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rainbow
main.cpp@223:e26830fbaffd, 2020-12-28 (annotated)
- Committer:
- Lightvalve
- Date:
- Mon Dec 28 12:10:50 2020 +0000
- Revision:
- 223:e26830fbaffd
- Parent:
- 220:153c6f5e1c44
- Child:
- 224:985dba42f261
201228-2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 223:e26830fbaffd | 1 | //201228_2 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 11 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 12 | #include <string> |
Lightvalve | 170:42c938a40313 | 13 | #include <iostream> |
Lightvalve | 179:d5377766d7ea | 14 | #include <cmath> |
Lightvalve | 61:bc8c8270f0ab | 15 | |
Lightvalve | 61:bc8c8270f0ab | 16 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 17 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 18 | |
Lightvalve | 31:66738bfecec5 | 19 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 20 | |
jobuuu | 7:e9086c72bb22 | 21 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 22 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 23 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 24 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 25 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 26 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 27 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 28 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 29 | |
Lightvalve | 24:ef6e1092e9e6 | 30 | |
jobuuu | 7:e9086c72bb22 | 31 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 32 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 34 | |
jobuuu | 7:e9086c72bb22 | 35 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 36 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 37 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 38 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 39 | |
jobuuu | 7:e9086c72bb22 | 40 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 41 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 42 | DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 43 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 44 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 45 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 46 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 50 | |
jobuuu | 7:e9086c72bb22 | 51 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 52 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 53 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 54 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 55 | { |
Lightvalve | 11:82d8768d7351 | 56 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 57 | } |
jobuuu | 2:a1c0a37df760 | 58 | |
jobuuu | 7:e9086c72bb22 | 59 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 60 | State pos; |
jobuuu | 7:e9086c72bb22 | 61 | State vel; |
jobuuu | 7:e9086c72bb22 | 62 | State Vout; |
jobuuu | 7:e9086c72bb22 | 63 | State torq; |
Lightvalve | 207:c70c5a9f17dd | 64 | State torq_dot; |
jobuuu | 7:e9086c72bb22 | 65 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 66 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 67 | State cur; |
Lightvalve | 14:8e7590227d22 | 68 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 69 | |
Lightvalve | 14:8e7590227d22 | 70 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 71 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 72 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 73 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 74 | |
Lightvalve | 19:23b7c1ad8683 | 75 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 77 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 78 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 79 | |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 84 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 85 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 86 | |
Lightvalve | 61:bc8c8270f0ab | 87 | |
Lightvalve | 61:bc8c8270f0ab | 88 | |
Lightvalve | 61:bc8c8270f0ab | 89 | |
jobuuu | 7:e9086c72bb22 | 90 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 91 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 92 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 93 | |
Lightvalve | 12:6f2531038ea4 | 94 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 95 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 96 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 97 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 98 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 100 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 101 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 102 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 103 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 104 | }; |
Lightvalve | 12:6f2531038ea4 | 105 | |
Lightvalve | 12:6f2531038ea4 | 106 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 107 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 108 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 109 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 110 | //control mode |
Lightvalve | 12:6f2531038ea4 | 111 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 112 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 113 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 114 | |
Lightvalve | 47:fdcb8bd86fd6 | 115 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 116 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 171:bfc1fd2629d8 | 117 | MODE_RL, //5 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 121 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 122 | |
Lightvalve | 12:6f2531038ea4 | 123 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 124 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 125 | |
Lightvalve | 14:8e7590227d22 | 126 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 127 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 128 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 171:bfc1fd2629d8 | 129 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 |
Lightvalve | 13:747daba9cf59 | 130 | |
Lightvalve | 12:6f2531038ea4 | 131 | //utility |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 135 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 138 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 139 | |
Lightvalve | 12:6f2531038ea4 | 140 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 141 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 142 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 143 | MODE_SYSTEM_ID, //33 |
Lightvalve | 169:645207e160ca | 144 | MODE_FREQ_TEST, //34 |
Lightvalve | 169:645207e160ca | 145 | MODE_SEND_BUFFER, //35 |
Lightvalve | 169:645207e160ca | 146 | MODE_SEND_OVER, //36 |
Lightvalve | 169:645207e160ca | 147 | MODE_STEP_TEST, //37 |
Lightvalve | 12:6f2531038ea4 | 148 | }; |
Lightvalve | 12:6f2531038ea4 | 149 | |
Lightvalve | 65:a2d7c63419c2 | 150 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 151 | { |
Lightvalve | 169:645207e160ca | 152 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 169:645207e160ca | 153 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 154 | |
Lightvalve | 169:645207e160ca | 155 | /** Configure the main internal regulator output voltage |
Lightvalve | 169:645207e160ca | 156 | */ |
Lightvalve | 169:645207e160ca | 157 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 169:645207e160ca | 158 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 169:645207e160ca | 159 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 160 | */ |
Lightvalve | 169:645207e160ca | 161 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 169:645207e160ca | 162 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 169:645207e160ca | 163 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 169:645207e160ca | 164 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 169:645207e160ca | 165 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 169:645207e160ca | 166 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 169:645207e160ca | 167 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 169:645207e160ca | 168 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 169:645207e160ca | 169 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 169:645207e160ca | 170 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 169:645207e160ca | 171 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 172 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 173 | } |
Lightvalve | 169:645207e160ca | 174 | /** Activate the Over-Drive mode |
Lightvalve | 169:645207e160ca | 175 | */ |
Lightvalve | 169:645207e160ca | 176 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 169:645207e160ca | 177 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 178 | } |
Lightvalve | 169:645207e160ca | 179 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 180 | */ |
Lightvalve | 169:645207e160ca | 181 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 169:645207e160ca | 182 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 169:645207e160ca | 183 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 169:645207e160ca | 184 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 169:645207e160ca | 185 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 169:645207e160ca | 186 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 169:645207e160ca | 188 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 189 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 190 | } |
Lightvalve | 65:a2d7c63419c2 | 191 | } |
Lightvalve | 65:a2d7c63419c2 | 192 | |
Lightvalve | 99:7bbcb3c0fb06 | 193 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 194 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 195 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 196 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 197 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 198 | |
Lightvalve | 73:f80dc3970c99 | 199 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 200 | |
Lightvalve | 169:645207e160ca | 201 | const float h1[num_input][16] = { |
Lightvalve | 219:3cb6bd063f56 | 202 | {-1.6017948389053345f,1.2721383571624756f,0.1310378611087799f,-0.9444252848625183f,-1.9589552879333496f,1.1329879760742188f,-0.17743819952011108f,-0.19157131016254425f,-0.39761483669281006f,0.02001183293759823f,0.5025057196617126f,-2.509382724761963f,-0.2675858736038208f,0.27560269832611084f,-0.2611466646194458f,-0.9627107977867126f}, |
Lightvalve | 219:3cb6bd063f56 | 203 | {-1.2710213661193848f,0.9135757684707642f,-0.3988758325576782f,-0.7979171872138977f,-1.4895585775375366f,0.5568610429763794f,-0.4116867780685425f,-0.261433482170105f,-0.22742684185504913f,0.2772603929042816f,0.118864506483078f,-1.5505203008651733f,0.23985113203525543f,-0.2809593081474304f,-0.21292872726917267f,-0.6193060874938965f}, |
Lightvalve | 219:3cb6bd063f56 | 204 | {-1.1586071252822876f,0.7516070604324341f,0.36955419182777405f,-0.9032031297683716f,-0.9722328782081604f,0.5363096594810486f,0.2916664779186249f,-0.016872992739081383f,-0.34971633553504944f,0.2836141288280487f,-0.054457396268844604f,-0.9038598537445068f,-0.0020234500989317894f,0.19621078670024872f,0.056768983602523804f,-1.1061573028564453f}, |
Lightvalve | 219:3cb6bd063f56 | 205 | {-0.7506084442138672f,0.1879994422197342f,0.40358296036720276f,0.12524257600307465f,-0.5177642107009888f,-0.18764258921146393f,-0.11764177680015564f,0.31180232763290405f,-0.20574431121349335f,0.42218565940856934f,0.16467393934726715f,0.3004089593887329f,-0.1665881872177124f,0.09486014395952225f,-0.3007376194000244f,-0.8816207051277161f}, |
Lightvalve | 219:3cb6bd063f56 | 206 | {0.7436127662658691f,-0.604726254940033f,-0.005224883556365967f,0.9320474863052368f,0.5615028142929077f,-0.8275365829467773f,0.13140985369682312f,0.018719080835580826f,-0.24859893321990967f,0.23700864613056183f,-0.41653650999069214f,1.252004861831665f,-0.0686110407114029f,0.23053120076656342f,-0.39249828457832336f,-0.6377205848693848f}, |
Lightvalve | 219:3cb6bd063f56 | 207 | {3.0718040466308594f,-3.262662887573242f,0.22110894322395325f,2.670456647872925f,2.9312491416931152f,-3.062858819961548f,0.16770240664482117f,-0.1752457618713379f,-0.304975301027298f,0.24974356591701508f,-2.912475347518921f,3.297006845474243f,-0.2682695984840393f,0.3757273256778717f,-0.4196912348270416f,1.0734145641326904f}, |
Lightvalve | 219:3cb6bd063f56 | 208 | {-1.2198433876037598f,1.5182578563690186f,-0.2540779709815979f,-1.8283756971359253f,-1.570626139640808f,1.7989088296890259f,0.06107431650161743f,-0.7636352777481079f,0.3089294731616974f,-0.09506343305110931f,2.775860548019409f,0.7932590246200562f,-0.17504744231700897f,0.2239564061164856f,-0.15860587358474731f,-0.7237789630889893f}, |
Lightvalve | 219:3cb6bd063f56 | 209 | {0.7539365291595459f,-0.9152541160583496f,-0.2703247666358948f,0.3871593773365021f,0.3573713004589081f,-0.712091326713562f,-0.18203827738761902f,-0.5724472999572754f,-0.17589353024959564f,-0.025821663439273834f,0.3012785017490387f,0.5540553331375122f,0.3776646554470062f,0.029355080798268318f,0.0436977744102478f,1.1350784301757812f}, |
Lightvalve | 219:3cb6bd063f56 | 210 | {0.6773941516876221f,-0.1407381296157837f,0.10406997799873352f,-0.31886449456214905f,0.2701631486415863f,-0.2895267903804779f,-0.07359349727630615f,-0.522844135761261f,-0.4761183261871338f,0.22720466554164886f,-0.11068277060985565f,0.17022143304347992f,0.23315370082855225f,0.15179778635501862f,-0.31029027700424194f,0.851940393447876f}, |
Lightvalve | 219:3cb6bd063f56 | 211 | {0.11661386489868164f,-0.3948979079723358f,0.18748918175697327f,-0.2878238558769226f,0.28554558753967285f,0.11674453318119049f,-0.3036908507347107f,-0.1508290320634842f,-0.14107836782932281f,-0.5925581455230713f,0.2786004841327667f,-1.0318316221237183f,0.37844526767730713f,-0.270053893327713f,0.35390153527259827f,0.38183316588401794f}, |
Lightvalve | 219:3cb6bd063f56 | 212 | {0.4711846709251404f,0.11557799577713013f,0.3775894343852997f,0.0314268134534359f,0.03386480361223221f,0.016547810286283493f,-0.20654654502868652f,-0.06258935481309891f,-0.4769713580608368f,-0.07612045109272003f,0.6390635967254639f,-0.8360038995742798f,-0.06711658090353012f,-0.030321964994072914f,0.2710213363170624f,-0.054686423391103745f}, |
Lightvalve | 219:3cb6bd063f56 | 213 | {-0.37094420194625854f,-0.2944038212299347f,-0.40945154428482056f,-0.18097494542598724f,0.14135384559631348f,0.021318335086107254f,0.15575703978538513f,0.29287639260292053f,-0.12214788794517517f,0.1086469367146492f,-0.14901117980480194f,-0.15198558568954468f,0.1470927745103836f,-0.03396562486886978f,0.10656675696372986f,0.06443876773118973f}, |
Lightvalve | 219:3cb6bd063f56 | 214 | {0.025174643844366074f,-0.12816596031188965f,0.2015570104122162f,0.1076304167509079f,0.45414742827415466f,0.19509439170360565f,-0.24415965378284454f,0.013022400438785553f,-0.10836649686098099f,-0.29661229252815247f,0.09127697348594666f,-0.21214918792247772f,0.09341105818748474f,0.01174785103648901f,-0.22613362967967987f,-0.3625008761882782f}, |
Lightvalve | 219:3cb6bd063f56 | 215 | {-0.04146391525864601f,-0.02673570066690445f,0.41918185353279114f,-0.1233106479048729f,-0.07927072793245316f,-0.1876136064529419f,-0.32497477531433105f,-0.4840133786201477f,-0.044291287660598755f,-0.3259299099445343f,0.04178468510508537f,-0.0003480979357846081f,-0.31783685088157654f,-0.05072624981403351f,0.04871204495429993f,-0.08137178421020508f}, |
Lightvalve | 219:3cb6bd063f56 | 216 | {0.1422140747308731f,0.18844546377658844f,0.20596781373023987f,-0.2328251153230667f,0.34344229102134705f,0.06260570883750916f,0.042680561542510986f,0.07508613914251328f,0.4000869691371918f,-0.010638000443577766f,0.13212932646274567f,-0.657844066619873f,0.10472581535577774f,-0.038563571870326996f,0.06784489750862122f,-0.2556094229221344f}, |
Lightvalve | 219:3cb6bd063f56 | 217 | {0.15386898815631866f,-0.49337783455848694f,-0.4106670916080475f,-0.4150790572166443f,-0.05264211446046829f,-0.05708514153957367f,-0.15809619426727295f,-0.20627009868621826f,0.27094385027885437f,-0.09812130033969879f,-0.3514001667499542f,-0.9586353898048401f,-0.275861918926239f,0.02052518166601658f,-0.08373728394508362f,-0.0018482634332031012f}, |
Lightvalve | 65:a2d7c63419c2 | 218 | }; |
Lightvalve | 65:a2d7c63419c2 | 219 | |
Lightvalve | 169:645207e160ca | 220 | const float h2[16][16] = { |
Lightvalve | 219:3cb6bd063f56 | 221 | {-0.9739745259284973f,3.579744815826416f,-0.06966331601142883f,0.8622938990592957f,-0.21907491981983185f,2.2829554080963135f,-0.13155855238437653f,-0.014519207179546356f,-0.43008196353912354f,-0.1415480375289917f,0.17231711745262146f,-4.9480390548706055f,-0.02454538829624653f,-1.7999197244644165f,-0.38519009947776794f,1.4918317794799805f}, |
Lightvalve | 219:3cb6bd063f56 | 222 | {0.03609159216284752f,-0.6491178274154663f,0.057057321071624756f,-0.5475255846977234f,-0.35503754019737244f,-3.0916311740875244f,-0.5200656652450562f,-0.42126399278640747f,-0.33757925033569336f,0.2895788848400116f,-0.4909915030002594f,-1.1257127523422241f,0.18442146480083466f,1.348382830619812f,-0.5171104669570923f,-2.655162811279297f}, |
Lightvalve | 219:3cb6bd063f56 | 223 | {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f}, |
Lightvalve | 219:3cb6bd063f56 | 224 | {0.15409719944000244f,0.4271918833255768f,-0.2894435524940491f,0.4524352252483368f,0.08946844935417175f,-0.24254196882247925f,-0.5646932125091553f,0.2643083930015564f,0.26211628317832947f,0.2953031361103058f,0.0909804254770279f,0.8597109913825989f,-0.5144365429878235f,-2.37484073638916f,-0.026095986366271973f,0.29753774404525757f}, |
Lightvalve | 219:3cb6bd063f56 | 225 | {-0.7763098478317261f,2.959994316101074f,-0.25313520431518555f,0.5777999758720398f,0.036378175020217896f,0.7788732051849365f,-0.5079860091209412f,-0.20636579394340515f,-0.024399548768997192f,-0.39465832710266113f,-0.4901541471481323f,-3.3827083110809326f,-0.013386494480073452f,-1.876047134399414f,-0.6391417384147644f,0.6140359044075012f}, |
Lightvalve | 219:3cb6bd063f56 | 226 | {0.020159810781478882f,0.545926034450531f,-0.3519742488861084f,-0.17923703789710999f,-0.3015052080154419f,-1.5342668294906616f,-0.7026005387306213f,-0.12369749695062637f,-0.23047015070915222f,0.3579089343547821f,-0.2382185161113739f,-5.193862438201904f,-0.3443910777568817f,1.945488691329956f,0.014947117306292057f,-1.2414220571517944f}, |
Lightvalve | 219:3cb6bd063f56 | 227 | {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f}, |
Lightvalve | 219:3cb6bd063f56 | 228 | {0.3839884400367737f,0.6259503960609436f,0.33083590865135193f,0.04438639059662819f,-0.14358049631118774f,0.12416914105415344f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.4972154498100281f,-0.2750113010406494f,-0.31673234701156616f,-0.015966646373271942f,-0.08780939131975174f,0.328056275844574f}, |
Lightvalve | 219:3cb6bd063f56 | 229 | {-0.4527643918991089f,0.3202667832374573f,-0.11379697918891907f,0.0684560090303421f,0.041274964809417725f,-0.40635451674461365f,-0.2745489478111267f,0.031847670674324036f,0.06103590130805969f,-0.38046833872795105f,-0.45007404685020447f,-0.5276026725769043f,-0.37024784088134766f,-0.3135625123977661f,-0.3714982867240906f,-0.12828999757766724f}, |
Lightvalve | 219:3cb6bd063f56 | 230 | {0.2802984118461609f,0.5001301765441895f,-0.13502129912376404f,0.6260269284248352f,0.12987366318702698f,0.6041213870048523f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.5018476247787476f,0.3686026930809021f,0.3811538517475128f,-0.5396527647972107f,-0.19131632149219513f,0.09156869351863861f}, |
Lightvalve | 219:3cb6bd063f56 | 231 | {-1.5928384065628052f,0.23942683637142181f,0.0457797646522522f,-0.6350169777870178f,-0.03321319818496704f,0.08973085880279541f,-0.18186365067958832f,-0.3142535090446472f,-0.050184011459350586f,0.12480869889259338f,-0.5123732089996338f,-4.090933799743652f,-0.4121001660823822f,1.199095368385315f,-0.18886037170886993f,-0.7048641443252563f}, |
Lightvalve | 219:3cb6bd063f56 | 232 | {0.03677457198500633f,0.4954114556312561f,0.3954955041408539f,0.2689988911151886f,0.0033026933670043945f,1.278443694114685f,-0.4117635190486908f,-0.24394789338111877f,0.3487861454486847f,-0.32520344853401184f,0.14627091586589813f,-0.9104770421981812f,-0.07545550167560577f,-1.3930959701538086f,0.008092201314866543f,-1.8283593654632568f}, |
Lightvalve | 219:3cb6bd063f56 | 233 | {-0.31720414757728577f,-0.21001535654067993f,-0.15798500180244446f,0.3665239214897156f,-0.37393757700920105f,0.37094148993492126f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.1080506220459938f,-0.2837170362472534f,0.41839322447776794f,-0.01957082748413086f,-0.12957632541656494f,0.10856001079082489f}, |
Lightvalve | 219:3cb6bd063f56 | 234 | {0.03818705305457115f,0.27717405557632446f,-0.2018718123435974f,0.06585641950368881f,0.07545611262321472f,0.05265878140926361f,-0.11297860741615295f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.351835161447525f,-0.2859584093093872f,-0.16718891263008118f,0.23180222511291504f,-0.23956191539764404f,-0.07242263853549957f}, |
Lightvalve | 219:3cb6bd063f56 | 235 | {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, |
Lightvalve | 219:3cb6bd063f56 | 236 | {-1.0752074718475342f,-2.8200089931488037f,0.12081471085548401f,-0.12609876692295074f,0.29976895451545715f,0.4510769844055176f,-0.2826606035232544f,0.18327592313289642f,-0.3893685042858124f,-0.02222958207130432f,-0.19482164084911346f,-0.37641236186027527f,-0.19991017878055573f,-1.0054714679718018f,0.06622982025146484f,1.2732210159301758f}, |
Lightvalve | 65:a2d7c63419c2 | 237 | }; |
Lightvalve | 65:a2d7c63419c2 | 238 | |
