HydraulicControlBoard_Rainbow_v1_2_ - rainbow

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Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

main.cpp@39:e961db3b93f8, 2019-12-05 (annotated)

Committer:: Lightvalve
Date:: Thu Dec 05 14:29:22 2019 +0000
Revision:: 39:e961db3b93f8
Parent:: 38:118df027d851

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
Lightvalve	31:66738bfecec5	12	///191008////
Lightvalve	31:66738bfecec5	13
jobuuu	7:e9086c72bb22	14	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	15	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	16	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	17	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	18	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	19	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	20	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	21	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	22
Lightvalve	24:ef6e1092e9e6	23
jobuuu	7:e9086c72bb22	24	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	25	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	26	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	30	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	31	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	32
jobuuu	7:e9086c72bb22	33	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	34	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	35	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	36	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	37	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	38	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	39	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	43
jobuuu	7:e9086c72bb22	44	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	45	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	46	CANMessage msg;
Lightvalve	11:82d8768d7351	47	void onMsgReceived()
Lightvalve	11:82d8768d7351	48	{
Lightvalve	11:82d8768d7351	49	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
jobuuu	7:e9086c72bb22	52	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	53	State pos;
jobuuu	7:e9086c72bb22	54	State vel;
jobuuu	7:e9086c72bb22	55	State Vout;
jobuuu	7:e9086c72bb22	56	State torq;
jobuuu	7:e9086c72bb22	57	State pres_A;
jobuuu	7:e9086c72bb22	58	State pres_B;
jobuuu	7:e9086c72bb22	59	State cur;
Lightvalve	14:8e7590227d22	60	State valve_pos;
Lightvalve	14:8e7590227d22	61
Lightvalve	14:8e7590227d22	62	State INIT_Vout;
Lightvalve	14:8e7590227d22	63	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	64	State INIT_Pos;
Lightvalve	14:8e7590227d22	65	State INIT_torq;
jobuuu	5:a4319f79457b	66
Lightvalve	30:8d561f16383b	67	float V_out=0.0f;
Lightvalve	30:8d561f16383b	68	float V_rem=0.0f; // for anti-windup
Lightvalve	30:8d561f16383b	69	float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu	5:a4319f79457b	70
Lightvalve	30:8d561f16383b	71	float PWM_out=0.0f;
Lightvalve	12:6f2531038ea4	72
Lightvalve	17:1865016ca2e7	73	int timer_while = 0;
Lightvalve	17:1865016ca2e7	74	int while_index = 0;
Lightvalve	17:1865016ca2e7	75
Lightvalve	19:23b7c1ad8683	76
Lightvalve	19:23b7c1ad8683	77	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	78	extern int CID_RX_REF_POSITION;
Lightvalve	19:23b7c1ad8683	79	extern int CID_RX_REF_TORQUE;
Lightvalve	19:23b7c1ad8683	80	extern int CID_RX_REF_PRES_DIFF;
Lightvalve	19:23b7c1ad8683	81	extern int CID_RX_REF_VOUT;
Lightvalve	19:23b7c1ad8683	82	extern int CID_RX_REF_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	83	extern int CID_RX_REF_CURRENT;
Lightvalve	19:23b7c1ad8683	84
Lightvalve	19:23b7c1ad8683	85	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	86	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	87	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	88	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	89	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	90	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	91
jobuuu	7:e9086c72bb22	92	// =============================================================================
jobuuu	7:e9086c72bb22	93	// =============================================================================
jobuuu	7:e9086c72bb22	94	// =============================================================================
jobuuu	7:e9086c72bb22	95
Lightvalve	12:6f2531038ea4	96	/*******************************************************************************
Lightvalve	12:6f2531038ea4	97	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	98	******************************************************************************/
Lightvalve	13:747daba9cf59	99	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	100	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	101	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	102	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	103	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	104	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	105	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	106	};
Lightvalve	12:6f2531038ea4	107
Lightvalve	12:6f2531038ea4	108	/*******************************************************************************
Lightvalve	12:6f2531038ea4	109	* CONTROL MODE
Lightvalve	12:6f2531038ea4	110	******************************************************************************/
Lightvalve	13:747daba9cf59	111	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	112	//control mode
Lightvalve	12:6f2531038ea4	113	MODE_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	114	MODE_VALVE_OPEN_LOOP, //1
Lightvalve	12:6f2531038ea4	115	MODE_VALVE_POSITION_CONTROL, //2
Lightvalve	13:747daba9cf59	116
Lightvalve	12:6f2531038ea4	117	MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve	12:6f2531038ea4	118	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	119	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	120
Lightvalve	12:6f2531038ea4	121	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	122	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	123	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	124
Lightvalve	12:6f2531038ea4	125	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	126	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	127
Lightvalve	14:8e7590227d22	128	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	129	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	130	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	131
Lightvalve	12:6f2531038ea4	132	//utility
Lightvalve	12:6f2531038ea4	133	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	134	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	135	MODE_FIND_HOME, //22
Lightvalve	12:6f2531038ea4	136	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	137	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	138	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	139	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	140
Lightvalve	12:6f2531038ea4	141	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	142	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	143	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	12:6f2531038ea4	144	};
Lightvalve	12:6f2531038ea4	145
Lightvalve	39:e961db3b93f8	146	int messi = 0;
Lightvalve	39:e961db3b93f8	147	float end_pos = 0.0f;
Lightvalve	39:e961db3b93f8	148
GiJeongKim	0:51c43836c1d7	149	int main()
GiJeongKim	0:51c43836c1d7	150	{
jobuuu	6:df07d3491e3a	151	/*********************************
jobuuu	1:e04e563be5ce	152	*** Initialization
jobuuu	6:df07d3491e3a	153	*********************************/
Lightvalve	19:23b7c1ad8683	154	//LED = 1;
Lightvalve	19:23b7c1ad8683	155	//pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	156
GiJeongKim	0:51c43836c1d7	157	// i2c init
Lightvalve	39:e961db3b93f8	158	//i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	39:e961db3b93f8	159	// wait_ms(2); // Power Up wait
Lightvalve	39:e961db3b93f8	160	// look_for_hardware_i2c(); // Hardware present
Lightvalve	39:e961db3b93f8	161	// init_as5510(i2c_slave_addr1);
Lightvalve	39:e961db3b93f8	162	// make_delay();
jobuuu	2:a1c0a37df760	163
GiJeongKim	0:51c43836c1d7	164	// // spi init
Lightvalve	16:903b5a4433b4	165	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	166	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	167	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	168	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	169	make_delay();
Lightvalve	21:e5f1a43ea6f9	170
Lightvalve	16:903b5a4433b4	171	//rom
Lightvalve	19:23b7c1ad8683	172	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	173	make_delay();
Lightvalve	13:747daba9cf59	174
Lightvalve	39:e961db3b93f8	175	// // ADC init
Lightvalve	39:e961db3b93f8	176	// Init_ADC();
Lightvalve	39:e961db3b93f8	177	// make_delay();
jobuuu	2:a1c0a37df760	178
GiJeongKim	0:51c43836c1d7	179	// Pwm init
GiJeongKim	0:51c43836c1d7	180	Init_PWM();
GiJeongKim	0:51c43836c1d7	181	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	182	make_delay();
Lightvalve	13:747daba9cf59	183
Lightvalve	11:82d8768d7351	184	// TMR3 init
Lightvalve	11:82d8768d7351	185	Init_TMR3();
Lightvalve	11:82d8768d7351	186	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	187	make_delay();
Lightvalve	21:e5f1a43ea6f9	188
Lightvalve	20:806196fda269	189	// TMR5 init
Lightvalve	23:59218d4a256d	190	Init_TMR2();
Lightvalve	23:59218d4a256d	191	TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	20:806196fda269	192	make_delay();
Lightvalve	21:e5f1a43ea6f9	193
GiJeongKim	0:51c43836c1d7	194	// CAN
jobuuu	2:a1c0a37df760	195	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	196	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	197	make_delay();
Lightvalve	34:bb2ca2fc2a8e	198
Lightvalve	23:59218d4a256d	199	//Timer priority
Lightvalve	23:59218d4a256d	200	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	23:59218d4a256d	201	NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	23:59218d4a256d	202	NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve	34:bb2ca2fc2a8e	203
Lightvalve	23:59218d4a256d	204	//can.reset();
Lightvalve	19:23b7c1ad8683	205	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	206
GiJeongKim	0:51c43836c1d7	207	// spi _ enc
GiJeongKim	0:51c43836c1d7	208	spi_enc_set_init();
Lightvalve	11:82d8768d7351	209	make_delay();
Lightvalve	13:747daba9cf59	210
Lightvalve	11:82d8768d7351	211	//DAC init
Lightvalve	39:e961db3b93f8	212	// dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	39:e961db3b93f8	213	// dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	39:e961db3b93f8	214	// make_delay();
Lightvalve	13:747daba9cf59	215
Lightvalve	39:e961db3b93f8	216	// for (int i=0; i<50; i++) {
Lightvalve	39:e961db3b93f8	217	// if(i%2==0)
Lightvalve	39:e961db3b93f8	218	// ID_index_array[i] = - i * 0.5f;
Lightvalve	39:e961db3b93f8	219	// else
Lightvalve	39:e961db3b93f8	220	// ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	39:e961db3b93f8	221	// }
Lightvalve	39:e961db3b93f8	222
Lightvalve	39:e961db3b93f8	223	ENC_UPDATE();
Lightvalve	39:e961db3b93f8	224	pos.ref = pos.sen;
Lightvalve	39:e961db3b93f8	225
Lightvalve	13:747daba9cf59	226
jobuuu	6:df07d3491e3a	227	/************************************
jobuuu	1:e04e563be5ce	228	*** Program is operating!
