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2011
main.cpp@149:0c49704a06ed, 2020-10-10 (annotated)
- Committer:
- Lightvalve
- Date:
- Sat Oct 10 14:15:11 2020 +0000
- Revision:
- 149:0c49704a06ed
- Parent:
- 148:a1aa20ae5332
- Child:
- 150:cec78c7b20db
201010-3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 149:0c49704a06ed | 1 | //201010-3 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 63:a2d7c63419c2 | 11 | #include "FlashWriter.h" |
Lightvalve | 59:bc8c8270f0ab | 12 | |
Lightvalve | 59:bc8c8270f0ab | 13 | using namespace std; |
Lightvalve | 59:bc8c8270f0ab | 14 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 15 | |
Lightvalve | 31:66738bfecec5 | 16 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 17 | |
jobuuu | 7:e9086c72bb22 | 18 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 20 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 22 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 26 | |
Lightvalve | 24:ef6e1092e9e6 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 29 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 30 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 31 | |
jobuuu | 7:e9086c72bb22 | 32 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 33 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 34 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 35 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 36 | |
jobuuu | 7:e9086c72bb22 | 37 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 38 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 39 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 40 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 41 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 42 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 43 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 44 | |
jobuuu | 7:e9086c72bb22 | 45 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 46 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 50 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 51 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 52 | { |
Lightvalve | 11:82d8768d7351 | 53 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 54 | } |
jobuuu | 2:a1c0a37df760 | 55 | |
jobuuu | 7:e9086c72bb22 | 56 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 57 | State pos; |
jobuuu | 7:e9086c72bb22 | 58 | State vel; |
jobuuu | 7:e9086c72bb22 | 59 | State Vout; |
jobuuu | 7:e9086c72bb22 | 60 | State torq; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 62 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 63 | State cur; |
Lightvalve | 14:8e7590227d22 | 64 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 65 | |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 70 | |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 72 | extern int CID_RX_REF_POSITION; |
Lightvalve | 48:e7bcfc244d40 | 73 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 44:35fa6884d0c6 | 74 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | |
Lightvalve | 59:bc8c8270f0ab | 83 | |
Lightvalve | 59:bc8c8270f0ab | 84 | |
Lightvalve | 59:bc8c8270f0ab | 85 | |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | |
Lightvalve | 12:6f2531038ea4 | 90 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 91 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 92 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 93 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 94 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 100 | }; |
Lightvalve | 12:6f2531038ea4 | 101 | |
Lightvalve | 12:6f2531038ea4 | 102 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 103 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 104 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 105 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 106 | //control mode |
Lightvalve | 12:6f2531038ea4 | 107 | MODE_NO_ACT = 0, //0 |
Lightvalve | 46:fdcb8bd86fd6 | 108 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 46:fdcb8bd86fd6 | 109 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 49:3c630b5eba9f | 110 | |
Lightvalve | 46:fdcb8bd86fd6 | 111 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 136:a843f32ced33 | 112 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 12:6f2531038ea4 | 113 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 114 | |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 121 | |
Lightvalve | 14:8e7590227d22 | 122 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 124 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 125 | |