Lightvalve | 169:645207e160ca | 239 | const float h3[16][16] = { |
Lightvalve | 219:3cb6bd063f56 | 240 | {-0.36079341173171997f,0.5496202707290649f,-0.6524567604064941f,-1.0138130187988281f,-0.7639057636260986f,0.5781964063644409f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,-0.533208429813385f,0.9845144152641296f,0.32505926489830017f,-0.19595709443092346f}, |
Lightvalve | 219:3cb6bd063f56 | 241 | {0.047732532024383545f,0.017954785376787186f,-0.18629395961761475f,-0.9162130951881409f,-0.43290695548057556f,-4.281400680541992f,-0.3198729455471039f,0.06247803568840027f,-0.19349214434623718f,-0.9508686065673828f,0.2572092115879059f,-0.41319137811660767f,-0.35956844687461853f,-0.5297766327857971f,0.10103966295719147f,-0.7109990119934082f}, |
Lightvalve | 219:3cb6bd063f56 | 242 | {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f}, |
Lightvalve | 219:3cb6bd063f56 | 243 | {-0.30922991037368774f,-0.05632366985082626f,-1.3186177015304565f,-0.9530683755874634f,-0.49597063660621643f,0.2564902603626251f,0.20021501183509827f,0.07002416253089905f,-0.4060443043708801f,-0.4593014717102051f,0.13192829489707947f,0.41021624207496643f,-0.2266009896993637f,0.25329798460006714f,0.28113701939582825f,-0.15740571916103363f}, |
Lightvalve | 219:3cb6bd063f56 | 244 | {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f}, |
Lightvalve | 219:3cb6bd063f56 | 245 | {-0.37449589371681213f,-0.02029903419315815f,-2.5072414875030518f,-12.973404884338379f,0.2337467223405838f,1.0865919589996338f,-0.18732719123363495f,0.22384825348854065f,-0.850281298160553f,-0.4489060342311859f,-0.23735009133815765f,0.05998014658689499f,0.23774290084838867f,0.08863037824630737f,0.5211813449859619f,-1.1956897974014282f}, |
Lightvalve | 219:3cb6bd063f56 | 246 | {0.4110594093799591f,0.2715781033039093f,-0.12724249064922333f,0.37246426939964294f,-0.06906148046255112f,-0.05251416191458702f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.13369451463222504f,0.2011522799730301f,0.3126353323459625f,-0.3391006588935852f}, |
Lightvalve | 219:3cb6bd063f56 | 247 | {-0.40892091393470764f,0.04420051723718643f,-0.26215535402297974f,0.25968697667121887f,0.4493691027164459f,-0.16038022935390472f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.17052586376667023f,-0.4737553000450134f,0.08030081540346146f,0.005298197269439697f}, |
Lightvalve | 219:3cb6bd063f56 | 248 | {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f}, |
Lightvalve | 219:3cb6bd063f56 | 249 | {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, |
Lightvalve | 219:3cb6bd063f56 | 250 | {0.15459725260734558f,0.3123319149017334f,0.10377500206232071f,-0.044353384524583817f,-0.2320195883512497f,0.12762269377708435f,-0.08742031455039978f,0.05785742402076721f,-0.07219423353672028f,-0.2943510413169861f,0.1268840730190277f,-0.30447322130203247f,-0.044554103165864944f,-0.20284022390842438f,0.5049844980239868f,0.23406195640563965f}, |
Lightvalve | 219:3cb6bd063f56 | 251 | {-0.408692330121994f,0.7442746162414551f,-0.3166918158531189f,-0.5923694968223572f,-2.5536251068115234f,2.459355354309082f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,1.5557342767715454f,2.810499429702759f,0.883807361125946f,-0.5292647480964661f}, |
Lightvalve | 219:3cb6bd063f56 | 252 | {-0.2991822361946106f,0.3794580399990082f,-0.07897943258285522f,-0.05932474136352539f,-0.019097916781902313f,0.10188531875610352f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.13475483655929565f,0.36124154925346375f,-0.16869547963142395f}, |
Lightvalve | 219:3cb6bd063f56 | 253 | {-0.2675279378890991f,-0.4076881408691406f,0.6109089851379395f,1.124742865562439f,0.791110098361969f,-1.8034776449203491f,-0.32875844836235046f,-0.31893211603164673f,-0.6889935731887817f,-1.1343306303024292f,-0.5256567001342773f,-0.8404866456985474f,1.0291988849639893f,-1.3514559268951416f,0.12213380634784698f,0.17103822529315948f}, |
Lightvalve | 219:3cb6bd063f56 | 254 | {-0.015470266342163086f,-0.23503242433071136f,0.13451209664344788f,0.36471807956695557f,-0.08753460645675659f,-0.20316985249519348f,0.05196094512939453f,-0.008358269929885864f,-0.4239840805530548f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.07671336829662323f,0.1646096110343933f,0.19001242518424988f,-0.29890790581703186f}, |
Lightvalve | 219:3cb6bd063f56 | 255 | {0.1863725483417511f,-0.07918193191289902f,-0.8252384066581726f,-36.685184478759766f,1.862860083580017f,1.8086168766021729f,0.04860696196556091f,0.17769548296928406f,-0.32842522859573364f,-0.40967434644699097f,-0.3929237127304077f,-0.0008496989612467587f,2.3736817836761475f,1.629492998123169f,-0.45149895548820496f,-0.32196617126464844f}, |
Lightvalve | 66:a8e6799dbce3 | 256 | }; |
Lightvalve | 65:a2d7c63419c2 | 257 | |
Lightvalve | 219:3cb6bd063f56 | 258 | const float hout[16] = { 0.45773375034332275f,0.3443804383277893f,-0.43964359164237976f,-0.21056394279003143f,0.19662600755691528f,0.7040731906890869f,0.0030125975608825684f,0.15066689252853394f,0.10095822811126709f,-0.13003124296665192f,0.18801097571849823f,0.0785079076886177f,-0.15748845040798187f,0.1868625432252884f,0.18598346412181854f,-0.9022102355957031f }; |
Lightvalve | 219:3cb6bd063f56 | 259 | |
Lightvalve | 219:3cb6bd063f56 | 260 | const float b1[16] = { 0.7107149362564087f,1.0883506536483765f,-1.7145336866378784f,0.09724511206150055f,1.4542453289031982f,1.417521595954895f,-0.058932315558195114f,0.9398505687713623f,0.4389953017234802f,-0.9609658718109131f,0.8672975301742554f,1.5156910419464111f,-0.3718140721321106f,-0.886523962020874f,-1.087764859199524f,2.5278995037078857f }; |
Lightvalve | 219:3cb6bd063f56 | 261 | |
Lightvalve | 219:3cb6bd063f56 | 262 | const float b2[16] = { -0.4577406942844391f,-0.4344789981842041f,-1.4564176797866821f,-0.6435210704803467f,-0.6939148902893066f,-0.16397996246814728f,-0.013260572217404842f,-0.43840786814689636f,-1.20063054561615f,-1.912178635597229f,-0.1346415877342224f,0.10342646390199661f,-0.23722384870052338f,0.9154923558235168f,-0.1802087128162384f,1.0650097131729126f }; |
Lightvalve | 219:3cb6bd063f56 | 263 | |
Lightvalve | 219:3cb6bd063f56 | 264 | const float b3[16] = { -1.963319182395935f,-0.7180035710334778f,0.7040019035339355f,-0.4437018930912018f,-0.7515134811401367f,1.0377838611602783f,-0.45353031158447266f,-0.6562485098838806f,0.04508165270090103f,0.06766403466463089f,-0.29913392663002014f,-0.09212813526391983f,-1.5836485624313354f,0.42195138335227966f,-1.3884198665618896f,-0.511356770992279f }; |
Lightvalve | 219:3cb6bd063f56 | 265 | |
Lightvalve | 219:3cb6bd063f56 | 266 | const float bout[1] = { 0.09115694463253021f }; |
Lightvalve | 65:a2d7c63419c2 | 267 | |
Lightvalve | 170:42c938a40313 | 268 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 269 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 270 | |
Lightvalve | 170:42c938a40313 | 271 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 272 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 273 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 274 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 275 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 276 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 277 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 278 | |
Lightvalve | 170:42c938a40313 | 279 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 280 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 281 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 282 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 283 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 284 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 285 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 286 | |
Lightvalve | 170:42c938a40313 | 287 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 288 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 289 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 290 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 291 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 292 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 293 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 294 | |
Lightvalve | 170:42c938a40313 | 295 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 296 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 297 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 298 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 299 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 300 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 301 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 302 | |
Lightvalve | 87:471334725012 | 303 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 304 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 305 | |
Lightvalve | 179:d5377766d7ea | 306 | /////////////////////////////////////////////RL tuning |
Lightvalve | 179:d5377766d7ea | 307 | float Gradient_Limit = 0.5f; |
Lightvalve | 179:d5377766d7ea | 308 | float gradient_rate_actor = 0.001f; |
Lightvalve | 179:d5377766d7ea | 309 | float gradient_rate_critic = 0.001f; |
Lightvalve | 179:d5377766d7ea | 310 | ////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 311 | |
Lightvalve | 170:42c938a40313 | 312 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 313 | { |
Lightvalve | 173:68c7914679ec | 314 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 315 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 316 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 317 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 318 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 319 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 320 | } |
Lightvalve | 173:68c7914679ec | 321 | //ReLU |
Lightvalve | 173:68c7914679ec | 322 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 323 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 324 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 325 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 326 | } |
Lightvalve | 173:68c7914679ec | 327 | //tanh |
Lightvalve | 173:68c7914679ec | 328 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 329 | } |
Lightvalve | 173:68c7914679ec | 330 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 331 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 332 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 333 | } |
Lightvalve | 173:68c7914679ec | 334 | //ReLU |
Lightvalve | 173:68c7914679ec | 335 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 336 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 337 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 338 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 339 | } |
Lightvalve | 173:68c7914679ec | 340 | //tanh |
Lightvalve | 173:68c7914679ec | 341 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 342 | } |
Lightvalve | 170:42c938a40313 | 343 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 344 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 345 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 346 | } |
Lightvalve | 173:68c7914679ec | 347 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 348 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 349 | } |
Lightvalve | 170:42c938a40313 | 350 | return output; |
Lightvalve | 170:42c938a40313 | 351 | } |
Lightvalve | 170:42c938a40313 | 352 | |
Lightvalve | 170:42c938a40313 | 353 | |
Lightvalve | 170:42c938a40313 | 354 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 355 | { |
Lightvalve | 173:68c7914679ec | 356 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 357 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 358 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 359 | |
Lightvalve | 173:68c7914679ec | 360 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 361 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 178:1074553d2f6f | 362 | output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 363 | } |
Lightvalve | 178:1074553d2f6f | 364 | output1[index2] = output1[index2] + ba1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 365 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 366 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 367 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 368 | } |
Lightvalve | 173:68c7914679ec | 369 | } |
Lightvalve | 173:68c7914679ec | 370 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 371 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 178:1074553d2f6f | 372 | output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 373 | } |
Lightvalve | 178:1074553d2f6f | 374 | output2[index2] = output2[index2] + ba2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 375 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 376 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 377 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 378 | } |
Lightvalve | 173:68c7914679ec | 379 | } |
Lightvalve | 173:68c7914679ec | 380 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 381 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 178:1074553d2f6f | 382 | output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 383 | } |
Lightvalve | 178:1074553d2f6f | 384 | hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 385 | } |
Lightvalve | 178:1074553d2f6f | 386 | |
Lightvalve | 178:1074553d2f6f | 387 | mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus |
Lightvalve | 178:1074553d2f6f | 388 | deviation_before_SP = output[1] + ba3_temp[1]; |
Lightvalve | 173:68c7914679ec | 389 | //Softplus |
Lightvalve | 173:68c7914679ec | 390 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 391 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 179:d5377766d7ea | 392 | logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 393 | logging4 = deviation; |
Lightvalve | 173:68c7914679ec | 394 | } |
Lightvalve | 173:68c7914679ec | 395 | |
Lightvalve | 173:68c7914679ec | 396 | |
Lightvalve | 173:68c7914679ec | 397 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 398 | { |
Lightvalve | 173:68c7914679ec | 399 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 400 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 401 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 402 | |
Lightvalve | 173:68c7914679ec | 403 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 404 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 405 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 406 | } |
Lightvalve | 170:42c938a40313 | 407 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 408 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 409 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 410 | } |
Lightvalve | 170:42c938a40313 | 411 | } |
Lightvalve | 173:68c7914679ec | 412 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 413 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 414 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 415 | } |
Lightvalve | 173:68c7914679ec | 416 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 417 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 418 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 419 | } |
Lightvalve | 170:42c938a40313 | 420 | } |
Lightvalve | 170:42c938a40313 | 421 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 422 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 423 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 424 | } |
Lightvalve | 170:42c938a40313 | 425 | } |
Lightvalve | 173:68c7914679ec | 426 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 427 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 428 | //Softplus |
Lightvalve | 173:68c7914679ec | 429 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 430 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 431 | } |
Lightvalve | 170:42c938a40313 | 432 | |
Lightvalve | 170:42c938a40313 | 433 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 434 | { |
Lightvalve | 170:42c938a40313 | 435 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 436 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 437 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 438 | } |
Lightvalve | 170:42c938a40313 | 439 | |
Lightvalve | 170:42c938a40313 | 440 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 441 | { |
Lightvalve | 170:42c938a40313 | 442 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 443 | grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation)); |
Lightvalve | 170:42c938a40313 | 444 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 445 | } |
Lightvalve | 170:42c938a40313 | 446 | |
Lightvalve | 173:68c7914679ec | 447 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 448 | { |
Lightvalve | 173:68c7914679ec | 449 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 450 | return x; |
Lightvalve | 173:68c7914679ec | 451 | } else { |
Lightvalve | 173:68c7914679ec | 452 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 453 | } |
Lightvalve | 173:68c7914679ec | 454 | } |
Lightvalve | 173:68c7914679ec | 455 | |
Lightvalve | 170:42c938a40313 | 456 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 457 | { |
Lightvalve | 173:68c7914679ec | 458 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 177:8e9cf31d63f4 | 459 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 460 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 461 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 462 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 463 | float d_V_d_hc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 464 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 465 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 466 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 467 | d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 468 | } |
Lightvalve | 173:68c7914679ec | 469 | } |
Lightvalve | 170:42c938a40313 | 470 | } |
Lightvalve | 177:8e9cf31d63f4 | 471 | G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); |
Lightvalve | 170:42c938a40313 | 472 | } |
Lightvalve | 170:42c938a40313 | 473 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 474 | if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 475 | else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 476 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 477 | } |
Lightvalve | 173:68c7914679ec | 478 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 479 | float d_V_d_bc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 480 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 481 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 482 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 483 | d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 484 | } |
Lightvalve | 173:68c7914679ec | 485 | } |
Lightvalve | 173:68c7914679ec | 486 | } |
Lightvalve | 177:8e9cf31d63f4 | 487 | G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); |
Lightvalve | 173:68c7914679ec | 488 | } |
Lightvalve | 173:68c7914679ec | 489 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 490 | if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 491 | else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 492 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 493 | } |
Lightvalve | 173:68c7914679ec | 494 | |
Lightvalve | 175:2f7289dbd488 | 495 | |
Lightvalve | 173:68c7914679ec | 496 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 497 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 498 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 499 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 500 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 501 | float d_V_d_hc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 502 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 503 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 504 | d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 505 | } |
Lightvalve | 173:68c7914679ec | 506 | } |
Lightvalve | 177:8e9cf31d63f4 | 507 | G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); |
Lightvalve | 173:68c7914679ec | 508 | } |
Lightvalve | 173:68c7914679ec | 509 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 510 | if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 511 | else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 512 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 513 | } |
Lightvalve | 173:68c7914679ec | 514 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 515 | float d_V_d_bc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 516 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 517 | d_V_d_bc2 = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 518 | } |
Lightvalve | 177:8e9cf31d63f4 | 519 | G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); |
Lightvalve | 173:68c7914679ec | 520 | } |
Lightvalve | 173:68c7914679ec | 521 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 522 | if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 523 | else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 524 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 525 | } |
Lightvalve | 173:68c7914679ec | 526 | |
Lightvalve | 173:68c7914679ec | 527 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 528 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 529 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 530 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 531 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 532 | float d_V_d_hc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 533 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 534 | d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 535 | } |