jobuuu	6:df07d3491e3a	229	*************************************/
GiJeongKim	0:51c43836c1d7	230	while(1) {
Lightvalve	39:e961db3b93f8	231	if(timer_while==100000) {
Lightvalve	39:e961db3b93f8	232	messi = 1;
Lightvalve	21:e5f1a43ea6f9	233
Lightvalve	17:1865016ca2e7	234	}
Lightvalve	17:1865016ca2e7	235	timer_while ++;
GiJeongKim	0:51c43836c1d7	236	}
jobuuu	1:e04e563be5ce	237	}
jobuuu	1:e04e563be5ce	238
Lightvalve	33:91b17819ec30	239	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	240	{
Lightvalve	14:8e7590227d22	241
Lightvalve	13:747daba9cf59	242	int i = 0;
Lightvalve	33:91b17819ec30	243	float Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	14:8e7590227d22	244	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	245	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	246	if(i==0) {
Lightvalve	38:118df027d851	247	if(JOINT_VEL[i+1] == JOINT_VEL[i]){
Lightvalve	38:118df027d851	248	Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	38:118df027d851	249	}else{
Lightvalve	38:118df027d851	250	Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve	38:118df027d851	251	}
Lightvalve	14:8e7590227d22	252	} else {
Lightvalve	38:118df027d851	253	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]){
Lightvalve	38:118df027d851	254	Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	38:118df027d851	255	}else{
Lightvalve	38:118df027d851	256	Ref_Valve_Pos_FF = ((float) 10(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve	38:118df027d851	257	}
Lightvalve	13:747daba9cf59	258	}
Lightvalve	13:747daba9cf59	259	break;
Lightvalve	13:747daba9cf59	260	}
Lightvalve	13:747daba9cf59	261	}
Lightvalve	14:8e7590227d22	262	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	263	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	264	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	265	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	266	}
Lightvalve	36:a46e63505ed8	267
Lightvalve	35:34ce7b0347b8	268	//VELOCITY_COMP_GAIN = 20;
Lightvalve	35:34ce7b0347b8	269	//CAN_TX_PRES((int16_t)(Ref_Valve_Pos_FF), (int16_t) (7));
Lightvalve	33:91b17819ec30	270	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + DDV_CENTER;
Lightvalve	34:bb2ca2fc2a8e	271
Lightvalve	13:747daba9cf59	272	return Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	273	}
jobuuu	6:df07d3491e3a	274
jobuuu	6:df07d3491e3a	275
Lightvalve	30:8d561f16383b	276	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	277	{
Lightvalve	13:747daba9cf59	278	int i = 0;
Lightvalve	13:747daba9cf59	279
Lightvalve	38:118df027d851	280	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	281	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	282	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	283	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	284	}
Lightvalve	38:118df027d851	285
Lightvalve	13:747daba9cf59	286	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	287	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	288	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	289	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	290	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	291	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	292
Lightvalve	13:747daba9cf59	293	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	294
Lightvalve	38:118df027d851	295
Lightvalve	34:bb2ca2fc2a8e	296
Lightvalve	34:bb2ca2fc2a8e	297
Lightvalve	23:59218d4a256d	298	// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve	23:59218d4a256d	299	// {
Lightvalve	23:59218d4a256d	300	// if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve	30:8d561f16383b	301	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve	23:59218d4a256d	302	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve	30:8d561f16383b	303	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1];
Lightvalve	23:59218d4a256d	304	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve	30:8d561f16383b	305	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3];
Lightvalve	23:59218d4a256d	306	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve	30:8d561f16383b	307	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5];
Lightvalve	23:59218d4a256d	308	// }else
Lightvalve	23:59218d4a256d	309	// VALVE_PWM_RAW_FF = 12000.0;
Lightvalve	23:59218d4a256d	310	// }
Lightvalve	23:59218d4a256d	311	// else
Lightvalve	23:59218d4a256d	312	// {
Lightvalve	23:59218d4a256d	313	// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve	30:8d561f16383b	314	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2];
Lightvalve	23:59218d4a256d	315	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve	30:8d561f16383b	316	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4];
Lightvalve	23:59218d4a256d	317	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve	30:8d561f16383b	318	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6];
Lightvalve	23:59218d4a256d	319	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve	30:8d561f16383b	320	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8];
Lightvalve	23:59218d4a256d	321	// }else
Lightvalve	23:59218d4a256d	322	// VALVE_PWM_RAW_FF = -12000.0;
Lightvalve	23:59218d4a256d	323	// }
Lightvalve	14:8e7590227d22	324
Lightvalve	18:b8adf1582ea3	325	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	326	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	327	if(i==0) {
Lightvalve	30:8d561f16383b	328	VALVE_PWM_RAW_FF = (float) 1000.0 / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	329	} else {
Lightvalve	30:8d561f16383b	330	VALVE_PWM_RAW_FF = (float) 1000.0* (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]) + 1000.0* (float) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	331	}
Lightvalve	13:747daba9cf59	332	break;
Lightvalve	13:747daba9cf59	333	}
Lightvalve	13:747daba9cf59	334	}
Lightvalve	19:23b7c1ad8683	335
Lightvalve	14:8e7590227d22	336	V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	27:a2254a485f23	337	//V_out = VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	338	}
Lightvalve	13:747daba9cf59	339
Lightvalve	14:8e7590227d22	340	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	341	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	342	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	343	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	344	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	345	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	346	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	347	}; // duty
Lightvalve	30:8d561f16383b	348	float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve	34:bb2ca2fc2a8e	349	-196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve	34:bb2ca2fc2a8e	350	-156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	351	12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve	34:bb2ca2fc2a8e	352	173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve	34:bb2ca2fc2a8e	353	214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve	34:bb2ca2fc2a8e	354	}; // mV
Lightvalve	13:747daba9cf59	355
Lightvalve	30:8d561f16383b	356	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	357	{
Lightvalve	30:8d561f16383b	358	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	359	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	360	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	361	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	362	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	363	} else {
Lightvalve	13:747daba9cf59	364	int idx = 0;
Lightvalve	13:747daba9cf59	365	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	366	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	367	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	368	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	369	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	370	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	371	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	372	break;
Lightvalve	13:747daba9cf59	373	}
Lightvalve	13:747daba9cf59	374	}
Lightvalve	13:747daba9cf59	375	}
Lightvalve	14:8e7590227d22	376
Lightvalve	13:747daba9cf59	377	return PWM_duty;
Lightvalve	13:747daba9cf59	378	}
jobuuu	6:df07d3491e3a	379
jobuuu	2:a1c0a37df760	380	/*******************************************************************************
jobuuu	2:a1c0a37df760	381	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	382	*******************************************************************************/
jobuuu	2:a1c0a37df760	383
Lightvalve	19:23b7c1ad8683	384	//unsigned long CNT_TMR4 = 0;
Lightvalve	30:8d561f16383b	385	float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve	30:8d561f16383b	386	float DT_TMR4 = (float)DT_10k;
jobuuu	1:e04e563be5ce	387	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	388	{
Lightvalve	23:59218d4a256d	389
Lightvalve	19:23b7c1ad8683	390	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	391
Lightvalve	21:e5f1a43ea6f9	392	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	393	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	394	********************************************************/
Lightvalve	13:747daba9cf59	395
Lightvalve	19:23b7c1ad8683	396
Lightvalve	21:e5f1a43ea6f9	397	//Using LoadCell
Lightvalve	15:bd0d12728506	398	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	15:bd0d12728506	399	// //while((ADC1->SR & 0b10));
Lightvalve	30:8d561f16383b	400	// float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	30:8d561f16383b	401	// float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve	30:8d561f16383b	402	// torq.sen = torq.sen(1.0f-alpha_update_torque)+torque_new(alpha_update_torque);
Lightvalve	17:1865016ca2e7	403
Lightvalve	19:23b7c1ad8683	404
Lightvalve	17:1865016ca2e7	405
Lightvalve	21:e5f1a43ea6f9	406	//Pressure sensor A
Lightvalve	21:e5f1a43ea6f9	407	ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	21:e5f1a43ea6f9	408	//while((ADC1->SR & 0b10));
Lightvalve	30:8d561f16383b	409	float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	38:118df027d851	410	// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	38:118df027d851	411	float pres_A_new = ((float)ADC1->DR);
Lightvalve	30:8d561f16383b	412	pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	38:118df027d851	413	torq.sen = - (pres_A.sen-2048.0f)*10000.0f / 2048.0f; //N
Lightvalve	38:118df027d851	414
Lightvalve	19:23b7c1ad8683	415
Lightvalve	21:e5f1a43ea6f9	416	//Pressure sensor 1B
Lightvalve	38:118df027d851	417	//float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	38:118df027d851	418	//float pres_B_new = ((float)ADC2->DR);
Lightvalve	38:118df027d851	419	//pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	38:118df027d851	420	//torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	421
Lightvalve	17:1865016ca2e7	422
Lightvalve	17:1865016ca2e7	423
Lightvalve	21:e5f1a43ea6f9	424	//Current
Lightvalve	21:e5f1a43ea6f9	425	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	11:82d8768d7351	426	// a1=ADC2->DR;
Lightvalve	25:3e6b574cab5c	427	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	428	//while((ADC3->SR & 0b10));
Lightvalve	30:8d561f16383b	429	float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	430	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	431	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	432	//cur.sen = raw_cur;
Lightvalve	17:1865016ca2e7	433
Lightvalve	21:e5f1a43ea6f9	434	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	435	*** Timer Counting & etc.
