else if(V_out < 0.0) V_out = -1000.0;
 
         /*******************************************************
         ***     PWM
         ********************************************************/
         PWM_out= V_out/12000.0; // Full duty : 12000.0mV
-        
+
         // Saturation of output voltage to 5.0V
         if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
         else if (PWM_out < -0.41667) PWM_out=-0.41667;
-        
+
         if (PWM_out>0.0) {
             dtc_v=0.0;
             dtc_w=PWM_out;
@@ -413,11 +1626,11 @@
             dtc_v=-PWM_out;
             dtc_w=0.0;
         }
-        
+
         //pwm
         TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
         TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
-        
+
         /*******************************************************
         ***     Data Send (CAN) & Print out (UART)
         ********************************************************/
@@ -433,12 +1646,10 @@
 //            can.write(msg);
 //        }
 
-        if((CNT_TMR3%5000)==0){
-            if(LED==1)
-            {
+        if((CNT_TMR3%5000)==0) {
+            if(LED==1) {
                 LED=0;
-            }
-            else
+            } else
                 LED = 1;
 //            LED != LED;
         }
@@ -446,7 +1657,7 @@
         /*******************************************************
         ***     Timer Counting & etc.
         ********************************************************/
-        CNT_TMR3++; 
+        CNT_TMR3++;
     }
     TIM3->SR = 0x0;  // reset the status register
 }
@@ -459,17 +1670,17 @@
             break;
         case MODE_VALVE_OPEN_LOOP: // 1
             V_out = Vout.ref;
-            break;      
+            break;
         case MODE_VALVE_POSITION_CONTROL: // 2
             CurrentControl();
-            break;  
+            break;
         case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3
             V_out = 0.0;
-            break;      
+            break;
         case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4
             double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
             double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
-            
+
             // feedback input for position control
             pos.err = pos.ref - pos.sen;
             double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
@@ -477,34 +1688,35 @@
             pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
             pos.err_old = pos.err;
             I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
-            
+
             // feedforward input for position control
-            double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] 
+            double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
             double K_ff = 1.3;
             double K_v = 0.0;
             if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
-            if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA) 
+            if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
             I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
-                        
+
             cur.ref = I_REF_POS_FF + I_REF_POS_FB;
-            break;  
+            break;
         case MODE_TEST_CURRENT_CONTROL: // 9
             V_out = 0.0;
-            break;  
+            break;
         case MODE_TEST_PWM_CONTROL: // 10
             V_out = 0.0;
-            break;   
+            break;
         case MODE_FIND_HOME: // 22
             V_out = 0.0;
-            break;                                             
+            break;
         default:
             V_out = 0.0;
             break;
-    
+
     }
 }
 
-void CurrentControl() {
+void CurrentControl()
+{
     cur.err = cur.ref - cur.sen;
     cur.err_int = cur.err_int + cur.err*DT_TMR4;
     cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
@@ -521,8 +1733,8 @@
     V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
     //          V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
     V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
-            
-    double Ka = 5.0/KP_I; 
+
+    double Ka = 5.0/KP_I;
     if(V_out > V_MAX) {
         V_rem = V_out-V_MAX;
         V_rem = Ka*V_rem;
@@ -530,8 +1742,8 @@
         cur.err_int = cur.err_int - V_rem*DT_5k;
     } else if(V_out < -V_MAX) {
         V_rem = V_out-(-V_MAX);
-        V_rem = Ka*V_rem; 
+        V_rem = Ka*V_rem;
         V_out = -V_MAX;
         cur.err_int = cur.err_int - V_rem*DT_5k;
-    }   
+    }
 }
\ No newline at end of file