Lightvalve | 177:8e9cf31d63f4 | 536 | G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); |
Lightvalve | 173:68c7914679ec | 537 | } |
Lightvalve | 173:68c7914679ec | 538 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 179:d5377766d7ea | 539 | if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 540 | else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 541 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 542 | } |
Lightvalve | 173:68c7914679ec | 543 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 544 | float d_V_d_bc3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 545 | d_V_d_bc3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 546 | G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); |
Lightvalve | 173:68c7914679ec | 547 | } |
Lightvalve | 173:68c7914679ec | 548 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 179:d5377766d7ea | 549 | if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 550 | else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 551 | //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 173:68c7914679ec | 552 | } |
Lightvalve | 173:68c7914679ec | 553 | |
Lightvalve | 173:68c7914679ec | 554 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 555 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 556 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 557 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 558 | } |
Lightvalve | 179:d5377766d7ea | 559 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 560 | } |
Lightvalve | 173:68c7914679ec | 561 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 562 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 563 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 564 | } |
Lightvalve | 179:d5377766d7ea | 565 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 566 | } |
Lightvalve | 170:42c938a40313 | 567 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 568 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 569 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 570 | } |
Lightvalve | 179:d5377766d7ea | 571 | bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 170:42c938a40313 | 572 | } |
Lightvalve | 170:42c938a40313 | 573 | } |
Lightvalve | 170:42c938a40313 | 574 | |
Lightvalve | 173:68c7914679ec | 575 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 576 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 577 | { |
Lightvalve | 218:066030f7951f | 578 | |
Lightvalve | 173:68c7914679ec | 579 | |
Lightvalve | 173:68c7914679ec | 580 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 581 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 582 | |
Lightvalve | 173:68c7914679ec | 583 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 584 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 585 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 586 | float d_x_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 587 | float d_y_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 588 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 589 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 590 | } else { |
Lightvalve | 173:68c7914679ec | 591 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 592 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 593 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 594 | d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 595 | d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 596 | } |
Lightvalve | 171:bfc1fd2629d8 | 597 | } |
Lightvalve | 170:42c938a40313 | 598 | } |
Lightvalve | 170:42c938a40313 | 599 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 600 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 601 | d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1; |
Lightvalve | 177:8e9cf31d63f4 | 602 | d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1; |
Lightvalve | 173:68c7914679ec | 603 | |
Lightvalve | 173:68c7914679ec | 604 | G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 605 | } |
Lightvalve | 170:42c938a40313 | 606 | } |
Lightvalve | 176:589ea3edcf3c | 607 | G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 608 | if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 609 | else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 610 | //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 611 | } |
Lightvalve | 173:68c7914679ec | 612 | |
Lightvalve | 173:68c7914679ec | 613 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 614 | float d_x_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 615 | float d_y_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 616 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 617 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 618 | } else { |
Lightvalve | 173:68c7914679ec | 619 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 620 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 621 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 622 | d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 623 | d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 624 | } |
Lightvalve | 171:bfc1fd2629d8 | 625 | } |
Lightvalve | 170:42c938a40313 | 626 | } |
Lightvalve | 170:42c938a40313 | 627 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 628 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 629 | d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1; |
Lightvalve | 177:8e9cf31d63f4 | 630 | d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1; |
Lightvalve | 173:68c7914679ec | 631 | |
Lightvalve | 173:68c7914679ec | 632 | G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 633 | } |
Lightvalve | 170:42c938a40313 | 634 | } |
Lightvalve | 176:589ea3edcf3c | 635 | G_ba1[index2] = -G_ba1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 636 | if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 637 | else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 638 | //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 639 | } |
Lightvalve | 170:42c938a40313 | 640 | |
Lightvalve | 173:68c7914679ec | 641 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 642 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 643 | |
Lightvalve | 173:68c7914679ec | 644 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 645 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 646 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 647 | float d_x_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 648 | float d_y_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 649 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 650 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 651 | } else { |
Lightvalve | 173:68c7914679ec | 652 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 653 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 654 | d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 655 | d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 656 | } |
Lightvalve | 170:42c938a40313 | 657 | } |
Lightvalve | 173:68c7914679ec | 658 | |
Lightvalve | 170:42c938a40313 | 659 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 660 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 661 | d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2; |
Lightvalve | 177:8e9cf31d63f4 | 662 | d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2; |
Lightvalve | 173:68c7914679ec | 663 | |
Lightvalve | 173:68c7914679ec | 664 | G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 665 | } |
Lightvalve | 170:42c938a40313 | 666 | } |
Lightvalve | 176:589ea3edcf3c | 667 | G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 668 | if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 669 | else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 670 | //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 671 | } |
Lightvalve | 173:68c7914679ec | 672 | |
Lightvalve | 173:68c7914679ec | 673 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 674 | float d_x_d_ba2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 675 | float d_y_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 676 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 677 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 678 | } else { |
Lightvalve | 170:42c938a40313 | 679 | |
Lightvalve | 173:68c7914679ec | 680 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 681 | d_x_d_ba2 = ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 682 | d_y_d_ba2 = ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 683 | } |
Lightvalve | 173:68c7914679ec | 684 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 685 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 686 | d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2; |
Lightvalve | 177:8e9cf31d63f4 | 687 | d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2; |
Lightvalve | 173:68c7914679ec | 688 | |
Lightvalve | 173:68c7914679ec | 689 | G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 690 | } |
Lightvalve | 170:42c938a40313 | 691 | } |
Lightvalve | 176:589ea3edcf3c | 692 | G_ba2[index2] = -G_ba2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 693 | if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 694 | else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 695 | //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 696 | } |
Lightvalve | 173:68c7914679ec | 697 | |
Lightvalve | 173:68c7914679ec | 698 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 699 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 700 | |
Lightvalve | 173:68c7914679ec | 701 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 702 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 703 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 704 | float d_x_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 705 | float d_y_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 706 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 707 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 708 | } else { |
Lightvalve | 173:68c7914679ec | 709 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 710 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 711 | d_x_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 177:8e9cf31d63f4 | 712 | d_y_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 713 | } |
Lightvalve | 173:68c7914679ec | 714 | } |
Lightvalve | 173:68c7914679ec | 715 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 716 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 717 | d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3; |
Lightvalve | 177:8e9cf31d63f4 | 718 | d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3; |
Lightvalve | 173:68c7914679ec | 719 | |
Lightvalve | 173:68c7914679ec | 720 | G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 173:68c7914679ec | 721 | } |
Lightvalve | 173:68c7914679ec | 722 | } |
Lightvalve | 176:589ea3edcf3c | 723 | G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 724 | if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 725 | else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 726 | //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 727 | } |
Lightvalve | 173:68c7914679ec | 728 | |
Lightvalve | 173:68c7914679ec | 729 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 730 | float d_x_d_ba3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 731 | float d_y_d_ba3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 732 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 733 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 734 | } else { |
Lightvalve | 173:68c7914679ec | 735 | |
Lightvalve | 177:8e9cf31d63f4 | 736 | d_x_d_ba3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 737 | d_y_d_ba3 = 1.0f; |
Lightvalve | 173:68c7914679ec | 738 | |
Lightvalve | 173:68c7914679ec | 739 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 740 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 741 | d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3; |
Lightvalve | 177:8e9cf31d63f4 | 742 | d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3; |
Lightvalve | 173:68c7914679ec | 743 | |
Lightvalve | 173:68c7914679ec | 744 | G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 173:68c7914679ec | 745 | } |
Lightvalve | 173:68c7914679ec | 746 | } |
Lightvalve | 176:589ea3edcf3c | 747 | G_ba3[index2] = -G_ba3[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 748 | if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 749 | else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 750 | //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 175:2f7289dbd488 | 751 | } |
Lightvalve | 177:8e9cf31d63f4 | 752 | |
Lightvalve | 175:2f7289dbd488 | 753 | // Simultaneous Update |
Lightvalve | 175:2f7289dbd488 | 754 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 175:2f7289dbd488 | 755 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 756 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 757 | } |
Lightvalve | 179:d5377766d7ea | 758 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 175:2f7289dbd488 | 759 | } |
Lightvalve | 175:2f7289dbd488 | 760 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 761 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 762 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 763 | } |
Lightvalve | 179:d5377766d7ea | 764 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 175:2f7289dbd488 | 765 | } |
Lightvalve | 175:2f7289dbd488 | 766 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 767 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 768 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 769 | } |
Lightvalve | 179:d5377766d7ea | 770 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 771 | } |
Lightvalve | 170:42c938a40313 | 772 | } |
Lightvalve | 170:42c938a40313 | 773 | |
Lightvalve | 170:42c938a40313 | 774 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 775 | { |
Lightvalve | 170:42c938a40313 | 776 | //Box muller method |
Lightvalve | 170:42c938a40313 | 777 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 778 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 779 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 780 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 781 | do { |
Lightvalve | 170:42c938a40313 | 782 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 783 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 784 | |
Lightvalve | 170:42c938a40313 | 785 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 786 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 787 | { |
Lightvalve | 170:42c938a40313 | 788 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 789 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 790 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 791 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 792 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 793 | return result; |
Lightvalve | 170:42c938a40313 | 794 | } |
Lightvalve | 170:42c938a40313 | 795 | } else { |
Lightvalve | 170:42c938a40313 | 796 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 797 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 798 | } |
Lightvalve | 170:42c938a40313 | 799 | } |
Lightvalve | 170:42c938a40313 | 800 | |
Lightvalve | 179:d5377766d7ea | 801 | float mean_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 802 | { |
Lightvalve | 179:d5377766d7ea | 803 | float add = 0.0f; |
Lightvalve | 179:d5377766d7ea | 804 | float result; |
Lightvalve | 218:066030f7951f | 805 | |
Lightvalve | 218:066030f7951f | 806 | for (int i=0; i<size; i++) { |
Lightvalve | 179:d5377766d7ea | 807 | add += x[i]; |
Lightvalve | 179:d5377766d7ea | 808 | } |
Lightvalve | 179:d5377766d7ea | 809 | result = (float) add/size; |
Lightvalve | 179:d5377766d7ea | 810 | return result; |
Lightvalve | 179:d5377766d7ea | 811 | } |
Lightvalve | 179:d5377766d7ea | 812 | float deviation_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 813 | { |
Lightvalve | 179:d5377766d7ea | 814 | float sigma = 0.0f; |
Lightvalve | 179:d5377766d7ea | 815 | float resultDeb = 0.0f; |
Lightvalve | 218:066030f7951f | 816 | |
Lightvalve | 218:066030f7951f | 817 | for (int k=0; k<size; k++) { |
Lightvalve | 179:d5377766d7ea | 818 | sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1); |
Lightvalve | 179:d5377766d7ea | 819 | resultDeb += sqrt(sigma); |
Lightvalve | 179:d5377766d7ea | 820 | } |
Lightvalve | 179:d5377766d7ea | 821 | return resultDeb; |
Lightvalve | 218:066030f7951f | 822 | } |
Lightvalve | 218:066030f7951f | 823 | |
Lightvalve | 173:68c7914679ec | 824 | |
Lightvalve | 170:42c938a40313 | 825 | void Overwirte_Critic_Networks() |
Lightvalve | 170:42c938a40313 | 826 | { |
Lightvalve | 173:68c7914679ec | 827 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 828 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 829 | hc1[index1][index2] = hc1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 830 | } |
Lightvalve | 170:42c938a40313 | 831 | bc1[index2] = bc1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 832 | } |
Lightvalve | 173:68c7914679ec | 833 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 834 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 835 | hc2[index1][index2] = hc2_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 836 | } |
Lightvalve | 173:68c7914679ec | 837 | bc2[index2] = bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 838 | hc3[index2] = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 839 | } |
Lightvalve | 173:68c7914679ec | 840 | bc3 = bc3_temp; |
Lightvalve | 170:42c938a40313 | 841 | } |
Lightvalve | 170:42c938a40313 | 842 | void Overwirte_Actor_Networks() |
Lightvalve | 170:42c938a40313 | 843 | { |
Lightvalve | 173:68c7914679ec | 844 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 845 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 846 | ha1[index1][index2] = ha1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 847 | } |
Lightvalve | 170:42c938a40313 | 848 | ba1[index2] = ba1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 849 | } |
Lightvalve | 173:68c7914679ec | 850 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 851 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 170:42c938a40313 | 852 | ha2[index1][index2] = ha2_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 853 | } |
Lightvalve | 170:42c938a40313 | 854 | ba2[index2] = ba2_temp[index2]; |
Lightvalve | 170:42c938a40313 | 855 | } |
Lightvalve | 173:68c7914679ec | 856 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 857 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 858 | ha3[index1][index2] = ha3_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 859 | } |
Lightvalve | 173:68c7914679ec | 860 | ba3[index2] = ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 861 | } |
Lightvalve | 170:42c938a40313 | 862 | } |
Lightvalve | 170:42c938a40313 | 863 | |
Lightvalve | 170:42c938a40313 | 864 | |
GiJeongKim | 0:51c43836c1d7 | 865 | int main() |
GiJeongKim | 0:51c43836c1d7 | 866 | { |
Lightvalve | 66:a8e6799dbce3 | 867 | |
Lightvalve | 65:a2d7c63419c2 | 868 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 869 | SystemClock_Config(); |
Lightvalve | 169:645207e160ca | 870 | |
jobuuu | 6:df07d3491e3a | 871 | /********************************* |
jobuuu | 1:e04e563be5ce | 872 | *** Initialization |
jobuuu | 6:df07d3491e3a | 873 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 874 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 875 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 876 | |
GiJeongKim | 0:51c43836c1d7 | 877 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 878 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 879 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 880 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 881 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 882 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 883 | |
GiJeongKim | 0:51c43836c1d7 | 884 | // // spi init |
Lightvalve | 170:42c938a40313 | 885 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 886 | eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 887 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 888 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 889 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 890 | |
Lightvalve | 16:903b5a4433b4 | 891 | //rom |
Lightvalve | 19:23b7c1ad8683 | 892 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 893 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 894 | |
GiJeongKim | 0:51c43836c1d7 | 895 | // ADC init |
jobuuu | 5:a4319f79457b | 896 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 897 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 898 | |
GiJeongKim | 0:51c43836c1d7 | 899 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 900 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 901 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 902 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 903 | |
Lightvalve | 11:82d8768d7351 | 904 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 905 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 906 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 907 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 908 | |
Lightvalve | 50:3c630b5eba9f | 909 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 910 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 911 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 912 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 913 | |