Lightvalve	21:e5f1a43ea6f9	436	********************************************************/
Lightvalve	21:e5f1a43ea6f9	437	//CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	438	}
Lightvalve	11:82d8768d7351	439	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	440	}
Lightvalve	19:23b7c1ad8683	441
Lightvalve	19:23b7c1ad8683	442
Lightvalve	18:b8adf1582ea3	443	int j =0;
Lightvalve	19:23b7c1ad8683	444	//unsigned long CNT_TMR3 = 0;
Lightvalve	30:8d561f16383b	445	//float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	30:8d561f16383b	446	float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve	30:8d561f16383b	447	//float DT_TMR3 = (float)DT_5k;
Lightvalve	30:8d561f16383b	448	float DT_TMR3 = (float)DT_1k;
Lightvalve	11:82d8768d7351	449	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	450	{
Lightvalve	19:23b7c1ad8683	451	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	12:6f2531038ea4	452	ENC_UPDATE();
Lightvalve	39:e961db3b93f8	453
Lightvalve	39:e961db3b93f8	454	if(messi == 1){
Lightvalve	39:e961db3b93f8	455	pos.ref = pos.ref + 0.007f;//0.009 -> 10ml/30min
Lightvalve	39:e961db3b93f8	456	pos.err = pos.ref - (float) pos.sen;
Lightvalve	39:e961db3b93f8	457	pos.err_diff = pos.err - pos.err_old;
Lightvalve	39:e961db3b93f8	458	pos.err_old = pos.err;
Lightvalve	39:e961db3b93f8	459	pos.err_sum += pos.err;
Lightvalve	39:e961db3b93f8	460	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	39:e961db3b93f8	461	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	39:e961db3b93f8	462	V_out = (float) 500.0f + (float) 3000.0f * 0.01f * pos.err + (float) 0.0f * 0.01f * pos.err_sum + (float) 0.0f * pos.err_diff;
Lightvalve	39:e961db3b93f8	463
Lightvalve	39:e961db3b93f8	464	if (abs(pos.ref-pos.sen) > 1000){
Lightvalve	39:e961db3b93f8	465	V_out = 0;
Lightvalve	39:e961db3b93f8	466	pos.ref = pos.sen;
Lightvalve	39:e961db3b93f8	467	end_pos = pos.sen;
Lightvalve	39:e961db3b93f8	468	messi = 2;
Lightvalve	39:e961db3b93f8	469	}
Lightvalve	39:e961db3b93f8	470	}
Lightvalve	39:e961db3b93f8	471	if(messi ==2){
Lightvalve	39:e961db3b93f8	472	pos.ref = pos.ref - 2.0f;
Lightvalve	39:e961db3b93f8	473	pos.err = pos.ref - (float) pos.sen;
Lightvalve	39:e961db3b93f8	474	pos.err_diff = pos.err - pos.err_old;
Lightvalve	39:e961db3b93f8	475	pos.err_old = pos.err;
Lightvalve	39:e961db3b93f8	476	pos.err_sum += pos.err;
Lightvalve	39:e961db3b93f8	477	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	39:e961db3b93f8	478	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	39:e961db3b93f8	479	V_out = (float) 3000.0f * 0.01f * pos.err + (float) 0.0f * 0.01f * pos.err_sum + (float) 0.0f * pos.err_diff;
Lightvalve	39:e961db3b93f8	480
Lightvalve	39:e961db3b93f8	481	// if (abs(pos.ref-pos.sen) > 2000){
Lightvalve	39:e961db3b93f8	482	// V_out = 0;
Lightvalve	39:e961db3b93f8	483	// messi = 0;
Lightvalve	39:e961db3b93f8	484	// }
Lightvalve	39:e961db3b93f8	485
Lightvalve	39:e961db3b93f8	486	if (abs(end_pos-pos.sen) > 81920){
Lightvalve	39:e961db3b93f8	487	V_out = 0;
Lightvalve	39:e961db3b93f8	488	messi = 0;
Lightvalve	39:e961db3b93f8	489	}
Lightvalve	39:e961db3b93f8	490	}
Lightvalve	39:e961db3b93f8	491
Lightvalve	13:747daba9cf59	492
Lightvalve	19:23b7c1ad8683	493	// CONTROL LOOP ------------------------------------------------------------
Lightvalve	13:747daba9cf59	494
Lightvalve	14:8e7590227d22	495	switch (CONTROL_MODE) {
Lightvalve	14:8e7590227d22	496	case MODE_NO_ACT: {
Lightvalve	39:e961db3b93f8	497	V_out = V_out;
Lightvalve	13:747daba9cf59	498	break;
Lightvalve	13:747daba9cf59	499	}
Lightvalve	14:8e7590227d22	500
Lightvalve	14:8e7590227d22	501	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	30:8d561f16383b	502	V_out = (float) Vout.ref;
Lightvalve	14:8e7590227d22	503	break;
Lightvalve	14:8e7590227d22	504	}
Lightvalve	14:8e7590227d22	505
Lightvalve	14:8e7590227d22	506	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	14:8e7590227d22	507	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	508	break;
Lightvalve	14:8e7590227d22	509	}
Lightvalve	14:8e7590227d22	510
Lightvalve	14:8e7590227d22	511	case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve	30:8d561f16383b	512	float PWM_RAW_POS_FB = 0.0f; // PWM by Position Feedback
Lightvalve	30:8d561f16383b	513	float PWM_RAW_POS_FF = 0.0f; // PWM by Position Feedforward
Lightvalve	30:8d561f16383b	514	float PWM_RAW_FORCE_FB = 0.0f; // PWM by Force Feedback
Lightvalve	14:8e7590227d22	515
Lightvalve	13:747daba9cf59	516	// feedback input for position control
Lightvalve	30:8d561f16383b	517	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	518	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	519	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	520	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	521	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	522	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	523	// PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	30:8d561f16383b	524	PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve	30:8d561f16383b	525	PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01f;
Lightvalve	14:8e7590227d22	526
Lightvalve	13:747daba9cf59	527	// feedforward input for position control
Lightvalve	30:8d561f16383b	528	float Ref_Vel_Act = vel.ref/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	529	float K_ff = 0.9f;
Lightvalve	30:8d561f16383b	530	if(Ref_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve	30:8d561f16383b	531	if(Ref_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve	30:8d561f16383b	532	PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50f;
Lightvalve	14:8e7590227d22	533
Lightvalve	13:747daba9cf59	534	// torque feedback
Lightvalve	15:bd0d12728506	535	// torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	536	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	537	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	538	// torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	539	// if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	540	// if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	541	// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	30:8d561f16383b	542	// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve	19:23b7c1ad8683	543
Lightvalve	30:8d561f16383b	544	PWM_RAW_FORCE_FB = 0.0f;
Lightvalve	14:8e7590227d22	545
Lightvalve	14:8e7590227d22	546	V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve	14:8e7590227d22	547
Lightvalve	13:747daba9cf59	548	break;
Lightvalve	13:747daba9cf59	549	}
Lightvalve	14:8e7590227d22	550
Lightvalve	14:8e7590227d22	551	case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve	34:bb2ca2fc2a8e	552
Lightvalve	34:bb2ca2fc2a8e	553
Lightvalve	30:8d561f16383b	554	float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve	30:8d561f16383b	555	//float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve	30:8d561f16383b	556	float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve	19:23b7c1ad8683	557	//int DDV_JOINT_CAN = 0;
Lightvalve	13:747daba9cf59	558	// feedback input for position control
Lightvalve	30:8d561f16383b	559	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	560	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	561	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	562	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	563	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	564	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	32:4b8c0fedaf2c	565	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	30:8d561f16383b	566	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	14:8e7590227d22	567
Lightvalve	14:8e7590227d22	568
Lightvalve	13:747daba9cf59	569	//Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve	13:747daba9cf59	570	// feedforward input for position control
Lightvalve	30:8d561f16383b	571	// float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	572	// float K_ff = 0.9f;
Lightvalve	30:8d561f16383b	573	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve	30:8d561f16383b	574	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve	30:8d561f16383b	575	// VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve	14:8e7590227d22	576
Lightvalve	38:118df027d851	577	//torque feedback
Lightvalve	38:118df027d851	578	torq.err = - torq.ref + torq.sen;
Lightvalve	38:118df027d851	579	torq.err_diff = torq.err - torq.err_old;
Lightvalve	38:118df027d851	580	torq.err_old = torq.err;
Lightvalve	38:118df027d851	581	torq.err_sum += torq.err;
Lightvalve	38:118df027d851	582	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	38:118df027d851	583	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	38:118df027d851	584	VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	38:118df027d851	585	VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve	14:8e7590227d22	586
Lightvalve	33:91b17819ec30	587	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve	34:bb2ca2fc2a8e	588
Lightvalve	34:bb2ca2fc2a8e	589	if (valve_pos.ref > DDV_CENTER) {
Lightvalve	32:4b8c0fedaf2c	590	valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS - DDV_CENTER;
Lightvalve	34:bb2ca2fc2a8e	591	} else if(valve_pos.ref < DDV_CENTER) {
Lightvalve	32:4b8c0fedaf2c	592	valve_pos.ref = valve_pos.ref - DDV_CENTER + VALVE_DEADZONE_MINUS;
Lightvalve	32:4b8c0fedaf2c	593	}
Lightvalve	14:8e7590227d22	594	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	34:bb2ca2fc2a8e	595
Lightvalve	34:bb2ca2fc2a8e	596
Lightvalve	13:747daba9cf59	597	break;
Lightvalve	13:747daba9cf59	598	}
Lightvalve	14:8e7590227d22	599
Lightvalve	14:8e7590227d22	600	case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	601
Lightvalve	13:747daba9cf59	602	break;
Lightvalve	13:747daba9cf59	603	}
Lightvalve	14:8e7590227d22	604
Lightvalve	14:8e7590227d22	605	case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve	30:8d561f16383b	606	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	607	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	608	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	609	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	610	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	611	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	612	VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve	14:8e7590227d22	613
Lightvalve	14:8e7590227d22	614	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	615	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	616	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	617	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	618	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	619	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	620	VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	621
Lightvalve	30:8d561f16383b	622	VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve	14:8e7590227d22	623
Lightvalve	30:8d561f16383b	624	V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	625
Lightvalve	30:8d561f16383b	626	CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve	30:8d561f16383b	627	CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2pi/655365000(pulse/tic to rad/s) 0.5757=0.025250.020.00952601000 (radius area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve	13:747daba9cf59	628	if (DIR_VALVE > 0) {
Lightvalve	30:8d561f16383b	629	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]1.0f - 0.0f) + 0.0f;
Lightvalve	30:8d561f16383b	630	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0f) / (VALVE_GAIN_LPM_PER_V[2]2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve	30:8d561f16383b	631	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0f) / (VALVE_GAIN_LPM_PER_V[4]3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve	30:8d561f16383b	632	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0f) / (VALVE_GAIN_LPM_PER_V[6]4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve	30:8d561f16383b	633	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0f) / (VALVE_GAIN_LPM_PER_V[8]5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve	30:8d561f16383b	634	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve	30:8d561f16383b	635	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1](-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve	30:8d561f16383b	636	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3](-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve	30:8d561f16383b	637	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5](-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve	30:8d561f16383b	638	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7](-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve	30:8d561f16383b	639	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9](-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve	30:8d561f16383b	640	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	641	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	642	} else {
Lightvalve	30:8d561f16383b	643	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]1.0f - 0.0f) + 0.0f;