Lightvalve | 12:6f2531038ea4 | 126 | //utility |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_FIND_HOME, //22 |
Lightvalve | 55:f4819de54e7a | 130 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 134 | |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 55:f4819de54e7a | 138 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 139 | }; |
Lightvalve | 12:6f2531038ea4 | 140 | |
Lightvalve | 63:a2d7c63419c2 | 141 | void SystemClock_Config(void) |
Lightvalve | 63:a2d7c63419c2 | 142 | { |
Lightvalve | 63:a2d7c63419c2 | 143 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 63:a2d7c63419c2 | 144 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 63:a2d7c63419c2 | 145 | |
Lightvalve | 63:a2d7c63419c2 | 146 | /** Configure the main internal regulator output voltage |
Lightvalve | 63:a2d7c63419c2 | 147 | */ |
Lightvalve | 63:a2d7c63419c2 | 148 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 63:a2d7c63419c2 | 149 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 63:a2d7c63419c2 | 150 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 63:a2d7c63419c2 | 151 | */ |
Lightvalve | 63:a2d7c63419c2 | 152 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 63:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 63:a2d7c63419c2 | 154 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 63:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 63:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 63:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 63:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 63:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 63:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 63:a2d7c63419c2 | 161 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 63:a2d7c63419c2 | 162 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 63:a2d7c63419c2 | 163 | { |
Lightvalve | 63:a2d7c63419c2 | 164 | //Error_Handler(); |
Lightvalve | 63:a2d7c63419c2 | 165 | } |
Lightvalve | 63:a2d7c63419c2 | 166 | /** Activate the Over-Drive mode |
Lightvalve | 63:a2d7c63419c2 | 167 | */ |
Lightvalve | 63:a2d7c63419c2 | 168 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 63:a2d7c63419c2 | 169 | { |
Lightvalve | 63:a2d7c63419c2 | 170 | //Error_Handler(); |
Lightvalve | 63:a2d7c63419c2 | 171 | } |
Lightvalve | 63:a2d7c63419c2 | 172 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 63:a2d7c63419c2 | 173 | */ |
Lightvalve | 63:a2d7c63419c2 | 174 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 63:a2d7c63419c2 | 175 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 63:a2d7c63419c2 | 176 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 63:a2d7c63419c2 | 177 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 63:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 63:a2d7c63419c2 | 179 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 63:a2d7c63419c2 | 180 | |
Lightvalve | 63:a2d7c63419c2 | 181 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 63:a2d7c63419c2 | 182 | { |
Lightvalve | 63:a2d7c63419c2 | 183 | //Error_Handler(); |
Lightvalve | 63:a2d7c63419c2 | 184 | } |
Lightvalve | 63:a2d7c63419c2 | 185 | } |
Lightvalve | 63:a2d7c63419c2 | 186 | |
Lightvalve | 97:7bbcb3c0fb06 | 187 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 66:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 83:a3b46118b5cd | 189 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 66:328e1be06f5d | 190 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 66:328e1be06f5d | 191 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 64:a8e6799dbce3 | 192 | |
Lightvalve | 71:f80dc3970c99 | 193 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 63:a2d7c63419c2 | 194 | |
Lightvalve | 110:8dcb1600cb90 | 195 | const float h1[num_input][16] = { |
Lightvalve | 149:0c49704a06ed | 196 | {-1.0053454637527466f,1.165382981300354f,0.12903714179992676f,0.4168238937854767f,-1.7215864658355713f,1.218638300895691f,-0.17472904920578003f,-1.927714228630066f,-2.76181697845459f,-1.4767682552337646f,-0.23348425328731537f,-0.6109985709190369f,-0.27126044034957886f,-0.914866030216217f,-0.2571594715118408f,-0.5817620158195496f}, |
Lightvalve | 149:0c49704a06ed | 197 | {-1.017139196395874f,1.1311887502670288f,-0.3927857577800751f,0.037795133888721466f,-1.6398292779922485f,0.8946645259857178f,-0.4054011106491089f,-0.8570223450660706f,-1.9269729852676392f,-0.9376359581947327f,-0.2703639566898346f,-0.47140437364578247f,0.2284385859966278f,-1.337502360343933f,-0.20967772603034973f,-0.18805253505706787f}, |