GiJeongKim | 0:51c43836c1d7 | 914 | // CAN |
jobuuu | 2:a1c0a37df760 | 915 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 916 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 917 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 918 | |
Lightvalve | 23:59218d4a256d | 919 | //Timer priority |
Lightvalve | 23:59218d4a256d | 920 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 921 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 922 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 923 | |
Lightvalve | 23:59218d4a256d | 924 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 925 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 926 | |
GiJeongKim | 0:51c43836c1d7 | 927 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 928 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 929 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 930 | |
Lightvalve | 11:82d8768d7351 | 931 | //DAC init |
Lightvalve | 58:2eade98630e2 | 932 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 933 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 934 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 935 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 936 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 937 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 938 | } |
Lightvalve | 11:82d8768d7351 | 939 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 940 | |
Lightvalve | 19:23b7c1ad8683 | 941 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 942 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 943 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 944 | else |
Lightvalve | 38:118df027d851 | 945 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 946 | } |
Lightvalve | 169:645207e160ca | 947 | |
Lightvalve | 173:68c7914679ec | 948 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 949 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 950 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; |
Lightvalve | 170:42c938a40313 | 951 | } |
Lightvalve | 179:d5377766d7ea | 952 | bc1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 953 | } |
Lightvalve | 173:68c7914679ec | 954 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 955 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 956 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 957 | } |
Lightvalve | 179:d5377766d7ea | 958 | bc2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 179:d5377766d7ea | 959 | hc3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 960 | } |
Lightvalve | 179:d5377766d7ea | 961 | bc3_temp = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 962 | |
Lightvalve | 173:68c7914679ec | 963 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 964 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 965 | ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 966 | } |
Lightvalve | 179:d5377766d7ea | 967 | ba1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 968 | } |
Lightvalve | 173:68c7914679ec | 969 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 970 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 971 | ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 972 | } |
Lightvalve | 179:d5377766d7ea | 973 | ba2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 974 | } |
Lightvalve | 170:42c938a40313 | 975 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 976 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 977 | ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 978 | } |
Lightvalve | 179:d5377766d7ea | 979 | ba3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 980 | } |
Lightvalve | 171:bfc1fd2629d8 | 981 | |
Lightvalve | 170:42c938a40313 | 982 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 983 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 984 | |
jobuuu | 6:df07d3491e3a | 985 | /************************************ |
jobuuu | 1:e04e563be5ce | 986 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 987 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 988 | while(1) { |
Lightvalve | 169:645207e160ca | 989 | |
Lightvalve | 171:bfc1fd2629d8 | 990 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 991 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 992 | // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5); |
Lightvalve | 171:bfc1fd2629d8 | 993 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 994 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 995 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 996 | // } |
Lightvalve | 169:645207e160ca | 997 | |
Lightvalve | 171:bfc1fd2629d8 | 998 | |
Lightvalve | 171:bfc1fd2629d8 | 999 | //i2c |
Lightvalve | 180:02be1711ee0b | 1000 | read_field(i2c_slave_addr1); |
Lightvalve | 180:02be1711ee0b | 1001 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 1002 | |
Lightvalve | 177:8e9cf31d63f4 | 1003 | //timer_while ++; |
Lightvalve | 169:645207e160ca | 1004 | |
Lightvalve | 170:42c938a40313 | 1005 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1006 | |
Lightvalve | 73:f80dc3970c99 | 1007 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1008 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1009 | } |
Lightvalve | 169:645207e160ca | 1010 | |
Lightvalve | 73:f80dc3970c99 | 1011 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1012 | |
Lightvalve | 162:9dd4f35e9de8 | 1013 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1014 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1015 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1016 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1017 | } |
Lightvalve | 162:9dd4f35e9de8 | 1018 | |
Lightvalve | 162:9dd4f35e9de8 | 1019 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1020 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1021 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1022 | } |
Lightvalve | 162:9dd4f35e9de8 | 1023 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1024 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1025 | |
Lightvalve | 162:9dd4f35e9de8 | 1026 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1027 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1028 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1029 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1030 | |
Lightvalve | 162:9dd4f35e9de8 | 1031 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1032 | // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 208:408f9f15c486 | 1033 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1034 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1035 | } |
Lightvalve | 208:408f9f15c486 | 1036 | // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1037 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 220:153c6f5e1c44 | 1038 | ind = ind + 1; |
Lightvalve | 220:153c6f5e1c44 | 1039 | for(int i=0; i<numfuture_f-1; i++) { |
Lightvalve | 208:408f9f15c486 | 1040 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; |
Lightvalve | 219:3cb6bd063f56 | 1041 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; |
Lightvalve | 206:2e4d0c287578 | 1042 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; |
Lightvalve | 219:3cb6bd063f56 | 1043 | input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1044 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1045 | } |
Lightvalve | 169:645207e160ca | 1046 | |
Lightvalve | 112:8dcb1600cb90 | 1047 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1048 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1049 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1050 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1051 | |
Lightvalve | 112:8dcb1600cb90 | 1052 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1053 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1054 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1055 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1056 | } |
Lightvalve | 66:a8e6799dbce3 | 1057 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1058 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1059 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1060 | } |
Lightvalve | 66:a8e6799dbce3 | 1061 | } |
Lightvalve | 65:a2d7c63419c2 | 1062 | |
Lightvalve | 112:8dcb1600cb90 | 1063 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1064 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1065 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1066 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1067 | } |
Lightvalve | 66:a8e6799dbce3 | 1068 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1069 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1070 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1071 | } |
Lightvalve | 66:a8e6799dbce3 | 1072 | } |
Lightvalve | 65:a2d7c63419c2 | 1073 | |
Lightvalve | 112:8dcb1600cb90 | 1074 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1075 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1076 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1077 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1078 | } |
Lightvalve | 66:a8e6799dbce3 | 1079 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1080 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1081 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1082 | } |
Lightvalve | 65:a2d7c63419c2 | 1083 | } |
Lightvalve | 66:a8e6799dbce3 | 1084 | |
Lightvalve | 66:a8e6799dbce3 | 1085 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1086 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1087 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1088 | } |
Lightvalve | 66:a8e6799dbce3 | 1089 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1090 | |
Lightvalve | 66:a8e6799dbce3 | 1091 | } |
Lightvalve | 73:f80dc3970c99 | 1092 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1093 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1094 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1095 | |
Lightvalve | 66:a8e6799dbce3 | 1096 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1097 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1098 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1099 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1100 | } |
Lightvalve | 87:471334725012 | 1101 | |
Lightvalve | 169:645207e160ca | 1102 | |
Lightvalve | 69:3995ffeaa786 | 1103 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1104 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1105 | } else |
Lightvalve | 69:3995ffeaa786 | 1106 | LED = 1; |
Lightvalve | 169:645207e160ca | 1107 | |
Lightvalve | 65:a2d7c63419c2 | 1108 | } |
Lightvalve | 171:bfc1fd2629d8 | 1109 | |
Lightvalve | 171:bfc1fd2629d8 | 1110 | |
Lightvalve | 170:42c938a40313 | 1111 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1112 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1113 | case 0: { |
Lightvalve | 170:42c938a40313 | 1114 | break; |
Lightvalve | 170:42c938a40313 | 1115 | } |
Lightvalve | 170:42c938a40313 | 1116 | case 1: { |
Lightvalve | 170:42c938a40313 | 1117 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1118 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1119 | float loss_sum = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1120 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 170:42c938a40313 | 1121 | //Calculate Estimated V |
Lightvalve | 175:2f7289dbd488 | 1122 | //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; |
Lightvalve | 175:2f7289dbd488 | 1123 | float temp_array[2] = {state_array[n][0], state_array[n][1]}; |
Lightvalve | 175:2f7289dbd488 | 1124 | V[n] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1125 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 175:2f7289dbd488 | 1126 | hx_c_sum_array[n][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1127 | } |
Lightvalve | 173:68c7914679ec | 1128 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 175:2f7289dbd488 | 1129 | hxh_c_sum_array[n][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1130 | } |
Lightvalve | 175:2f7289dbd488 | 1131 | hxhh_c_sum_array[n] = hxhh_c_sum; |
Lightvalve | 177:8e9cf31d63f4 | 1132 | |
Lightvalve | 175:2f7289dbd488 | 1133 | pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]); |
Lightvalve | 170:42c938a40313 | 1134 | Actor_Network_Old(temp_array); |
Lightvalve | 175:2f7289dbd488 | 1135 | pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old); |
Lightvalve | 179:d5377766d7ea | 1136 | r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); |
Lightvalve | 175:2f7289dbd488 | 1137 | if(n == batch_size-1) return_G[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1138 | else return_G[n] = gamma * return_G[n+1] + r[n]; |
Lightvalve | 175:2f7289dbd488 | 1139 | if(n == batch_size-1) td_target[n] = r[n]; |
Lightvalve | 175:2f7289dbd488 | 1140 | else td_target[n] = r[n] + gamma * V[n+1]; |
Lightvalve | 175:2f7289dbd488 | 1141 | delta[n] = td_target[n] - V[n]; |
Lightvalve | 175:2f7289dbd488 | 1142 | if(n == batch_size-1) advantage[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1143 | else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; |
Lightvalve | 179:d5377766d7ea | 1144 | // return_G[n] = advantage[n] + V[n]; |
Lightvalve | 175:2f7289dbd488 | 1145 | ratio[n] = pi[n]/pi_old[n]; |
Lightvalve | 179:d5377766d7ea | 1146 | } |
Lightvalve | 179:d5377766d7ea | 1147 | float mean_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1148 | float dev_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1149 | mean_advantage = mean_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1150 | dev_advantage = deviation_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1151 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 179:d5377766d7ea | 1152 | //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; |
Lightvalve | 175:2f7289dbd488 | 1153 | surr1[n] = ratio[n] * advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1154 | if (ratio[n] > 1.0f + epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1155 | surr2[n] = (1.0f + epsilon)*advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1156 | } else if( ratio[n] < 1.0f - epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1157 | surr2[n] = (1.0f - epsilon)*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1158 | } else { |
Lightvalve | 175:2f7289dbd488 | 1159 | surr2[n] = ratio[n]*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1160 | } |
Lightvalve | 175:2f7289dbd488 | 1161 | loss[n] = -min(surr1[n], surr2[n]); |
Lightvalve | 175:2f7289dbd488 | 1162 | loss_sum = loss_sum + loss[n]; |
Lightvalve | 170:42c938a40313 | 1163 | } |
Lightvalve | 170:42c938a40313 | 1164 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1165 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1166 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1167 | } |
Lightvalve | 170:42c938a40313 | 1168 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1169 | |
Lightvalve | 171:bfc1fd2629d8 | 1170 | |
Lightvalve | 170:42c938a40313 | 1171 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1172 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1173 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1174 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1175 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1176 | } |
Lightvalve | 170:42c938a40313 | 1177 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1178 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1179 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1180 | |
Lightvalve | 170:42c938a40313 | 1181 | break; |
Lightvalve | 170:42c938a40313 | 1182 | } |
Lightvalve | 170:42c938a40313 | 1183 | case 2: { |
Lightvalve | 170:42c938a40313 | 1184 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1185 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1186 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1187 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1188 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1189 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1190 | break; |
Lightvalve | 170:42c938a40313 | 1191 | } |
Lightvalve | 169:645207e160ca | 1192 | |
Lightvalve | 170:42c938a40313 | 1193 | } |
GiJeongKim | 0:51c43836c1d7 | 1194 | } |
jobuuu | 1:e04e563be5ce | 1195 | } |
jobuuu | 1:e04e563be5ce | 1196 | |
Lightvalve | 33:91b17819ec30 | 1197 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1198 | { |
Lightvalve | 14:8e7590227d22 | 1199 | |
Lightvalve | 13:747daba9cf59 | 1200 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1201 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1202 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1203 | if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) { |
Lightvalve | 14:8e7590227d22 | 1204 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1205 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1206 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1207 | } else { |
Lightvalve | 57:f4819de54e7a | 1208 | Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; |
Lightvalve | 38:118df027d851 | 1209 | } |
Lightvalve | 14:8e7590227d22 | 1210 | } else { |
Lightvalve | 50:3c630b5eba9f | 1211 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1212 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1213 | } else { |
Lightvalve | 57:f4819de54e7a | 1214 | Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]); |
Lightvalve | 38:118df027d851 | 1215 | } |
Lightvalve | 13:747daba9cf59 | 1216 | } |
Lightvalve | 13:747daba9cf59 | 1217 | break; |
Lightvalve | 13:747daba9cf59 | 1218 | } |
Lightvalve | 13:747daba9cf59 | 1219 | } |
Lightvalve | 14:8e7590227d22 | 1220 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1221 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1222 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1223 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1224 | } |
Lightvalve | 36:a46e63505ed8 | 1225 | |
Lightvalve | 57:f4819de54e7a | 1226 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1227 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1228 | |
Lightvalve | 13:747daba9cf59 | 1229 | } |
jobuuu | 6:df07d3491e3a | 1230 | |
jobuuu | 6:df07d3491e3a | 1231 | |
Lightvalve | 30:8d561f16383b | 1232 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1233 | { |
Lightvalve | 13:747daba9cf59 | 1234 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1235 | |
Lightvalve | 38:118df027d851 | 1236 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1237 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1238 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1239 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1240 | } |
Lightvalve | 38:118df027d851 | 1241 | |
Lightvalve | 89:a7b45368ea0f | 1242 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1243 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1244 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1245 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1246 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1247 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1248 | |
Lightvalve | 13:747daba9cf59 | 1249 | VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff; |
Lightvalve | 14:8e7590227d22 | 1250 | |
Lightvalve | 18:b8adf1582ea3 | 1251 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1252 | if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { |
Lightvalve | 14:8e7590227d22 | 1253 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1254 | VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); |
Lightvalve | 14:8e7590227d22 | 1255 | } else { |
Lightvalve | 48:889798ff9329 | 1256 | VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1]; |
Lightvalve | 13:747daba9cf59 | 1257 | } |
Lightvalve | 13:747daba9cf59 | 1258 | break; |
Lightvalve | 13:747daba9cf59 | 1259 | } |
Lightvalve | 13:747daba9cf59 | 1260 | } |
Lightvalve | 59:f308b1656d9c | 1261 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1262 | } |
Lightvalve | 13:747daba9cf59 | 1263 | |
Lightvalve | 14:8e7590227d22 | 1264 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1265 | float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1266 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1267 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1268 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1269 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1270 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1271 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1272 | float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, |
Lightvalve | 67:c2812cf26c38 | 1273 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1274 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1275 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1276 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1277 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1278 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1279 | |
Lightvalve | 30:8d561f16383b | 1280 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1281 | { |
Lightvalve | 30:8d561f16383b | 1282 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1283 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1284 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1285 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1286 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1287 | } else { |