Lightvalve	30:8d561f16383b	644	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0f) / (VALVE_GAIN_LPM_PER_V[2]2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve	30:8d561f16383b	645	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0f) / (VALVE_GAIN_LPM_PER_V[4]3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve	30:8d561f16383b	646	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0f) / (VALVE_GAIN_LPM_PER_V[6]4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve	30:8d561f16383b	647	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0f) / (VALVE_GAIN_LPM_PER_V[8]5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve	30:8d561f16383b	648	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve	30:8d561f16383b	649	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0](-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve	30:8d561f16383b	650	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2](-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve	30:8d561f16383b	651	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4](-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve	30:8d561f16383b	652	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6](-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve	30:8d561f16383b	653	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8](-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve	30:8d561f16383b	654	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	655	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	656	}
Lightvalve	30:8d561f16383b	657	// VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve	14:8e7590227d22	658
Lightvalve	30:8d561f16383b	659	if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve	30:8d561f16383b	660	else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve	14:8e7590227d22	661
Lightvalve	18:b8adf1582ea3	662	V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve	14:8e7590227d22	663	break;
Lightvalve	14:8e7590227d22	664	}
Lightvalve	14:8e7590227d22	665
Lightvalve	14:8e7590227d22	666	case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve	30:8d561f16383b	667	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	668	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	669	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	670	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	671	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	672	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	673	VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve	14:8e7590227d22	674
Lightvalve	15:bd0d12728506	675	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	676	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	677	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	678	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	679	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	680	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	681	VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	682
Lightvalve	14:8e7590227d22	683	valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	684	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	19:23b7c1ad8683	685
Lightvalve	14:8e7590227d22	686	break;
Lightvalve	14:8e7590227d22	687	}
Lightvalve	14:8e7590227d22	688
Lightvalve	14:8e7590227d22	689	case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	690
Lightvalve	14:8e7590227d22	691	break;
Lightvalve	14:8e7590227d22	692	}
Lightvalve	14:8e7590227d22	693
Lightvalve	19:23b7c1ad8683	694
Lightvalve	19:23b7c1ad8683	695	case MODE_TEST_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	696	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	697	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	698	}
Lightvalve	19:23b7c1ad8683	699	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	700
Lightvalve	19:23b7c1ad8683	701	// Set Current Reference
Lightvalve	30:8d561f16383b	702	float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve	30:8d561f16383b	703	float I_REF_MID = 0.0f;
Lightvalve	14:8e7590227d22	704	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	30:8d561f16383b	705	I_REF = I_REF_MID + 1.0f;
Lightvalve	14:8e7590227d22	706	} else {
Lightvalve	30:8d561f16383b	707	I_REF = I_REF_MID - 1.0f;
Lightvalve	19:23b7c1ad8683	708	}
Lightvalve	30:8d561f16383b	709	// float T = 1.0; // wave period
Lightvalve	30:8d561f16383b	710	// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve	30:8d561f16383b	711	// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve	19:23b7c1ad8683	712
Lightvalve	14:8e7590227d22	713	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	23:59218d4a256d	714	//CAN_TX_PRES((int16_t)(I_REF1000.0), (int16_t) (CUR_CURRENT1000.0)); // to check the datas
Lightvalve	14:8e7590227d22	715	}
Lightvalve	14:8e7590227d22	716	break;
Lightvalve	14:8e7590227d22	717	}
Lightvalve	19:23b7c1ad8683	718
Lightvalve	19:23b7c1ad8683	719	case MODE_TEST_PWM_CONTROL: {
Lightvalve	14:8e7590227d22	720	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	721	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	722	}
Lightvalve	19:23b7c1ad8683	723	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	724
Lightvalve	14:8e7590227d22	725	// Set PWM reference
Lightvalve	30:8d561f16383b	726	float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve	30:8d561f16383b	727	//float I_REF_MID = 0.0f;
Lightvalve	14:8e7590227d22	728	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	14:8e7590227d22	729	CUR_PWM = 1000;
Lightvalve	14:8e7590227d22	730	} else {
Lightvalve	14:8e7590227d22	731	CUR_PWM = -1000;
Lightvalve	19:23b7c1ad8683	732	}
Lightvalve	19:23b7c1ad8683	733
Lightvalve	14:8e7590227d22	734	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	30:8d561f16383b	735	//CAN_TX_PRES((int16_t)(u_CUR[0]1000.0f), (int16_t) (CUR_CURRENT1000.0f)); // to check the datas
Lightvalve	14:8e7590227d22	736	}
Lightvalve	13:747daba9cf59	737	break;
Lightvalve	13:747daba9cf59	738	}
Lightvalve	19:23b7c1ad8683	739
Lightvalve	19:23b7c1ad8683	740
Lightvalve	14:8e7590227d22	741	case MODE_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	742
Lightvalve	14:8e7590227d22	743	cur.ref = cur.ref; // Unit : mA
Lightvalve	14:8e7590227d22	744	CurrentControl();
Lightvalve	14:8e7590227d22	745	break;
Lightvalve	14:8e7590227d22	746	}
Lightvalve	19:23b7c1ad8683	747
Lightvalve	14:8e7590227d22	748	case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve	30:8d561f16383b	749	float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve	30:8d561f16383b	750	float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve	30:8d561f16383b	751	float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	752	float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	753
Lightvalve	14:8e7590227d22	754	// feedback input for position control
Lightvalve	14:8e7590227d22	755	pos.err = pos.ref - pos.sen;
Lightvalve	30:8d561f16383b	756	float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f3.1415f50.0f)); // f_cutoff : 50Hz
Lightvalve	30:8d561f16383b	757	float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve	30:8d561f16383b	758	pos.err_diff = (1.0f-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	759	pos.err_old = pos.err;
Lightvalve	30:8d561f16383b	760	I_REF_POS_FB = 0.001f((float)P_GAIN_JOINT_POSITION pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve	19:23b7c1ad8683	761
Lightvalve	14:8e7590227d22	762	// feedforward input for position control
Lightvalve	30:8d561f16383b	763	float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	764	float K_ff = 1.3f;
Lightvalve	30:8d561f16383b	765	float K_v = 0.0f;
Lightvalve	30:8d561f16383b	766	if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve	30:8d561f16383b	767	if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	768	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	769
Lightvalve	14:8e7590227d22	770	// feedback input for position control
Lightvalve	30:8d561f16383b	771	I_REF_FORCE_FB = 0.0f;
Lightvalve	19:23b7c1ad8683	772
Lightvalve	14:8e7590227d22	773	// feedforward input for position control
Lightvalve	30:8d561f16383b	774	I_REF_FORCE_FF = 0.0f;
Lightvalve	19:23b7c1ad8683	775
Lightvalve	14:8e7590227d22	776	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	777
Lightvalve	14:8e7590227d22	778	CurrentControl();
Lightvalve	19:23b7c1ad8683	779
Lightvalve	13:747daba9cf59	780	break;
Lightvalve	13:747daba9cf59	781	}
Lightvalve	19:23b7c1ad8683	782
Lightvalve	14:8e7590227d22	783	case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve	30:8d561f16383b	784	//float T_REF = 0.0; // Torque Reference
Lightvalve	30:8d561f16383b	785	float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	786	float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve	19:23b7c1ad8683	787
Lightvalve	14:8e7590227d22	788	// feedback input for position control
Lightvalve	30:8d561f16383b	789	//float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	790	//float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	791	//float K_spring = 0.7f;
Lightvalve	30:8d561f16383b	792	//float D_damper = 0.02f;
Lightvalve	14:8e7590227d22	793	// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve	19:23b7c1ad8683	794
Lightvalve	14:8e7590227d22	795	// torque feedback
Lightvalve	15:bd0d12728506	796	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	797	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	798	// torq.err_old = torq.err;
Lightvalve	30:8d561f16383b	799	torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve	30:8d561f16383b	800	I_REF_FORCE_FB = 0.001f((float)P_GAIN_JOINT_TORQUE torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	19:23b7c1ad8683	801
Lightvalve	14:8e7590227d22	802	// velocity compensation for torque control
Lightvalve	30:8d561f16383b	803	float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	804	float K_vc = 1.5f; // Velocity comp. gain
Lightvalve	30:8d561f16383b	805	float K_v = 0.0f; // Valve gain
Lightvalve	30:8d561f16383b	806	if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve	30:8d561f16383b	807	if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve	14:8e7590227d22	808	I_REF_VC = K_vcK_vJoint_Vel_Act;
Lightvalve	19:23b7c1ad8683	809
Lightvalve	14:8e7590227d22	810	cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	811	// cur.ref = I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	812
Lightvalve	30:8d561f16383b	813	float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	30:8d561f16383b	814	float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve	14:8e7590227d22	815	if(cur.ref > I_MAX) {
Lightvalve	30:8d561f16383b	816	float I_rem = cur.ref-I_MAX;
Lightvalve	14:8e7590227d22	817	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	818	cur.ref = I_MAX;
Lightvalve	30:8d561f16383b	819	torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	820	} else if(cur.ref < -I_MAX) {
Lightvalve	30:8d561f16383b	821	float I_rem = cur.ref-(-I_MAX);
Lightvalve	19:23b7c1ad8683	822	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	823	cur.ref = -I_MAX;
Lightvalve	30:8d561f16383b	824	torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	825	}
Lightvalve	19:23b7c1ad8683	826
Lightvalve	14:8e7590227d22	827	CurrentControl();
Lightvalve	19:23b7c1ad8683	828
Lightvalve	19:23b7c1ad8683	829
Lightvalve	14:8e7590227d22	830	/*
Lightvalve	30:8d561f16383b	831	float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve	30:8d561f16383b	832	float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve	30:8d561f16383b	833	float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	834	float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	835
Lightvalve	14:8e7590227d22	836	// feedback input for position control
Lightvalve	14:8e7590227d22	837	pos.err = pos.ref - pos.sen;
Lightvalve	30:8d561f16383b	838	float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f3.1415f50.0f)); // f_cutoff : 50Hz
Lightvalve	30:8d561f16383b	839	float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve	30:8d561f16383b	840	pos.err_diff = (1.0f-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	841	pos.err_old = pos.err;
Lightvalve	30:8d561f16383b	842	I_REF_POS_FB = 0.001f((float)P_GAIN_JOINT_POSITION pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve	19:23b7c1ad8683	843
Lightvalve	14:8e7590227d22	844	// feedforward input for position control
Lightvalve	30:8d561f16383b	845	float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	846	float K_ff = 1.3f;
Lightvalve	30:8d561f16383b	847	float K_v = 0.0f;
Lightvalve	30:8d561f16383b	848	if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve	30:8d561f16383b	849	if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	850	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	851
Lightvalve	14:8e7590227d22	852	// feedback input for position control
Lightvalve	30:8d561f16383b	853	I_REF_FORCE_FB = 0.0f;
Lightvalve	19:23b7c1ad8683	854
Lightvalve	14:8e7590227d22	855	// feedforward input for position control
Lightvalve	30:8d561f16383b	856	I_REF_FORCE_FF = 0.0f;
Lightvalve	19:23b7c1ad8683	857
Lightvalve	14:8e7590227d22	858	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	859
Lightvalve	14:8e7590227d22	860	CurrentControl();
Lightvalve	14:8e7590227d22	861	*/
Lightvalve	19:23b7c1ad8683	862
Lightvalve	13:747daba9cf59	863	break;
Lightvalve	13:747daba9cf59	864	}
Lightvalve	14:8e7590227d22	865