Lightvalve | 149:0c49704a06ed | 198 | {-0.8096152544021606f,0.873984158039093f,0.36391180753707886f,-0.3808029890060425f,-1.0694563388824463f,0.697857677936554f,0.2872133255004883f,0.6197472214698792f,-1.1962336301803589f,-0.5690436363220215f,-0.3443242609500885f,-0.46265146136283875f,-0.009747563861310482f,-0.5814982652664185f,0.05590221285820007f,-0.3138071596622467f}, |
Lightvalve | 149:0c49704a06ed | 199 | {-0.17405609786510468f,0.07529711723327637f,0.39742106199264526f,0.21521669626235962f,-0.42367881536483765f,-0.3246016800403595f,-0.11584559082984924f,1.8207687139511108f,0.013586725108325481f,0.05418584123253822f,0.09942778199911118f,0.017120322212576866f,-0.1717938780784607f,-0.11846218258142471f,-0.2961459457874298f,0.134671151638031f}, |
Lightvalve | 149:0c49704a06ed | 200 | {1.3664965629577637f,-0.833306610584259f,-0.0051451027393341064f,0.10491812229156494f,0.6566277146339417f,-1.0874406099319458f,0.1294034719467163f,1.1951881647109985f,1.3496301174163818f,0.5694941282272339f,0.35131052136421204f,-0.12914538383483887f,-0.07530196011066437f,1.047242522239685f,-0.3865056037902832f,-0.03148502856492996f}, |
Lightvalve | 149:0c49704a06ed | 201 | {3.1260898113250732f,-3.02878737449646f,0.21773302555084229f,0.07684443891048431f,2.3868446350097656f,-2.839189052581787f,0.16514194011688232f,-0.4935198426246643f,3.018803119659424f,1.4941402673721313f,-0.24429729580879211f,0.23524552583694458f,-0.2719132900238037f,2.696840763092041f,-0.4132833778858185f,0.11943458765745163f}, |
Lightvalve | 149:0c49704a06ed | 202 | {-0.1340257078409195f,0.07503481954336166f,-0.2501986622810364f,-0.5714490413665771f,0.3187718987464905f,0.570574164390564f,0.06014183163642883f,-3.1714365482330322f,0.6567281484603882f,-0.2098853886127472f,0.15420372784137726f,0.2599380314350128f,-0.17985212802886963f,0.39328134059906006f,-0.15618428587913513f,-0.3626363277435303f}, |
Lightvalve | 149:0c49704a06ed | 203 | {-0.34435296058654785f,-0.012538609094917774f,-0.26619744300842285f,-0.04973488301038742f,0.11863096803426743f,0.1475219875574112f,-0.17925891280174255f,0.8492745757102966f,0.6626846194267273f,0.09383076429367065f,0.10795889794826508f,-0.3910355269908905f,0.36379051208496094f,0.056736353784799576f,0.04303058981895447f,0.03499684855341911f}, |
Lightvalve | 149:0c49704a06ed | 204 | {-0.03953158110380173f,0.3932623863220215f,0.10248100757598877f,-0.5355892181396484f,0.21282459795475006f,0.3008025288581848f,-0.07246989011764526f,-0.5614730715751648f,0.21109053492546082f,0.38473838567733765f,-0.29469719529151917f,0.09312517940998077f,0.22130082547664642f,0.2761628329753876f,-0.30555272102355957f,0.06503288447856903f}, |
Lightvalve | 149:0c49704a06ed | 205 | {-0.2498210221529007f,-0.18969154357910156f,0.18462657928466797f,-0.2830526828765869f,0.3524583578109741f,0.437592089176178f,-0.2990540862083435f,-1.018021821975708f,0.24932323396205902f,-0.40441447496414185f,-0.0057074264623224735f,-0.6476274728775024f,0.3643333613872528f,-0.15599457919597626f,0.3484981060028076f,-0.15295149385929108f}, |
Lightvalve | 149:0c49704a06ed | 206 | {0.26362940669059753f,0.14251378178596497f,0.37182438373565674f,0.11428315192461014f,0.06541232764720917f,0.20411162078380585f,-0.20339298248291016f,-1.1337705850601196f,-0.36703523993492126f,0.08266060054302216f,0.35092368721961975f,-0.4030248820781708f,-0.07453419268131256f,0.03711502626538277f,0.26688337326049805f,-0.5110751986503601f}, |
Lightvalve | 149:0c49704a06ed | 207 | {-0.47889503836631775f,-0.3821464478969574f,-0.40320003032684326f,-0.13045842945575714f,0.05750419571995735f,0.07811280339956284f,0.1533789038658142f,-0.6498957872390747f,-0.17832103371620178f,0.28047940135002136f,-0.4116147458553314f,0.06465048342943192f,0.13671906292438507f,0.024875329807400703f,0.10493969917297363f,-0.30010372400283813f}, |
Lightvalve | 149:0c49704a06ed | 208 | {-0.15425777435302734f,-0.18921853601932526f,0.19847965240478516f,0.02928774803876877f,0.1333763599395752f,0.23752522468566895f,-0.2404318004846573f,-0.6078210473060608f,-0.28100213408470154f,-0.13341671228408813f,-0.1064448431134224f,-0.34715205430984497f,0.08407799899578094f,0.05720480531454086f,-0.22268100082874298f,-0.623881459236145f}, |
Lightvalve | 149:0c49704a06ed | 209 | {-0.15392543375492096f,-0.18275730311870575f,0.4127817749977112f,-0.20027711987495422f,-0.4485686123371124f,-0.2975243926048279f,-0.32001304626464844f,-0.8293079137802124f,-0.22202277183532715f,-0.14376209676265717f,-0.1923646777868271f,-0.3389253616333008f,-0.32064521312713623f,0.07501403987407684f,0.0479682981967926f,-0.15467779338359833f}, |
Lightvalve | 149:0c49704a06ed | 210 | {0.03585406765341759f,0.06250490993261337f,0.20282304286956787f,-0.03988397866487503f,-0.08376752585172653f,-0.12575282156467438f,0.04202890396118164f,0.3477931320667267f,0.015949571505188942f,0.0834326520562172f,-0.2767699956893921f,-0.6232771873474121f,0.09574126452207565f,-0.057463183999061584f,0.0668090283870697f,-0.08928685635328293f}, |