Lightvalve | 13:747daba9cf59 | 1288 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1289 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1290 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1291 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1292 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1293 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1294 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1295 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1296 | break; |
Lightvalve | 13:747daba9cf59 | 1297 | } |
Lightvalve | 13:747daba9cf59 | 1298 | } |
Lightvalve | 13:747daba9cf59 | 1299 | } |
Lightvalve | 14:8e7590227d22 | 1300 | |
Lightvalve | 13:747daba9cf59 | 1301 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1302 | } |
jobuuu | 6:df07d3491e3a | 1303 | |
Lightvalve | 57:f4819de54e7a | 1304 | |
Lightvalve | 57:f4819de54e7a | 1305 | |
Lightvalve | 57:f4819de54e7a | 1306 | |
Lightvalve | 57:f4819de54e7a | 1307 | |
jobuuu | 2:a1c0a37df760 | 1308 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1309 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1310 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1311 | |
Lightvalve | 51:b46bed7fec80 | 1312 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1313 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1314 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1315 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1316 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1317 | { |
Lightvalve | 19:23b7c1ad8683 | 1318 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1319 | |
Lightvalve | 21:e5f1a43ea6f9 | 1320 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1321 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1322 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1323 | |
Lightvalve | 57:f4819de54e7a | 1324 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1325 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1326 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1327 | } |
Lightvalve | 61:bc8c8270f0ab | 1328 | |
Lightvalve | 61:bc8c8270f0ab | 1329 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1330 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1331 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1332 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1333 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1334 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 1335 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1336 | |
Lightvalve | 67:c2812cf26c38 | 1337 | |
Lightvalve | 67:c2812cf26c38 | 1338 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1339 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1340 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1341 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1342 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1343 | |
Lightvalve | 17:1865016ca2e7 | 1344 | |
Lightvalve | 58:2eade98630e2 | 1345 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1346 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1347 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1348 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1349 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1350 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1351 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1352 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1353 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1354 | |
Lightvalve | 58:2eade98630e2 | 1355 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1356 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm |
Lightvalve | 58:2eade98630e2 | 1357 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1358 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N |
Lightvalve | 58:2eade98630e2 | 1359 | } |
Lightvalve | 58:2eade98630e2 | 1360 | } |
Lightvalve | 61:bc8c8270f0ab | 1361 | |
Lightvalve | 58:2eade98630e2 | 1362 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1363 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1364 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1365 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1366 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1367 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1368 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. |
Lightvalve | 58:2eade98630e2 | 1369 | // |
Lightvalve | 58:2eade98630e2 | 1370 | // |
Lightvalve | 58:2eade98630e2 | 1371 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1372 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1373 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1374 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1375 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1376 | |
Lightvalve | 17:1865016ca2e7 | 1377 | |
Lightvalve | 21:e5f1a43ea6f9 | 1378 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1379 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1380 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1381 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1382 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1383 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1384 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1385 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1386 | |
Lightvalve | 57:f4819de54e7a | 1387 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1388 | } |
Lightvalve | 11:82d8768d7351 | 1389 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1390 | } |
Lightvalve | 19:23b7c1ad8683 | 1391 | |
Lightvalve | 19:23b7c1ad8683 | 1392 | |
Lightvalve | 18:b8adf1582ea3 | 1393 | int j =0; |
Lightvalve | 54:647072f5307a | 1394 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1395 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1396 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1397 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1398 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 1399 | |
Lightvalve | 11:82d8768d7351 | 1400 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1401 | { |
Lightvalve | 19:23b7c1ad8683 | 1402 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1403 | |
Lightvalve | 57:f4819de54e7a | 1404 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1405 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1406 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1407 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1408 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1409 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1410 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1411 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1412 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1413 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1414 | } |
Lightvalve | 50:3c630b5eba9f | 1415 | |
Lightvalve | 50:3c630b5eba9f | 1416 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1417 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1418 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1419 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1420 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1421 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1422 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1423 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1424 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1425 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1426 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1427 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1428 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1429 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1430 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1431 | } else { |
Lightvalve | 58:2eade98630e2 | 1432 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1433 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1434 | } |
Lightvalve | 45:35fa6884d0c6 | 1435 | |
Lightvalve | 50:3c630b5eba9f | 1436 | |
Lightvalve | 57:f4819de54e7a | 1437 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1438 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1439 | |
Lightvalve | 57:f4819de54e7a | 1440 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1441 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1442 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1443 | } else { |
Lightvalve | 57:f4819de54e7a | 1444 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1445 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1446 | } |
Lightvalve | 56:6f50d9d3bfee | 1447 | |
Lightvalve | 56:6f50d9d3bfee | 1448 | |
Lightvalve | 56:6f50d9d3bfee | 1449 | |
Lightvalve | 57:f4819de54e7a | 1450 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1451 | |
Lightvalve | 57:f4819de54e7a | 1452 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1453 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1454 | break; |
Lightvalve | 13:747daba9cf59 | 1455 | } |
Lightvalve | 14:8e7590227d22 | 1456 | |
Lightvalve | 14:8e7590227d22 | 1457 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1458 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1459 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1460 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1461 | |
Lightvalve | 14:8e7590227d22 | 1462 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1463 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1464 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1465 | |
Lightvalve | 84:c355d3e52bf1 | 1466 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1467 | |
Lightvalve | 30:8d561f16383b | 1468 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1469 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1470 | |
Lightvalve | 16:903b5a4433b4 | 1471 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1472 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1473 | } |
Lightvalve | 13:747daba9cf59 | 1474 | } else { |
Lightvalve | 58:2eade98630e2 | 1475 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1476 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1477 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1478 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1479 | |
Lightvalve | 170:42c938a40313 | 1480 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1481 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1482 | |
Lightvalve | 30:8d561f16383b | 1483 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1484 | |
Lightvalve | 13:747daba9cf59 | 1485 | } |
Lightvalve | 14:8e7590227d22 | 1486 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1487 | break; |
Lightvalve | 19:23b7c1ad8683 | 1488 | } |
Lightvalve | 14:8e7590227d22 | 1489 | |
Lightvalve | 50:3c630b5eba9f | 1490 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1491 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1492 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1493 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1494 | // } |
Lightvalve | 50:3c630b5eba9f | 1495 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1496 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1497 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1498 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1499 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1500 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1501 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1502 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1503 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1504 | // } |
Lightvalve | 50:3c630b5eba9f | 1505 | // |
Lightvalve | 50:3c630b5eba9f | 1506 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1507 | // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); |
Lightvalve | 50:3c630b5eba9f | 1508 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1509 | // |
Lightvalve | 50:3c630b5eba9f | 1510 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1511 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1512 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1513 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1514 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1515 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1516 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1517 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1518 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1519 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1520 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1521 | // |
Lightvalve | 50:3c630b5eba9f | 1522 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1523 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1524 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1525 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1526 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1527 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1528 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1529 | // |
Lightvalve | 50:3c630b5eba9f | 1530 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1531 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1532 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1533 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1534 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1535 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1536 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1537 | // } |
Lightvalve | 50:3c630b5eba9f | 1538 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1539 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1540 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1541 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1542 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1543 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1544 | // } |
Lightvalve | 50:3c630b5eba9f | 1545 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1546 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1547 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1548 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1549 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1550 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1551 | // } |
Lightvalve | 50:3c630b5eba9f | 1552 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1553 | // |
Lightvalve | 50:3c630b5eba9f | 1554 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1555 | // |
Lightvalve | 50:3c630b5eba9f | 1556 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1557 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1558 | // |
Lightvalve | 50:3c630b5eba9f | 1559 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1560 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1561 | // } |
Lightvalve | 50:3c630b5eba9f | 1562 | // } |
Lightvalve | 50:3c630b5eba9f | 1563 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1564 | // break; |
Lightvalve | 50:3c630b5eba9f | 1565 | // } |
Lightvalve | 14:8e7590227d22 | 1566 | |
Lightvalve | 14:8e7590227d22 | 1567 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1568 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1569 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1570 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1571 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1572 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1573 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1574 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1575 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1576 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1577 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1578 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1579 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1580 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1581 | } |
Lightvalve | 29:69f3f5445d6d | 1582 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1583 | |
Lightvalve | 29:69f3f5445d6d | 1584 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1585 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1586 | } else { |
Lightvalve | 29:69f3f5445d6d | 1587 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1588 | } |
Lightvalve | 19:23b7c1ad8683 | 1589 | |
Lightvalve | 57:f4819de54e7a | 1590 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1591 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1592 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1593 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1594 | |
Lightvalve | 59:f308b1656d9c | 1595 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1596 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1597 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1598 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1599 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1600 | |
Lightvalve | 59:f308b1656d9c | 1601 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1602 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1603 | |
Lightvalve | 34:bb2ca2fc2a8e | 1604 | |
Lightvalve | 29:69f3f5445d6d | 1605 | } else { |
Lightvalve | 29:69f3f5445d6d | 1606 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1607 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1608 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1609 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1610 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1611 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1612 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1613 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1614 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1615 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1616 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1617 | |
Lightvalve | 67:c2812cf26c38 | 1618 | |
Lightvalve | 67:c2812cf26c38 | 1619 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1620 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1621 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1622 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1623 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1624 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1625 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1626 | |
Lightvalve | 169:645207e160ca | 1627 | |
Lightvalve | 29:69f3f5445d6d | 1628 | } |
Lightvalve | 29:69f3f5445d6d | 1629 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1630 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1631 | pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1632 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1633 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1634 | |
Lightvalve | 29:69f3f5445d6d | 1635 | // input for position control |
Lightvalve | 169:645207e160ca | 1636 | |
Lightvalve | 67:c2812cf26c38 | 1637 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1638 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1639 | |
Lightvalve | 67:c2812cf26c38 | 1640 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1641 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1642 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1643 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1644 | |
Lightvalve | 67:c2812cf26c38 | 1645 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1646 | |
Lightvalve | 67:c2812cf26c38 | 1647 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1648 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1649 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1650 | |
Lightvalve | 67:c2812cf26c38 | 1651 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1652 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1653 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1654 | |
Lightvalve | 69:3995ffeaa786 | 1655 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1656 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s |
Lightvalve | 67:c2812cf26c38 | 1657 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1658 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1659 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 67:c2812cf26c38 | 1660 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1661 | } |
Lightvalve | 67:c2812cf26c38 | 1662 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1663 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1664 | |
Lightvalve | 67:c2812cf26c38 | 1665 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1666 | |
Lightvalve | 67:c2812cf26c38 | 1667 | |
Lightvalve | 67:c2812cf26c38 | 1668 | |
Lightvalve | 67:c2812cf26c38 | 1669 | } else { |
Lightvalve | 67:c2812cf26c38 | 1670 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1671 | VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 67:c2812cf26c38 | 1672 | |
Lightvalve | 67:c2812cf26c38 | 1673 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1674 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1675 | } else { |
Lightvalve | 67:c2812cf26c38 | 1676 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1677 | } |
Lightvalve | 67:c2812cf26c38 | 1678 | |
Lightvalve | 67:c2812cf26c38 | 1679 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1680 | |
Lightvalve | 67:c2812cf26c38 | 1681 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1682 | |
Lightvalve | 67:c2812cf26c38 | 1683 | } |
Lightvalve | 67:c2812cf26c38 | 1684 | |
Lightvalve | 67:c2812cf26c38 | 1685 | |
Lightvalve | 169:645207e160ca | 1686 | |
Lightvalve | 169:645207e160ca | 1687 | |