Lightvalve	14:8e7590227d22	866	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	867	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	868	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	869	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	870
Lightvalve	14:8e7590227d22	871	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	872	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	873	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	874
Lightvalve	30:8d561f16383b	875	TORQUE_VREF += 0.0001f * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	876
Lightvalve	30:8d561f16383b	877	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	13:747daba9cf59	878	if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve	19:23b7c1ad8683	879
Lightvalve	16:903b5a4433b4	880	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	881
Lightvalve	16:903b5a4433b4	882	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	883	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	884	}
Lightvalve	13:747daba9cf59	885	} else {
Lightvalve	13:747daba9cf59	886	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	887	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	888	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	889	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	890
Lightvalve	16:903b5a4433b4	891	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	892
Lightvalve	16:903b5a4433b4	893	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	19:23b7c1ad8683	894
Lightvalve	17:1865016ca2e7	895	//pc.printf("%f\n", TORQUE_VREF);
Lightvalve	30:8d561f16383b	896	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	897
Lightvalve	13:747daba9cf59	898	}
Lightvalve	14:8e7590227d22	899	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	900	break;
Lightvalve	19:23b7c1ad8683	901	}
Lightvalve	14:8e7590227d22	902
Lightvalve	14:8e7590227d22	903	case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	14:8e7590227d22	904	if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	13:747daba9cf59	905	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	906	else temp_time = 0;
Lightvalve	13:747daba9cf59	907	}
Lightvalve	13:747daba9cf59	908	if (need_enc_init) {
Lightvalve	30:8d561f16383b	909	if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	910	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	911	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	912	} else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	913	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	914	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	915	} else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	13:747daba9cf59	916	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	917	}
Lightvalve	14:8e7590227d22	918
Lightvalve	14:8e7590227d22	919	if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	920	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	921	VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	14:8e7590227d22	922
Lightvalve	30:8d561f16383b	923	} else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	18:b8adf1582ea3	924	V_out = 0;
Lightvalve	13:747daba9cf59	925	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	14:8e7590227d22	926	} else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	927	if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	928	else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	929	else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	13:747daba9cf59	930	else DZ_temp_cnt2 = DZ_end;
Lightvalve	13:747daba9cf59	931	CUR_VELOCITY_sum = 0;
Lightvalve	14:8e7590227d22	932	} else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	933	if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	14:8e7590227d22	934
Lightvalve	13:747daba9cf59	935	// Position of Dead Zone
Lightvalve	13:747daba9cf59	936	// (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	14:8e7590227d22	937	// \| / \| / \|/
Lightvalve	13:747daba9cf59	938	// \| ______/ ___\|___/ ______/\|
Lightvalve	13:747daba9cf59	939	// \|/ / \| / \|
Lightvalve	13:747daba9cf59	940	// /\| / \| / \|
Lightvalve	13:747daba9cf59	941	// 0V 0V 0V
Lightvalve	14:8e7590227d22	942
Lightvalve	13:747daba9cf59	943	if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	14:8e7590227d22	944	if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	13:747daba9cf59	945	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	13:747daba9cf59	946	} else {
Lightvalve	18:b8adf1582ea3	947	V_out -= DZ_dir;
Lightvalve	13:747daba9cf59	948	if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	13:747daba9cf59	949	CUR_VELOCITY_sum = 0;
Lightvalve	13:747daba9cf59	950	}
Lightvalve	13:747daba9cf59	951	if (DZ_temp_cnt == 5) {
Lightvalve	18:b8adf1582ea3	952	if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	18:b8adf1582ea3	953	else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	13:747daba9cf59	954	DZ_dir = -DZ_dir;
Lightvalve	13:747daba9cf59	955	DZ_temp_cnt = 0;
Lightvalve	13:747daba9cf59	956	DZ_temp_cnt2++;
Lightvalve	13:747daba9cf59	957	}
Lightvalve	13:747daba9cf59	958	} else {
Lightvalve	14:8e7590227d22	959	TMR3_COUNT_DEADZONE = -1;
Lightvalve	13:747daba9cf59	960	VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	13:747daba9cf59	961	if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	13:747daba9cf59	962	VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	963	VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	964	}
Lightvalve	18:b8adf1582ea3	965	V_out = 0;
Lightvalve	19:23b7c1ad8683	966
Lightvalve	16:903b5a4433b4	967	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	968
Lightvalve	16:903b5a4433b4	969	//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	16:903b5a4433b4	970	//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	14:8e7590227d22	971
Lightvalve	13:747daba9cf59	972	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	973	DZ_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	974	}
Lightvalve	13:747daba9cf59	975	}
Lightvalve	14:8e7590227d22	976	TMR3_COUNT_DEADZONE++;
Lightvalve	13:747daba9cf59	977	break;
Lightvalve	13:747daba9cf59	978	}
Lightvalve	14:8e7590227d22	979
Lightvalve	14:8e7590227d22	980	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	981	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	982	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	983	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	984	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	29:69f3f5445d6d	985	pos.ref_home_pos = pos.sen;
Lightvalve	30:8d561f16383b	986	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	987	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	988	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	29:69f3f5445d6d	989	int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve	29:69f3f5445d6d	990	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	991	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	992	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	993	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	994	}
Lightvalve	29:69f3f5445d6d	995	cnt_findhome++;
Lightvalve	30:8d561f16383b	996	//if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve	14:8e7590227d22	997
Lightvalve	29:69f3f5445d6d	998	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	999	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	1000	} else {
Lightvalve	29:69f3f5445d6d	1001	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	1002	}
Lightvalve	19:23b7c1ad8683	1003
Lightvalve	30:8d561f16383b	1004	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome <= 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	1005	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	30:8d561f16383b	1006	if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve	30:8d561f16383b	1007	else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve	29:69f3f5445d6d	1008	pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	30:8d561f16383b	1009	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	30:8d561f16383b	1010	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve	30:8d561f16383b	1011	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	29:69f3f5445d6d	1012	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	29:69f3f5445d6d	1013	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	34:bb2ca2fc2a8e	1014
Lightvalve	30:8d561f16383b	1015	//float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	1016	//I_REF = 0.04fwn_Pos((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve	29:69f3f5445d6d	1017	//// L velocity >> mA convert
Lightvalve	30:8d561f16383b	1018	//if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve	30:8d561f16383b	1019	//if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve	29:69f3f5445d6d	1020	//FLAG_CURRNET_CONTROL = true;
Lightvalve	29:69f3f5445d6d	1021	} else {
Lightvalve	29:69f3f5445d6d	1022	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	29:69f3f5445d6d	1023	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	1024	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	1025	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	1026	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	1027	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	1028	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	1029	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	1030	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	1031	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	29:69f3f5445d6d	1032	}
Lightvalve	29:69f3f5445d6d	1033	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	1034	int T_move = 2*TMR_FREQ_5k;
Lightvalve	30:8d561f16383b	1035	pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)0.5f(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve	30:8d561f16383b	1036	vel.ref_home_pos = 0.0f;
Lightvalve	19:23b7c1ad8683	1037
Lightvalve	29:69f3f5445d6d	1038	// input for position control
Lightvalve	30:8d561f16383b	1039	pos.err = (pos.ref_home_pos - (float)pos.sen) / ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1040	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	30:8d561f16383b	1041	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve	30:8d561f16383b	1042	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	29:69f3f5445d6d	1043	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	29:69f3f5445d6d	1044	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	1045
Lightvalve	19:23b7c1ad8683	1046
Lightvalve	29:69f3f5445d6d	1047	// if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	30:8d561f16383b	1048	// float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	1049	// float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve	29:69f3f5445d6d	1050	// // L when P-gain = 100, f_cut = 10Hz
Lightvalve	30:8d561f16383b	1051	// if (temp_vel > 0.0f ) I_REF = temp_vel((float)PISTON_AREA_A0.00006f/(K_vsqrt(2.0falpha3/(alpha3+1.0f))));
Lightvalve	30:8d561f16383b	1052	// else I_REF = temp_vel((float)PISTON_AREA_B0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve	29:69f3f5445d6d	1053	// // ------------------------------------------------------------------------
Lightvalve	29:69f3f5445d6d	1054	// // L thetadot(rad/s) >> I_ref(mA)
Lightvalve	29:69f3f5445d6d	1055	// } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve	30:8d561f16383b	1056	// float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	1057	// float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve	29:69f3f5445d6d	1058	// // L when P-gain = 100, f_cut = 10Hz
Lightvalve	30:8d561f16383b	1059	// if (temp_vel > 0.0f ) I_REF = temp_vel((float)PISTON_AREA_A0.00006f/(K_vsqrt(2.0falpha3/(alpha3+1.0f))));
Lightvalve	30:8d561f16383b	1060	// else I_REF = temp_vel((float)PISTON_AREA_B0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve	29:69f3f5445d6d	1061	// // ------------------------------------------------------------------------
Lightvalve	29:69f3f5445d6d	1062	// // L xdot(mm/s) >> I_ref(mA)
Lightvalve	29:69f3f5445d6d	1063	// }
Lightvalve	29:69f3f5445d6d	1064
Lightvalve	29:69f3f5445d6d	1065	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	1066	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	1067	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	1068	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	1069	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	1070	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	1071	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	1072	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1073	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	29:69f3f5445d6d	1074	CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve	29:69f3f5445d6d	1075	}
Lightvalve	13:747daba9cf59	1076	}
Lightvalve	19:23b7c1ad8683	1077
Lightvalve	13:747daba9cf59	1078	break;
Lightvalve	13:747daba9cf59	1079	}
Lightvalve	14:8e7590227d22	1080
Lightvalve	14:8e7590227d22	1081	case MODE_VALVE_GAIN_SETTING: {
Lightvalve	14:8e7590227d22	1082	if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	13:747daba9cf59	1083	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	1084	else {
Lightvalve	18:b8adf1582ea3	1085	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1086	temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	13:747daba9cf59	1087	}
Lightvalve	13:747daba9cf59	1088	}
Lightvalve	13:747daba9cf59	1089	if (need_enc_init) {
Lightvalve	30:8d561f16383b	1090	if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1091	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1092	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1093	} else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1094	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1095	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	1096	} else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1097	need_enc_init = false;
Lightvalve	30:8d561f16383b	1098	check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	30:8d561f16383b	1099	check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	13:747daba9cf59	1100	check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	13:747daba9cf59	1101	}
Lightvalve	13:747daba9cf59	1102	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	1103	}
Lightvalve	14:8e7590227d22	1104	TMR3_COUNT_FLOWRATE++;
Lightvalve	14:8e7590227d22	1105	if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	13:747daba9cf59	1106	if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	30:8d561f16383b	1107	VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1108	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1109	if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1110	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1111	} else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	30:8d561f16383b	1112	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=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	30:8d561f16383b	1113	// 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	13:747daba9cf59	1114	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1115	}
Lightvalve	13:747daba9cf59	1116	} else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	30:8d561f16383b	1117	VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1118	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1119	if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1120	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1121	} else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	30:8d561f16383b	1122	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	30:8d561f16383b	1123	// 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	13:747daba9cf59	1124	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1125	}
Lightvalve	13:747daba9cf59	1126	}
Lightvalve	13:747daba9cf59	1127	if (fl_temp_cnt2 == 100) {
Lightvalve	19:23b7c1ad8683	1128
Lightvalve	16:903b5a4433b4	1129	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1130
Lightvalve	30:8d561f16383b	1131	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	13:747daba9cf59	1132	cur_vel_sum = 0;
Lightvalve	13:747daba9cf59	1133	fl_temp_cnt = 0;
Lightvalve	13:747daba9cf59	1134	fl_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	1135	flag_flowrate++;
Lightvalve	13:747daba9cf59	1136	}
Lightvalve	13:747daba9cf59	1137	if (flag_flowrate == 10) {
Lightvalve	18:b8adf1582ea3	1138	V_out = 0;
Lightvalve	13:747daba9cf59	1139	flag_flowrate = 0;
Lightvalve	14:8e7590227d22	1140	TMR3_COUNT_FLOWRATE = 0;
Lightvalve	13:747daba9cf59	1141	valve_gain_repeat_cnt++;
Lightvalve	13:747daba9cf59	1142	if (valve_gain_repeat_cnt >= 1) {
Lightvalve	13:747daba9cf59	1143	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1144	valve_gain_repeat_cnt = 0;
Lightvalve	13:747daba9cf59	1145	}
Lightvalve	14:8e7590227d22	1146
Lightvalve	13:747daba9cf59	1147	}
Lightvalve	13:747daba9cf59	1148	break;
Lightvalve	13:747daba9cf59	1149	}
Lightvalve	14:8e7590227d22	1150
Lightvalve	13:747daba9cf59	1151	}
Lightvalve	14:8e7590227d22	1152
Lightvalve	14:8e7590227d22	1153	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1154	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1155	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1156	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1157	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1158
Lightvalve	14:8e7590227d22	1159	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1160	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1161	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1162	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1163	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1164
Lightvalve	38:118df027d851	1165	float VREF_NullingGain = 0.0003f;
Lightvalve	38:118df027d851	1166	PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve	38:118df027d851	1167	PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve	14:8e7590227d22	1168
Lightvalve	30:8d561f16383b	1169	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1170	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1171	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1172	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1173
Lightvalve	30:8d561f16383b	1174	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1175	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1176	}
Lightvalve	13:747daba9cf59	1177	} else {
Lightvalve	13:747daba9cf59	1178	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1179	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1180	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1181	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1182	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1183	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1184
Lightvalve	16:903b5a4433b4	1185	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1186
Lightvalve	30:8d561f16383b	1187	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1188	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1189	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1190	}
Lightvalve	14:8e7590227d22	1191	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1192	break;
Lightvalve	13:747daba9cf59	1193	}
Lightvalve	14:8e7590227d22	1194
Lightvalve	14:8e7590227d22	1195	case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	14:8e7590227d22	1196	if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1197	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1198	if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1199	CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	13:747daba9cf59	1200	}
Lightvalve	14:8e7590227d22	1201	} else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1202	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1203	if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1204	CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	13:747daba9cf59	1205	}
Lightvalve	13:747daba9cf59	1206	} else {
Lightvalve	13:747daba9cf59	1207	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1208	TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	18:b8adf1582ea3	1209	V_out = 0;
Lightvalve	30:8d561f16383b	1210	PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	30:8d561f16383b	1211	PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	30:8d561f16383b	1212	PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	30:8d561f16383b	1213	PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	13:747daba9cf59	1214	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1215	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1216	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1217	CUR_PRES_B_mean = 0;
Lightvalve	19:23b7c1ad8683	1218
Lightvalve	16:903b5a4433b4	1219	ROM_RESET_DATA();
Lightvalve	14:8e7590227d22	1220
Lightvalve	30:8d561f16383b	1221	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	30:8d561f16383b	1222	//spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	13:747daba9cf59	1223	}
Lightvalve	14:8e7590227d22	1224	TMR3_COUNT_PRES_CALIB++;
Lightvalve	13:747daba9cf59	1225	break;
Lightvalve	13:747daba9cf59	1226	}
Lightvalve	14:8e7590227d22	1227
Lightvalve	14:8e7590227d22	1228	case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	30:8d561f16383b	1229	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	30:8d561f16383b	1230	V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	18:b8adf1582ea3	1231	if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	18:b8adf1582ea3	1232	else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1233	TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	14:8e7590227d22	1234	if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	1235	TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	30:8d561f16383b	1236	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1237	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1238	}
Lightvalve	13:747daba9cf59	1239	break;
Lightvalve	13:747daba9cf59	1240	}
Lightvalve	14:8e7590227d22	1241
Lightvalve	14:8e7590227d22	1242	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	13:747daba9cf59	1243	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1244
Lightvalve	14:8e7590227d22	1245	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	30:8d561f16383b	1246	V_out = 3000.0f * sin(23.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1247	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	30:8d561f16383b	1248	V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1249	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1250	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1251	data_num = 0;
Lightvalve	14:8e7590227d22	1252	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1253	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1254	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1255	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1256	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1257	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1258	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1259	}
Lightvalve	14:8e7590227d22	1260
Lightvalve	17:1865016ca2e7	1261	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1262	int i;
Lightvalve	13:747daba9cf59	1263	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1264	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1265	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1266	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1267	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1268	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1269	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1270	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1271	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1272	}
Lightvalve	13:747daba9cf59	1273	}
Lightvalve	27:a2254a485f23	1274	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1275	ID_index = 0;
Lightvalve	13:747daba9cf59	1276	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1277	}
Lightvalve	14:8e7590227d22	1278
Lightvalve	14:8e7590227d22	1279
Lightvalve	13:747daba9cf59	1280	break;
Lightvalve	13:747daba9cf59	1281	}
Lightvalve	14:8e7590227d22	1282
Lightvalve	14:8e7590227d22	1283	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	14:8e7590227d22	1284
Lightvalve	13:747daba9cf59	1285	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1286	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1287	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1288	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1289	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1290	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1291	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1292	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1293	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1294	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1295	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1296	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1297	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1298	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1299	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1300	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	1301	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1302	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1303	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1304	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	1305	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1306	START_POS = pos.sen;
Lightvalve	23:59218d4a256d	1307	//CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve	13:747daba9cf59	1308	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1309	data_num = 0;
Lightvalve	14:8e7590227d22	1310
Lightvalve	30:8d561f16383b	1311	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1312	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1313	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1314	//CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve	14:8e7590227d22	1315
Lightvalve	30:8d561f16383b	1316	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1317	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1318	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1319	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1320	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1321	else