Lightvalve | 59:f308b1656d9c | 1688 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1689 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1690 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1691 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1692 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1693 | |
Lightvalve | 29:69f3f5445d6d | 1694 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1695 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1696 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1697 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1698 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1699 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1700 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1701 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1702 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1703 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1704 | } |
Lightvalve | 13:747daba9cf59 | 1705 | } |
Lightvalve | 19:23b7c1ad8683 | 1706 | |
Lightvalve | 13:747daba9cf59 | 1707 | break; |
Lightvalve | 13:747daba9cf59 | 1708 | } |
Lightvalve | 14:8e7590227d22 | 1709 | |
Lightvalve | 50:3c630b5eba9f | 1710 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1711 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1712 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1713 | // else { |
Lightvalve | 50:3c630b5eba9f | 1714 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1715 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1716 | // } |
Lightvalve | 50:3c630b5eba9f | 1717 | // } |
Lightvalve | 50:3c630b5eba9f | 1718 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1719 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1720 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1721 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1722 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1723 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1724 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1725 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1726 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1727 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1728 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1729 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1730 | // } |
Lightvalve | 50:3c630b5eba9f | 1731 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1732 | // } |
Lightvalve | 50:3c630b5eba9f | 1733 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1734 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1735 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1736 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1737 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1738 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1739 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1740 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1741 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 |
Lightvalve | 50:3c630b5eba9f | 1742 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1743 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1744 | // } |
Lightvalve | 50:3c630b5eba9f | 1745 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1746 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1747 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1748 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1749 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1750 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1751 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); |
Lightvalve | 50:3c630b5eba9f | 1752 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1753 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1754 | // } |
Lightvalve | 50:3c630b5eba9f | 1755 | // } |
Lightvalve | 50:3c630b5eba9f | 1756 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1757 | // |
Lightvalve | 50:3c630b5eba9f | 1758 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1759 | // |
Lightvalve | 50:3c630b5eba9f | 1760 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1761 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1762 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1763 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1764 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1765 | // } |
Lightvalve | 50:3c630b5eba9f | 1766 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1767 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1768 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1769 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1770 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1771 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1772 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1773 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1774 | // } |
Lightvalve | 50:3c630b5eba9f | 1775 | // |
Lightvalve | 50:3c630b5eba9f | 1776 | // } |
Lightvalve | 50:3c630b5eba9f | 1777 | // break; |
Lightvalve | 50:3c630b5eba9f | 1778 | // } |
Lightvalve | 50:3c630b5eba9f | 1779 | // |
Lightvalve | 50:3c630b5eba9f | 1780 | // } |
Lightvalve | 14:8e7590227d22 | 1781 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1782 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1783 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1784 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1785 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1786 | |
Lightvalve | 14:8e7590227d22 | 1787 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1788 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1789 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1790 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1791 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1792 | |
Lightvalve | 38:118df027d851 | 1793 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1794 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1795 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1796 | |
Lightvalve | 30:8d561f16383b | 1797 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1798 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1799 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1800 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1801 | |
Lightvalve | 30:8d561f16383b | 1802 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1803 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1804 | } |
Lightvalve | 13:747daba9cf59 | 1805 | } else { |
Lightvalve | 57:f4819de54e7a | 1806 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1807 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1808 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1809 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1810 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1811 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1812 | |
Lightvalve | 170:42c938a40313 | 1813 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1814 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1815 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1816 | |
Lightvalve | 30:8d561f16383b | 1817 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1818 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1819 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1820 | } |
Lightvalve | 14:8e7590227d22 | 1821 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1822 | break; |
Lightvalve | 13:747daba9cf59 | 1823 | } |
Lightvalve | 14:8e7590227d22 | 1824 | |
Lightvalve | 50:3c630b5eba9f | 1825 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1826 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1827 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1828 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1829 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1830 | // } |
Lightvalve | 50:3c630b5eba9f | 1831 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1832 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1833 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1834 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1835 | // } |
Lightvalve | 50:3c630b5eba9f | 1836 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1837 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1838 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1839 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1840 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1841 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1842 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1843 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1844 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1845 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1846 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1847 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1848 | // |
Lightvalve | 50:3c630b5eba9f | 1849 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1850 | // |
Lightvalve | 50:3c630b5eba9f | 1851 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1852 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1853 | // } |
Lightvalve | 50:3c630b5eba9f | 1854 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1855 | // break; |
Lightvalve | 50:3c630b5eba9f | 1856 | // } |
Lightvalve | 19:23b7c1ad8683 | 1857 | |
Lightvalve | 50:3c630b5eba9f | 1858 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1859 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f); |
Lightvalve | 50:3c630b5eba9f | 1860 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1861 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1862 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1863 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1864 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1865 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1866 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1867 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1868 | // } |
Lightvalve | 50:3c630b5eba9f | 1869 | // break; |
Lightvalve | 50:3c630b5eba9f | 1870 | // } |
Lightvalve | 14:8e7590227d22 | 1871 | |
Lightvalve | 14:8e7590227d22 | 1872 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1873 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1874 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1875 | |
Lightvalve | 14:8e7590227d22 | 1876 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1877 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1878 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1879 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1880 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1881 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1882 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1883 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1884 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1885 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1886 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1887 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1888 | } else { |
Lightvalve | 13:747daba9cf59 | 1889 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1890 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1891 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1892 | } |
Lightvalve | 14:8e7590227d22 | 1893 | |
Lightvalve | 17:1865016ca2e7 | 1894 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1895 | int i; |
Lightvalve | 13:747daba9cf59 | 1896 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1897 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1898 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1899 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1900 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1901 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1902 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1903 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1904 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1905 | } |
Lightvalve | 13:747daba9cf59 | 1906 | } |
Lightvalve | 170:42c938a40313 | 1907 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1908 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1909 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1910 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1911 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1912 | } |
Lightvalve | 13:747daba9cf59 | 1913 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1914 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1915 | } |
Lightvalve | 14:8e7590227d22 | 1916 | |
Lightvalve | 14:8e7590227d22 | 1917 | |
Lightvalve | 13:747daba9cf59 | 1918 | break; |
Lightvalve | 13:747daba9cf59 | 1919 | } |
Lightvalve | 14:8e7590227d22 | 1920 | |
Lightvalve | 14:8e7590227d22 | 1921 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1922 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1923 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1924 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1925 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1926 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1927 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1928 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1929 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1930 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1931 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1932 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1933 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1934 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1935 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1936 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 30:8d561f16383b | 1937 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1938 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1939 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1940 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1941 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1942 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1943 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1944 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1945 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1946 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1947 | |
Lightvalve | 30:8d561f16383b | 1948 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1949 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1950 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1951 | |
Lightvalve | 30:8d561f16383b | 1952 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1953 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1954 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1955 | |
Lightvalve | 30:8d561f16383b | 1956 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1957 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1958 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1959 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1960 | |
Lightvalve | 60:64181f1d3e60 | 1961 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1962 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1963 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1964 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1965 | } else { |
Lightvalve | 13:747daba9cf59 | 1966 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1967 | } |
Lightvalve | 61:bc8c8270f0ab | 1968 | |
Lightvalve | 60:64181f1d3e60 | 1969 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1970 | |
Lightvalve | 13:747daba9cf59 | 1971 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1972 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1973 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1974 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1975 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1976 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1977 | |
Lightvalve | 13:747daba9cf59 | 1978 | } |
Lightvalve | 19:23b7c1ad8683 | 1979 | } else { |
Lightvalve | 14:8e7590227d22 | 1980 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1981 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1982 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1983 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1984 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1985 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1986 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1987 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1988 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1989 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1990 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1991 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1992 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1993 | } |
Lightvalve | 14:8e7590227d22 | 1994 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1995 | |
Lightvalve | 30:8d561f16383b | 1996 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1997 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1998 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1999 | |
Lightvalve | 14:8e7590227d22 | 2000 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2001 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2002 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2003 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2004 | } else { |
Lightvalve | 13:747daba9cf59 | 2005 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2006 | } |
Lightvalve | 14:8e7590227d22 | 2007 | |
Lightvalve | 13:747daba9cf59 | 2008 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2009 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2010 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2011 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2012 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2013 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2014 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2015 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2016 | } |
Lightvalve | 13:747daba9cf59 | 2017 | } |
Lightvalve | 14:8e7590227d22 | 2018 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2019 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2020 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2021 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2022 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2023 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2024 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2025 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2026 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2027 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2028 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2029 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2030 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2031 | } |
Lightvalve | 14:8e7590227d22 | 2032 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2033 | |
Lightvalve | 30:8d561f16383b | 2034 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2035 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2036 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2037 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2038 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2039 | |
Lightvalve | 14:8e7590227d22 | 2040 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2041 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2042 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2043 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2044 | } else { |
Lightvalve | 60:64181f1d3e60 | 2045 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2046 | } |
Lightvalve | 14:8e7590227d22 | 2047 | |
Lightvalve | 13:747daba9cf59 | 2048 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2049 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2050 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2051 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2052 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2053 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2054 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2055 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2056 | |
Lightvalve | 170:42c938a40313 | 2057 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2058 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2059 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2060 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2061 | |
Lightvalve | 60:64181f1d3e60 | 2062 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2063 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2064 | } |
Lightvalve | 13:747daba9cf59 | 2065 | } |
Lightvalve | 14:8e7590227d22 | 2066 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2067 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2068 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2069 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2070 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2071 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2072 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2073 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2074 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2075 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2076 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2077 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2078 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2079 | } |
Lightvalve | 14:8e7590227d22 | 2080 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2081 | |