Lightvalve	13:747daba9cf59	1322	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1323	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1324	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1325	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1326	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1327	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1328	// {
Lightvalve	14:8e7590227d22	1329	// DZ_case = 1;
Lightvalve	14:8e7590227d22	1330	// }
Lightvalve	14:8e7590227d22	1331	// else
Lightvalve	14:8e7590227d22	1332	// {
Lightvalve	14:8e7590227d22	1333	// DZ_case = -1;
Lightvalve	14:8e7590227d22	1334	// }
Lightvalve	14:8e7590227d22	1335	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1336	// {
Lightvalve	14:8e7590227d22	1337	// DZ_case = 0;
Lightvalve	14:8e7590227d22	1338	// }
Lightvalve	14:8e7590227d22	1339
Lightvalve	14:8e7590227d22	1340	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1341	DZ_case = 1;
Lightvalve	14:8e7590227d22	1342	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	13:747daba9cf59	1343	DZ_case = -1;
Lightvalve	14:8e7590227d22	1344	} else {
Lightvalve	13:747daba9cf59	1345	DZ_case = 0;
Lightvalve	13:747daba9cf59	1346	}
Lightvalve	14:8e7590227d22	1347
Lightvalve	14:8e7590227d22	1348	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1349	first_check = 1;
Lightvalve	13:747daba9cf59	1350	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1351	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1352	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1353	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1354	DZ_index = 1;
Lightvalve	18:b8adf1582ea3	1355	//CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve	14:8e7590227d22	1356
Lightvalve	13:747daba9cf59	1357	}
Lightvalve	19:23b7c1ad8683	1358	} else {
Lightvalve	14:8e7590227d22	1359	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1360	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1361	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1362	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1363	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1364	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1365	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1366	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1367	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1368	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1369	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1370	}
Lightvalve	14:8e7590227d22	1371	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1372	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1373	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1374	else
Lightvalve	13:747daba9cf59	1375	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1376	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1377	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1378	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1379	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1380	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1381	// else
Lightvalve	14:8e7590227d22	1382	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1383	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1384	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1385
Lightvalve	14:8e7590227d22	1386	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1387	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1388	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1389	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1390	} else {
Lightvalve	13:747daba9cf59	1391	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1392	}
Lightvalve	14:8e7590227d22	1393
Lightvalve	14:8e7590227d22	1394	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1395
Lightvalve	13:747daba9cf59	1396	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1397	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1398	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1399	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1400	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1401	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1402	DZ_index = 1;
Lightvalve	13:747daba9cf59	1403	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1404	}
Lightvalve	14:8e7590227d22	1405
Lightvalve	13:747daba9cf59	1406	//CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1407	}
Lightvalve	14:8e7590227d22	1408	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1409	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1410	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1411	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1412	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1413	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1414	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1415	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1416	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1417	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1418	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1419	}
Lightvalve	14:8e7590227d22	1420	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1421	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1422	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1423	else
Lightvalve	13:747daba9cf59	1424	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1425	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1426	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1427	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1428	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1429	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1430	// else
Lightvalve	14:8e7590227d22	1431	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1432	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1433	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1434
Lightvalve	14:8e7590227d22	1435	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1436	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1437	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1438	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1439	} else {
Lightvalve	13:747daba9cf59	1440	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1441	}
Lightvalve	14:8e7590227d22	1442
Lightvalve	14:8e7590227d22	1443	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1444
Lightvalve	14:8e7590227d22	1445
Lightvalve	13:747daba9cf59	1446	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1447	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1448	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1449	SECOND_DZ = valve_pos.ref;
Lightvalve	33:91b17819ec30	1450	DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve	13:747daba9cf59	1451	first_check = 0;
Lightvalve	33:91b17819ec30	1452	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1453	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1454
Lightvalve	16:903b5a4433b4	1455	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1456
Lightvalve	13:747daba9cf59	1457	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1458	DZ_index = 1;
Lightvalve	13:747daba9cf59	1459	}
Lightvalve	14:8e7590227d22	1460
Lightvalve	23:59218d4a256d	1461	//CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1462	}
Lightvalve	14:8e7590227d22	1463	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1464	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1465	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1466	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1467	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1468	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1469	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1470	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1471	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1472	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1473	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1474	}
Lightvalve	14:8e7590227d22	1475	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1476	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1477	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1478	else
Lightvalve	13:747daba9cf59	1479	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1480	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1481	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1482	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1483	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1484	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1485	// else
Lightvalve	14:8e7590227d22	1486	// DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1487	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1488	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1489
Lightvalve	14:8e7590227d22	1490	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1491	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1492	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1493	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1494	} else {
Lightvalve	13:747daba9cf59	1495	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1496	}
Lightvalve	14:8e7590227d22	1497
Lightvalve	14:8e7590227d22	1498	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1499	//CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve	13:747daba9cf59	1500	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1501	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1502	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1503	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1504	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1505	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1506	DZ_index = 1;
Lightvalve	13:747daba9cf59	1507	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1508	}
Lightvalve	13:747daba9cf59	1509	}
Lightvalve	14:8e7590227d22	1510	} else {
Lightvalve	30:8d561f16383b	1511	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1512	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1513	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1514	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1515	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1516	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1517	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1518	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1519	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1520	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1521	}
Lightvalve	14:8e7590227d22	1522	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1523	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1524	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1525	else
Lightvalve	13:747daba9cf59	1526	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1527	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1528	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1529	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1530	if(VEL_POINT >= 0)
Lightvalve	13:747daba9cf59	1531	DZ_DIRECTION = -1;
Lightvalve	13:747daba9cf59	1532	else
Lightvalve	13:747daba9cf59	1533	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1534	if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	13:747daba9cf59	1535	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1536
Lightvalve	14:8e7590227d22	1537	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1538
Lightvalve	14:8e7590227d22	1539
Lightvalve	13:747daba9cf59	1540	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1541	//CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1542	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1543	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1544	SECOND_DZ = valve_pos.ref;
Lightvalve	33:91b17819ec30	1545	DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve	13:747daba9cf59	1546	first_check = 0;
Lightvalve	33:91b17819ec30	1547	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1548	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	34:bb2ca2fc2a8e	1549
Lightvalve	13:747daba9cf59	1550	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1551	DZ_index = 1;
Lightvalve	13:747daba9cf59	1552	}
Lightvalve	14:8e7590227d22	1553
Lightvalve	13:747daba9cf59	1554	//CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1555	}
Lightvalve	13:747daba9cf59	1556	}
Lightvalve	14:8e7590227d22	1557	}
Lightvalve	13:747daba9cf59	1558	break;
Lightvalve	13:747daba9cf59	1559	}
Lightvalve	14:8e7590227d22	1560
Lightvalve	14:8e7590227d22	1561	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	13:747daba9cf59	1562	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1563	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1564	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1565	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	23:59218d4a256d	1566	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1567	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1568	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1569	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1570	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1571	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1572	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1573	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1574	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	18:b8adf1582ea3	1575	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1576	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1577	first_check = 1;