Lightvalve | 30:8d561f16383b | 2082 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2083 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2084 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2085 | |
Lightvalve | 14:8e7590227d22 | 2086 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2087 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2088 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2089 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2090 | } else { |
Lightvalve | 13:747daba9cf59 | 2091 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2092 | } |
Lightvalve | 13:747daba9cf59 | 2093 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2094 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2095 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2096 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2097 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2098 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2099 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2100 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2101 | } |
Lightvalve | 13:747daba9cf59 | 2102 | } |
Lightvalve | 14:8e7590227d22 | 2103 | } else { |
Lightvalve | 30:8d561f16383b | 2104 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2105 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2106 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2107 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2108 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2109 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2110 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2111 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2112 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2113 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2114 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2115 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2116 | } |
Lightvalve | 14:8e7590227d22 | 2117 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2118 | |
Lightvalve | 30:8d561f16383b | 2119 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2120 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2121 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2122 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2123 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2124 | |
Lightvalve | 60:64181f1d3e60 | 2125 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2126 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2127 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2128 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2129 | } else { |
Lightvalve | 13:747daba9cf59 | 2130 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2131 | } |
Lightvalve | 14:8e7590227d22 | 2132 | |
Lightvalve | 13:747daba9cf59 | 2133 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2134 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2135 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2136 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2137 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2138 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2139 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2140 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2141 | |
Lightvalve | 170:42c938a40313 | 2142 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2143 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2144 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2145 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2146 | |
Lightvalve | 57:f4819de54e7a | 2147 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2148 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2149 | } |
Lightvalve | 13:747daba9cf59 | 2150 | } |
Lightvalve | 13:747daba9cf59 | 2151 | } |
Lightvalve | 14:8e7590227d22 | 2152 | } |
Lightvalve | 13:747daba9cf59 | 2153 | break; |
Lightvalve | 13:747daba9cf59 | 2154 | } |
Lightvalve | 14:8e7590227d22 | 2155 | |
Lightvalve | 14:8e7590227d22 | 2156 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2157 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2158 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2159 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2160 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2161 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2162 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2163 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2164 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2165 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2166 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2167 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2168 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2169 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2170 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2171 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2172 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2173 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2174 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2175 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2176 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2177 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2178 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2179 | } |
Lightvalve | 14:8e7590227d22 | 2180 | } else { |
Lightvalve | 30:8d561f16383b | 2181 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2182 | //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 2183 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2184 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2185 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2186 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2187 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2188 | |
Lightvalve | 14:8e7590227d22 | 2189 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2190 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2191 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2192 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2193 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2194 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2195 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2196 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2197 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2198 | } |
Lightvalve | 30:8d561f16383b | 2199 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2200 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2201 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2202 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2203 | } |
Lightvalve | 14:8e7590227d22 | 2204 | |
Lightvalve | 14:8e7590227d22 | 2205 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2206 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2207 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2208 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2209 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2210 | } |
Lightvalve | 13:747daba9cf59 | 2211 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2212 | |
Lightvalve | 13:747daba9cf59 | 2213 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2214 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2215 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2216 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2217 | } |
Lightvalve | 14:8e7590227d22 | 2218 | |
Lightvalve | 14:8e7590227d22 | 2219 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2220 | |
Lightvalve | 13:747daba9cf59 | 2221 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2222 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2223 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2224 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2225 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2226 | } |
Lightvalve | 13:747daba9cf59 | 2227 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2228 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2229 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2230 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2231 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2232 | } |
Lightvalve | 13:747daba9cf59 | 2233 | } |
Lightvalve | 13:747daba9cf59 | 2234 | break; |
Lightvalve | 13:747daba9cf59 | 2235 | } |
Lightvalve | 58:2eade98630e2 | 2236 | |
Lightvalve | 57:f4819de54e7a | 2237 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2238 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2239 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2240 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2241 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2242 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2243 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2244 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2245 | } |
Lightvalve | 57:f4819de54e7a | 2246 | break; |
Lightvalve | 57:f4819de54e7a | 2247 | } |
Lightvalve | 58:2eade98630e2 | 2248 | |
Lightvalve | 169:645207e160ca | 2249 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2250 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2251 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2252 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2253 | } else { |
Lightvalve | 169:645207e160ca | 2254 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2255 | } |
Lightvalve | 169:645207e160ca | 2256 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2257 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2258 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2259 | } else { |
Lightvalve | 169:645207e160ca | 2260 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2261 | } |
Lightvalve | 58:2eade98630e2 | 2262 | |
Lightvalve | 169:645207e160ca | 2263 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2264 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2265 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2266 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2267 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2268 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2269 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2270 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2271 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2272 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2273 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2274 | } |
Lightvalve | 169:645207e160ca | 2275 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2276 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2277 | |
Lightvalve | 169:645207e160ca | 2278 | } |
Lightvalve | 169:645207e160ca | 2279 | break; |
Lightvalve | 169:645207e160ca | 2280 | } |
Lightvalve | 169:645207e160ca | 2281 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2282 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2283 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2284 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2285 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2286 | // } |
Lightvalve | 169:645207e160ca | 2287 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2288 | // } |
Lightvalve | 169:645207e160ca | 2289 | |
Lightvalve | 169:645207e160ca | 2290 | break; |
Lightvalve | 169:645207e160ca | 2291 | } |
Lightvalve | 169:645207e160ca | 2292 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2293 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2294 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2295 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2296 | break; |
Lightvalve | 169:645207e160ca | 2297 | } |
Lightvalve | 170:42c938a40313 | 2298 | |
Lightvalve | 169:645207e160ca | 2299 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2300 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2301 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2302 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2303 | } else { |
Lightvalve | 169:645207e160ca | 2304 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2305 | } |
Lightvalve | 169:645207e160ca | 2306 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2307 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2308 | } else { |
Lightvalve | 169:645207e160ca | 2309 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2310 | } |
Lightvalve | 169:645207e160ca | 2311 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2312 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2313 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2314 | } else { |
Lightvalve | 169:645207e160ca | 2315 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2316 | } |
Lightvalve | 169:645207e160ca | 2317 | |
Lightvalve | 169:645207e160ca | 2318 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2319 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2320 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2321 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2322 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2323 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2324 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2325 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2326 | } |
Lightvalve | 169:645207e160ca | 2327 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2328 | // { |
Lightvalve | 169:645207e160ca | 2329 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2330 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2331 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2332 | // } |
Lightvalve | 170:42c938a40313 | 2333 | |
Lightvalve | 169:645207e160ca | 2334 | break; |
Lightvalve | 169:645207e160ca | 2335 | } |
Lightvalve | 57:f4819de54e7a | 2336 | |
Lightvalve | 57:f4819de54e7a | 2337 | default: |
Lightvalve | 57:f4819de54e7a | 2338 | break; |
Lightvalve | 57:f4819de54e7a | 2339 | } |
Lightvalve | 57:f4819de54e7a | 2340 | |
Lightvalve | 57:f4819de54e7a | 2341 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2342 | |
Lightvalve | 57:f4819de54e7a | 2343 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2344 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2345 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2346 | break; |
Lightvalve | 57:f4819de54e7a | 2347 | } |
Lightvalve | 57:f4819de54e7a | 2348 | |
Lightvalve | 57:f4819de54e7a | 2349 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2350 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 2351 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 2352 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2353 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2354 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2355 | } else { |
Lightvalve | 67:c2812cf26c38 | 2356 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2357 | } |
Lightvalve | 57:f4819de54e7a | 2358 | break; |
Lightvalve | 57:f4819de54e7a | 2359 | } |
Lightvalve | 57:f4819de54e7a | 2360 | |
Lightvalve | 57:f4819de54e7a | 2361 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2362 | |
Lightvalve | 57:f4819de54e7a | 2363 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2364 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2365 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2366 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2367 | |
Lightvalve | 67:c2812cf26c38 | 2368 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2369 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2370 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2371 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2372 | |
Lightvalve | 139:15621998925b | 2373 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2374 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2375 | |
Lightvalve | 57:f4819de54e7a | 2376 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2377 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2378 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2379 | |
Lightvalve | 57:f4819de54e7a | 2380 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2381 | |
Lightvalve | 57:f4819de54e7a | 2382 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2383 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2384 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2385 | |
Lightvalve | 57:f4819de54e7a | 2386 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2387 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2388 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2389 | |
Lightvalve | 69:3995ffeaa786 | 2390 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2391 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2392 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2393 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2394 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2395 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2396 | } |
Lightvalve | 57:f4819de54e7a | 2397 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2398 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2399 | |
Lightvalve | 57:f4819de54e7a | 2400 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2401 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2402 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2403 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s |
Lightvalve | 57:f4819de54e7a | 2404 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2405 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2406 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2407 | I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive. |
Lightvalve | 57:f4819de54e7a | 2408 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2409 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2410 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2411 | } |
Lightvalve | 57:f4819de54e7a | 2412 | if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2413 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2414 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2415 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2416 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2417 | |
Lightvalve | 57:f4819de54e7a | 2418 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2419 | |
Lightvalve | 67:c2812cf26c38 | 2420 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2421 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2422 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2423 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2424 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2425 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2426 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2427 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2428 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2429 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2430 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2431 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2432 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2433 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2434 | } |
Lightvalve | 67:c2812cf26c38 | 2435 | } |
Lightvalve | 57:f4819de54e7a | 2436 | |
Lightvalve | 57:f4819de54e7a | 2437 | } else { |
Lightvalve | 57:f4819de54e7a | 2438 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2439 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2440 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2441 | |
Lightvalve | 209:ebc69d6ee6f1 | 2442 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 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)); |
Lightvalve | 57:f4819de54e7a | 2443 | |
Lightvalve | 72:3436ce769b1e | 2444 | VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; |
Lightvalve | 169:645207e160ca | 2445 | |
Lightvalve | 72:3436ce769b1e | 2446 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2447 | |
Lightvalve | 169:645207e160ca | 2448 | |
Lightvalve | 72:3436ce769b1e | 2449 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2450 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2451 | } else { |
Lightvalve | 72:3436ce769b1e | 2452 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2453 | } |
Lightvalve | 57:f4819de54e7a | 2454 | |
Lightvalve | 57:f4819de54e7a | 2455 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2456 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2457 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2458 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2459 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2460 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2461 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2462 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2463 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2464 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2465 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2466 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2467 | } |
Lightvalve | 57:f4819de54e7a | 2468 | } |
Lightvalve | 61:bc8c8270f0ab | 2469 | |
Lightvalve | 57:f4819de54e7a | 2470 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2471 | |
Lightvalve | 67:c2812cf26c38 | 2472 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2473 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2474 | |
Lightvalve | 57:f4819de54e7a | 2475 | } |
Lightvalve | 169:645207e160ca | 2476 | |
Lightvalve | 72:3436ce769b1e | 2477 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2478 | |
Lightvalve | 133:22ab22818e01 | 2479 | |
Lightvalve | 57:f4819de54e7a | 2480 | break; |
Lightvalve | 57:f4819de54e7a | 2481 | } |
Lightvalve | 58:2eade98630e2 | 2482 | |
Lightvalve | 57:f4819de54e7a | 2483 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2484 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2485 | break; |
Lightvalve | 57:f4819de54e7a | 2486 | } |
Lightvalve | 169:645207e160ca | 2487 | |
Lightvalve | 138:a843f32ced33 | 2488 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2489 | |
Lightvalve | 169:645207e160ca | 2490 | |
Lightvalve | 139:15621998925b | 2491 | float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 |
Lightvalve | 139:15621998925b | 2492 | float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 218:066030f7951f | 2493 | |
Lightvalve | 170:42c938a40313 | 2494 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2495 | |
Lightvalve | 218:066030f7951f | 2496 | //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 218:066030f7951f | 2497 | float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 169:645207e160ca | 2498 | |
Lightvalve | 138:a843f32ced33 | 2499 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2500 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2501 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2502 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2503 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2504 | } else { |
Lightvalve | 138:a843f32ced33 | 2505 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2506 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2507 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2508 | } else { |
Lightvalve | 138:a843f32ced33 | 2509 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2510 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2511 | } |
Lightvalve | 138:a843f32ced33 | 2512 | } |
Lightvalve | 138:a843f32ced33 | 2513 | float tau = 0.01f; |
Lightvalve | 142:43026242815a | 2514 | float K_valve = 0.0004f; |
Lightvalve | 169:645207e160ca | 2515 | |
Lightvalve | 138:a843f32ced33 | 2516 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2517 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2518 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2519 | } else { |
Lightvalve | 138:a843f32ced33 | 2520 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2521 | } |
Lightvalve | 138:a843f32ced33 | 2522 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2523 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2524 | |
Lightvalve | 139:15621998925b | 2525 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2526 | |
Lightvalve | 138:a843f32ced33 | 2527 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2528 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2529 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2530 | |
Lightvalve | 138:a843f32ced33 | 2531 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2532 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2533 | |
Lightvalve | 212:ec41f1449ef9 | 2534 | float k3 = 2000.0f; //2000 //20000 |
Lightvalve | 142:43026242815a | 2535 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2536 | float rho3 = 3.2f; |
Lightvalve | 212:ec41f1449ef9 | 2537 | float rho4 = 10000000.0f; //25000000.0f; |
Lightvalve | 218:066030f7951f | 2538 | float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2539 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2540 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2541 | |
Lightvalve | 139:15621998925b | 2542 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2543 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2544 | } else { |
Lightvalve | 139:15621998925b | 2545 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2546 | } |
Lightvalve | 169:645207e160ca | 2547 | |
Lightvalve | 138:a843f32ced33 | 2548 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2549 | x_4_des_old = x_4_des; |
Lightvalve | 212:ec41f1449ef9 | 2550 | float V_input = 0.0f; |
Lightvalve | 139:15621998925b | 2551 | V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; |
Lightvalve | 212:ec41f1449ef9 | 2552 | // //V_out LPF |
Lightvalve | 212:ec41f1449ef9 | 2553 | // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz |
Lightvalve | 212:ec41f1449ef9 | 2554 | // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out); |
Lightvalve | 212:ec41f1449ef9 | 2555 | |
Lightvalve | 218:066030f7951f | 2556 | // float rho_gamma = 5000.0f;//5000 for change //50000 for not change |
Lightvalve | 218:066030f7951f | 2557 | // float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); |
Lightvalve | 218:066030f7951f | 2558 | // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2559 | // |
Lightvalve | 218:066030f7951f | 2560 | // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f; |
Lightvalve | 218:066030f7951f | 2561 | // else if(gamma_hat < 100.0f) gamma_hat = 100.0f; |
Lightvalve | 218:066030f7951f | 2562 | |
Lightvalve | 218:066030f7951f | 2563 | float rho_a = 0.00001f; |
Lightvalve | 218:066030f7951f | 2564 | float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err); |
Lightvalve | 218:066030f7951f | 2565 | a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 218:066030f7951f | 2566 | |
Lightvalve | 218:066030f7951f | 2567 | if(a_hat > -3000000.0f) a_hat = -3000000.0f; |
Lightvalve | 218:066030f7951f | 2568 | else if(a_hat < -30000000.0f) a_hat = -30000000.0f; |
Lightvalve | 218:066030f7951f | 2569 | |
Lightvalve | 169:645207e160ca | 2570 | break; |
Lightvalve | 138:a843f32ced33 | 2571 | } |
Lightvalve | 171:bfc1fd2629d8 | 2572 | |
Lightvalve | 170:42c938a40313 | 2573 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2574 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2575 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2576 | |
Lightvalve | 170:42c938a40313 | 2577 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2578 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2579 | |
Lightvalve | 170:42c938a40313 | 2580 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2581 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2582 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2583 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2584 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2585 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2586 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2587 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2588 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2589 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2590 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2591 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2592 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2593 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2594 | } |
Lightvalve | 173:68c7914679ec | 2595 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2596 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2597 | } |
Lightvalve | 173:68c7914679ec | 2598 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2599 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2600 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2601 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2602 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2603 | |
Lightvalve | 179:d5377766d7ea | 2604 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2605 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2606 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2607 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2608 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2609 | } |
Lightvalve | 171:bfc1fd2629d8 | 2610 | |
Lightvalve | 170:42c938a40313 | 2611 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2612 | |
Lightvalve | 170:42c938a40313 | 2613 | |
Lightvalve | 170:42c938a40313 | 2614 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2615 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2616 | batch++; |
Lightvalve | 170:42c938a40313 | 2617 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2618 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2619 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2620 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2621 | } |
Lightvalve | 170:42c938a40313 | 2622 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2623 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2624 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2625 | |
Lightvalve | 170:42c938a40313 | 2626 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2627 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2628 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2629 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2630 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2631 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2632 | } |
Lightvalve | 170:42c938a40313 | 2633 | } |
Lightvalve | 170:42c938a40313 | 2634 | } |
Lightvalve | 170:42c938a40313 | 2635 | |
Lightvalve | 170:42c938a40313 | 2636 | else { |
Lightvalve | 170:42c938a40313 | 2637 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2638 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2639 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2640 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2641 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2642 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2643 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2644 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2645 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2646 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2647 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2648 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2649 | virt_pos = 70.0f; |
Lightvalve | 218:066030f7951f | 2650 | } else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2651 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2652 | } |
Lightvalve | 170:42c938a40313 | 2653 | |
Lightvalve | 170:42c938a40313 | 2654 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2655 | } |
Lightvalve | 170:42c938a40313 | 2656 | |
Lightvalve | 170:42c938a40313 | 2657 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2658 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2659 | |
Lightvalve | 170:42c938a40313 | 2660 | break; |
Lightvalve | 170:42c938a40313 | 2661 | } |
Lightvalve | 14:8e7590227d22 | 2662 | |
Lightvalve | 12:6f2531038ea4 | 2663 | default: |
Lightvalve | 12:6f2531038ea4 | 2664 | break; |
Lightvalve | 12:6f2531038ea4 | 2665 | } |
Lightvalve | 14:8e7590227d22 | 2666 | |
Lightvalve | 57:f4819de54e7a | 2667 | |
Lightvalve | 57:f4819de54e7a | 2668 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2669 | |
Lightvalve | 57:f4819de54e7a | 2670 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2671 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2672 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2673 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2674 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2675 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2676 | |
Lightvalve | 57:f4819de54e7a | 2677 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2678 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2679 | |
Lightvalve | 57:f4819de54e7a | 2680 | |
Lightvalve | 57:f4819de54e7a | 2681 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2682 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2683 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2684 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2685 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2686 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2687 | |
Lightvalve | 57:f4819de54e7a | 2688 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2689 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2690 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2691 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2692 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2693 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2694 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2695 | } |
Lightvalve | 57:f4819de54e7a | 2696 | |
Lightvalve | 57:f4819de54e7a | 2697 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2698 | |
Lightvalve | 67:c2812cf26c38 | 2699 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2700 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2701 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2702 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2703 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2704 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2705 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2706 | |
Lightvalve | 57:f4819de54e7a | 2707 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2708 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2709 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2710 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2711 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2712 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2713 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2714 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2715 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2716 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2717 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2718 | } |
Lightvalve | 57:f4819de54e7a | 2719 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2720 | } else { |
Lightvalve | 57:f4819de54e7a | 2721 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2722 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2723 | } |
Lightvalve | 57:f4819de54e7a | 2724 | |
Lightvalve | 57:f4819de54e7a | 2725 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2726 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2727 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2728 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2729 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2730 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2731 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2732 | |
Lightvalve | 57:f4819de54e7a | 2733 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2734 | |
Lightvalve | 57:f4819de54e7a | 2735 | } else { |
Lightvalve | 57:f4819de54e7a | 2736 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2737 | } |
Lightvalve | 57:f4819de54e7a | 2738 | |
Lightvalve | 57:f4819de54e7a | 2739 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2740 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2741 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2742 | |
Lightvalve | 57:f4819de54e7a | 2743 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2744 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2745 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2746 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2747 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2748 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2749 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2750 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2751 | |
Lightvalve | 89:a7b45368ea0f | 2752 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2753 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2754 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2755 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2756 | |
Lightvalve | 135:79885a39c161 | 2757 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2758 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2759 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2760 | } |
Lightvalve | 169:645207e160ca | 2761 | |
Lightvalve | 67:c2812cf26c38 | 2762 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2763 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2764 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2765 | |
jobuuu | 7:e9086c72bb22 | 2766 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2767 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2768 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2769 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2770 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2771 | } |
Lightvalve | 169:645207e160ca | 2772 | |
Lightvalve | 49:e7bcfc244d40 | 2773 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2774 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2775 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2776 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2777 | } |
Lightvalve | 49:e7bcfc244d40 | 2778 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2779 | |
Lightvalve | 19:23b7c1ad8683 | 2780 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2781 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2782 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2783 | |
Lightvalve | 30:8d561f16383b | 2784 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2785 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2786 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2787 | } else { |
jobuuu | 2:a1c0a37df760 | 2788 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2789 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2790 | } |
Lightvalve | 13:747daba9cf59 | 2791 | |
jobuuu | 1:e04e563be5ce | 2792 | //pwm |
Lightvalve | 30:8d561f16383b | 2793 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2794 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2795 | |
Lightvalve | 61:bc8c8270f0ab | 2796 | |
Lightvalve | 57:f4819de54e7a | 2797 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 2798 | |
Lightvalve | 54:647072f5307a | 2799 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2800 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2801 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2802 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2803 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2804 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2805 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 2806 | } |
Lightvalve | 57:f4819de54e7a | 2807 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2808 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2809 | CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); |
Lightvalve | 54:647072f5307a | 2810 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2811 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 2812 | } |
Lightvalve | 52:8ea76864368a | 2813 | } |
Lightvalve | 52:8ea76864368a | 2814 | } |
Lightvalve | 56:6f50d9d3bfee | 2815 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 179:d5377766d7ea | 2816 | CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 54:647072f5307a | 2817 | } |
Lightvalve | 58:2eade98630e2 | 2818 | |
Lightvalve | 58:2eade98630e2 | 2819 | |
Lightvalve | 171:bfc1fd2629d8 | 2820 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2821 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2822 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2823 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2824 | } else { |
Lightvalve | 131:d08121ac87ba | 2825 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2826 | } |
Lightvalve | 169:645207e160ca | 2827 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2828 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2829 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2830 | } else { |
Lightvalve | 169:645207e160ca | 2831 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2832 | } |
Lightvalve | 169:645207e160ca | 2833 | |
Lightvalve | 169:645207e160ca | 2834 | |
Lightvalve | 169:645207e160ca | 2835 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2836 | } |
Lightvalve | 58:2eade98630e2 | 2837 | |
Lightvalve | 57:f4819de54e7a | 2838 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 2839 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2840 | ; |
Lightvalve | 57:f4819de54e7a | 2841 | } |
Lightvalve | 58:2eade98630e2 | 2842 | |
Lightvalve | 169:645207e160ca | 2843 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2844 | //PWM |
Lightvalve | 209:ebc69d6ee6f1 | 2845 | CAN_TX_PWM((int16_t) (torq.ref)); //1500 |
Lightvalve | 209:ebc69d6ee6f1 | 2846 | // CAN_TX_PWM((int16_t) (f_future[1])); //1500 |
Lightvalve | 54:647072f5307a | 2847 | } |
Lightvalve | 179:d5377766d7ea | 2848 | |
Lightvalve | 56:6f50d9d3bfee | 2849 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2850 | //valve position |
Lightvalve | 212:ec41f1449ef9 | 2851 | //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600 |
Lightvalve | 218:066030f7951f | 2852 | CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600 |
Lightvalve | 54:647072f5307a | 2853 | } |
Lightvalve | 20:806196fda269 | 2854 | |
Lightvalve | 54:647072f5307a | 2855 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 2856 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 2857 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 2858 | // } |
Lightvalve | 54:647072f5307a | 2859 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 2860 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 2861 | //} |
Lightvalve | 52:8ea76864368a | 2862 | |
Lightvalve | 54:647072f5307a | 2863 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2864 | } |
Lightvalve | 54:647072f5307a | 2865 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 2866 | |
Lightvalve | 20:806196fda269 | 2867 | } |
Lightvalve | 52:8ea76864368a | 2868 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2869 | |
Lightvalve | 58:2eade98630e2 | 2870 | } |