Lightvalve	13:747daba9cf59	1578	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1579	valve_pos.ref = DDV_CENTER;
Lightvalve	13:747daba9cf59	1580	ID_index = 0;
Lightvalve	13:747daba9cf59	1581	max_check = 0;
Lightvalve	13:747daba9cf59	1582	min_check = 0;
Lightvalve	13:747daba9cf59	1583	}
Lightvalve	14:8e7590227d22	1584	} else {
Lightvalve	30:8d561f16383b	1585	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1586	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1587	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1588	data_num = 0;
Lightvalve	33:91b17819ec30	1589	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1590
Lightvalve	14:8e7590227d22	1591	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1592	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1593	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	33:91b17819ec30	1594	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1595	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1596	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1597	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1598	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1599	one_period_end = 1;
Lightvalve	13:747daba9cf59	1600	}
Lightvalve	30:8d561f16383b	1601	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1602	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1603	one_period_end = 1;
Lightvalve	13:747daba9cf59	1604	}
Lightvalve	14:8e7590227d22	1605
Lightvalve	14:8e7590227d22	1606	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1607	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1608	max_check = 1;
Lightvalve	14:8e7590227d22	1609	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1610	min_check = 1;
Lightvalve	13:747daba9cf59	1611	}
Lightvalve	13:747daba9cf59	1612	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1613
Lightvalve	19:23b7c1ad8683	1614	//ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1615
Lightvalve	16:903b5a4433b4	1616	//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve	16:903b5a4433b4	1617	//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve	13:747daba9cf59	1618	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1619	one_period_end = 0;
Lightvalve	13:747daba9cf59	1620	ID_index= ID_index +1;
Lightvalve	14:8e7590227d22	1621	// CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve	30:8d561f16383b	1622	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1623	}
Lightvalve	14:8e7590227d22	1624
Lightvalve	14:8e7590227d22	1625	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1626
Lightvalve	16:903b5a4433b4	1627	//spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve	13:747daba9cf59	1628	VALVE_POS_NUM = ID_index;
Lightvalve	27:a2254a485f23	1629	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1630	ID_index = 0;
Lightvalve	13:747daba9cf59	1631	first_check = 0;
Lightvalve	13:747daba9cf59	1632	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1633	// CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve	13:747daba9cf59	1634	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1635	}
Lightvalve	13:747daba9cf59	1636	}
Lightvalve	13:747daba9cf59	1637	break;
Lightvalve	13:747daba9cf59	1638	}
Lightvalve	14:8e7590227d22	1639
Lightvalve	12:6f2531038ea4	1640	default:
Lightvalve	12:6f2531038ea4	1641	break;
Lightvalve	12:6f2531038ea4	1642	}
Lightvalve	14:8e7590227d22	1643
Lightvalve	13:747daba9cf59	1644	if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve	13:747daba9cf59	1645	// Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve	14:8e7590227d22	1646	// if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve	14:8e7590227d22	1647	// if (V_out > 0.) {
Lightvalve	14:8e7590227d22	1648	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1649	// } else if (V_out < 0.) {
Lightvalve	14:8e7590227d22	1650	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1651	// } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1652	// } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve	14:8e7590227d22	1653
Lightvalve	14:8e7590227d22	1654	if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1655	else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1656
Lightvalve	14:8e7590227d22	1657	VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1658
Lightvalve	13:747daba9cf59	1659	// Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	30:8d561f16383b	1660	float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve	30:8d561f16383b	1661	float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve	14:8e7590227d22	1662
Lightvalve	14:8e7590227d22	1663	if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve	14:8e7590227d22	1664	else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve	14:8e7590227d22	1665	else V_out = CUR_PWM_DZ;
Lightvalve	13:747daba9cf59	1666	} else {
Lightvalve	17:1865016ca2e7	1667	V_out = V_out;
Lightvalve	13:747daba9cf59	1668	}
Lightvalve	14:8e7590227d22	1669
jobuuu	7:e9086c72bb22	1670	/*******************************************************
jobuuu	7:e9086c72bb22	1671	*** PWM
jobuuu	7:e9086c72bb22	1672	********************************************************/
Lightvalve	34:bb2ca2fc2a8e	1673	if (V_out >= 12000.0f) {
Lightvalve	30:8d561f16383b	1674	V_out = 12000.0f;
Lightvalve	34:bb2ca2fc2a8e	1675	} else if(V_out<=-12000.0f) {
Lightvalve	30:8d561f16383b	1676	V_out = -12000.0f;
Lightvalve	27:a2254a485f23	1677	}
Lightvalve	18:b8adf1582ea3	1678	PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1679
jobuuu	2:a1c0a37df760	1680	// Saturation of output voltage to 5.0V
Lightvalve	17:1865016ca2e7	1681	// if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve	17:1865016ca2e7	1682	// else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve	19:23b7c1ad8683	1683
Lightvalve	19:23b7c1ad8683	1684	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1685	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1686	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1687
Lightvalve	30:8d561f16383b	1688	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1689	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1690	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1691	} else {
jobuuu	2:a1c0a37df760	1692	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1693	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1694	}
Lightvalve	13:747daba9cf59	1695
jobuuu	1:e04e563be5ce	1696	//pwm
Lightvalve	30:8d561f16383b	1697	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1698	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	13:747daba9cf59	1699
jobuuu	1:e04e563be5ce	1700	}
Lightvalve	11:82d8768d7351	1701	TIM3->SR = 0x0; // reset the status register
Lightvalve	21:e5f1a43ea6f9	1702
jobuuu	7:e9086c72bb22	1703	}
jobuuu	7:e9086c72bb22	1704
Lightvalve	20:806196fda269	1705
Lightvalve	20:806196fda269	1706
Lightvalve	20:806196fda269	1707	//unsigned long CNT_TMR5 = 0;
Lightvalve	30:8d561f16383b	1708	//float FREQ_TMR5 = (float)FREQ_500;
Lightvalve	30:8d561f16383b	1709	//float DT_TMR5 = (float)DT_500;
Lightvalve	23:59218d4a256d	1710	extern "C" void TIM2_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	1711	{
Lightvalve	23:59218d4a256d	1712	if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	1713
Lightvalve	20:806196fda269	1714	//CAN ----------------------------------------------------------------------
Lightvalve	20:806196fda269	1715	if (flag_data_request[0] == HIGH) {
Lightvalve	20:806196fda269	1716	//position+velocity
Lightvalve	20:806196fda269	1717	CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve	20:806196fda269	1718	//CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve	20:806196fda269	1719	//CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve	20:806196fda269	1720	//pc.printf("can good");
Lightvalve	20:806196fda269	1721	// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve	20:806196fda269	1722	}
Lightvalve	20:806196fda269	1723
Lightvalve	20:806196fda269	1724	if (flag_data_request[1] == HIGH) {
Lightvalve	20:806196fda269	1725	//torque
Lightvalve	20:806196fda269	1726	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve	20:806196fda269	1727	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve	20:806196fda269	1728	CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve	20:806196fda269	1729	// CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve	20:806196fda269	1730	}
Lightvalve	20:806196fda269	1731
Lightvalve	20:806196fda269	1732	if (flag_data_request[2] == HIGH) {
Lightvalve	20:806196fda269	1733	//pressure A and B
Lightvalve	38:118df027d851	1734	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF * 1000.0)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	38:118df027d851	1735	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	20:806196fda269	1736	// CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve	20:806196fda269	1737	// CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)1000.), (int16_t) ((DEADZONE_PLUS + 1.))1000.);
Lightvalve	20:806196fda269	1738	// CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve	20:806196fda269	1739
Lightvalve	20:806196fda269	1740	}
Lightvalve	20:806196fda269	1741
Lightvalve	20:806196fda269	1742	if (flag_data_request[3] == HIGH) {
Lightvalve	20:806196fda269	1743	//PWM
Lightvalve	20:806196fda269	1744	CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve	20:806196fda269	1745	// CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve	20:806196fda269	1746	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve	20:806196fda269	1747	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve	20:806196fda269	1748
Lightvalve	20:806196fda269	1749	}
Lightvalve	20:806196fda269	1750
Lightvalve	20:806196fda269	1751	if (flag_data_request[4] == HIGH) {
Lightvalve	20:806196fda269	1752	//valve position
Lightvalve	27:a2254a485f23	1753	CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve	33:91b17819ec30	1754	//CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve	20:806196fda269	1755
Lightvalve	20:806196fda269	1756	//CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve	20:806196fda269	1757	// CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve	20:806196fda269	1758	// CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	20:806196fda269	1759	// CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve	20:806196fda269	1760	// CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve	20:806196fda269	1761	}
Lightvalve	20:806196fda269	1762
Lightvalve	20:806196fda269	1763	}
Lightvalve	23:59218d4a256d	1764	TIM2->SR = 0x0; // reset the status register
Lightvalve	20:806196fda269	1765	}
Lightvalve	20:806196fda269	1766
Lightvalve	20:806196fda269	1767
Lightvalve	20:806196fda269	1768
Lightvalve	13:747daba9cf59	1769	void CurrentControl()
Lightvalve	13:747daba9cf59	1770	{
jobuuu	7:e9086c72bb22	1771	cur.err = cur.ref - cur.sen;
jobuuu	7:e9086c72bb22	1772	cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu	7:e9086c72bb22	1773	cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu	7:e9086c72bb22	1774	cur.err_old = cur.err;
jobuuu	7:e9086c72bb22	1775
Lightvalve	30:8d561f16383b	1776	float R_model = 150.0f; // ohm
Lightvalve	30:8d561f16383b	1777	float L_model = 0.3f;
Lightvalve	30:8d561f16383b	1778	float w0 = 2.0f3.14f90.0f;
Lightvalve	30:8d561f16383b	1779	float KP_I = L_model*w0;
Lightvalve	30:8d561f16383b	1780	float KI_I = R_model*w0;
Lightvalve	30:8d561f16383b	1781	float KD_I = 0.0f;
jobuuu	7:e9086c72bb22	1782
Lightvalve	30:8d561f16383b	1783	float FF_gain = 0.0f;
jobuuu	7:e9086c72bb22	1784	V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu	7:e9086c72bb22	1785	// V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu	7:e9086c72bb22	1786	V_out = V_out + FF_gain * (R_modelcur.ref + L_modelcur.ref_diff); // Unit : mV
Lightvalve	13:747daba9cf59	1787
Lightvalve	30:8d561f16383b	1788	float Ka = 5.0f/KP_I;
jobuuu	7:e9086c72bb22	1789	if(V_out > V_MAX) {
jobuuu	7:e9086c72bb22	1790	V_rem = V_out-V_MAX;
jobuuu	7:e9086c72bb22	1791	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1792	V_out = V_MAX;
jobuuu	7:e9086c72bb22	1793	cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu	7:e9086c72bb22	1794	} else if(V_out < -V_MAX) {
jobuuu	7:e9086c72bb22	1795	V_rem = V_out-(-V_MAX);
Lightvalve	13:747daba9cf59	1796	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1797	V_out = -V_MAX;
jobuuu	7:e9086c72bb22	1798	cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve	13:747daba9cf59	1799	}
Lightvalve	21:e5f1a43ea6f9	1800	}
Lightvalve	23:59218d4a256d	1801
Lightvalve	28:2a62d73e3dd0	1802
Lightvalve	30:8d561f16383b	1803
Lightvalve	32:4b8c0fedaf2c	1804
Lightvalve	36:a46e63505ed8	1805

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Aug 2022
Imports:	0
Forks:	0
Commits:	258
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@39:e961db3b93f8, 2019-12-05 (annotated)

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