Lightvalve | 149:0c49704a06ed | 211 | {-0.056848231703042984f,-0.4038394093513489f,-0.40439701080322266f,-0.19195640087127686f,-0.5874671936035156f,-0.14001378417015076f,-0.15568238496780396f,0.08331834524869919f,-0.0979955643415451f,0.0963992103934288f,-0.471200555562973f,-0.2810949385166168f,-0.2788753807544708f,0.11750313639640808f,-0.08245879411697388f,-0.036898329854011536f}, |
Lightvalve | 149:0c49704a06ed | 212 | {0.2834620475769043f,-0.5991495847702026f,0.16706281900405884f,-0.011049232445657253f,-0.21110573410987854f,-0.7775982618331909f,-0.041414469480514526f,-0.4800585210323334f,-0.20226560533046722f,0.4486004114151001f,-0.35087165236473083f,0.16808921098709106f,0.10427239537239075f,0.8360305428504944f,0.29427415132522583f,-0.17896637320518494f}, |
Lightvalve | 63:a2d7c63419c2 | 213 | }; |
Lightvalve | 63:a2d7c63419c2 | 214 | |
Lightvalve | 110:8dcb1600cb90 | 215 | const float h2[16][16] = { |
Lightvalve | 149:0c49704a06ed | 216 | {-0.9383106231689453f,1.0831480026245117f,-0.06966331601142883f,0.5075902938842773f,-0.21907491981983185f,0.5885099768638611f,-0.12359052151441574f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-5.3258771896362305f,-0.16137951612472534f,-0.014296061359345913f,-1.4231160879135132f,-1.3216447830200195f,-0.4595727324485779f}, |
Lightvalve | 149:0c49704a06ed | 217 | {0.3241967260837555f,-1.081264615058899f,0.057057321071624756f,-0.4296506345272064f,-0.35503754019737244f,-1.109207272529602f,-0.5992633700370789f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.9289618730545044f,-0.7320427894592285f,0.21377265453338623f,2.6651933193206787f,0.3844112157821655f,-2.8005716800689697f}, |
Lightvalve | 110:8dcb1600cb90 | 218 | {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f}, |
Lightvalve | 148:a1aa20ae5332 | 219 | {0.019302673637866974f,-0.31937751173973083f,-0.2894435524940491f,0.3536301553249359f,0.08946844935417175f,0.2697038948535919f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.20959502458572388f,0.31786471605300903f,-0.5287175178527832f,-0.18776454031467438f,0.23656556010246277f,0.0696800947189331f}, |
Lightvalve | 149:0c49704a06ed | 220 | {-0.5404505729675293f,2.329841136932373f,-0.25313520431518555f,0.3359232246875763f,0.036378175020217896f,2.1661553382873535f,-0.715425431728363f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-2.4399101734161377f,-0.7516492605209351f,-0.025610558688640594f,-1.723425269126892f,-0.5844368934631348f,-3.8451337814331055f}, |
Lightvalve | 149:0c49704a06ed | 221 | {0.49694937467575073f,-1.0928959846496582f,-0.3519742488861084f,-0.05607288330793381f,-0.3015052080154419f,-0.10164236277341843f,-0.7031406164169312f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.426273822784424f,-0.3605239689350128f,-0.3332633078098297f,0.3884989321231842f,0.32065537571907043f,-3.0290184020996094f}, |
Lightvalve | 110:8dcb1600cb90 | 222 | {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f}, |
Lightvalve | 149:0c49704a06ed | 223 | {0.34379541873931885f,0.06561523675918579f,0.33083590865135193f,-0.6611100435256958f,-0.14358049631118774f,-0.3734801709651947f,-0.5378796458244324f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-0.226281076669693f,-0.4488765299320221f,-0.46368518471717834f,-0.09222345054149628f,0.45131364464759827f,-0.02688906341791153f}, |
Lightvalve | 149:0c49704a06ed | 224 | {-0.5643041729927063f,-0.13261672854423523f,-0.11379697918891907f,-0.06631220132112503f,0.041274964809417725f,-1.3097041845321655f,-0.38488316535949707f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-1.7833163738250732f,-0.4399111866950989f,-0.49465200304985046f,-1.0613385438919067f,-1.0242294073104858f,-4.783866882324219f}, |
Lightvalve | 149:0c49704a06ed | 225 | {-0.36850476264953613f,-0.08842887729406357f,-0.13502129912376404f,-0.05476556345820427f,0.12987366318702698f,0.3576016128063202f,0.025097839534282684f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.3536909520626068f,-0.020312804728746414f,0.25810474157333374f,-0.5278764367103577f,-0.12163006514310837f,-1.1409674882888794f}, |
Lightvalve | 148:a1aa20ae5332 | 226 | {-0.2813872694969177f,-0.00497382041066885f,0.0457797646522522f,-0.35608989000320435f,-0.03321319818496704f,-0.42408305406570435f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.21834108233451843f,0.3545852601528168f,-0.3647043704986572f,0.4149576723575592f,-0.3941495716571808f,-0.2813969850540161f}, |
Lightvalve | 148:a1aa20ae5332 | 227 | {0.13687370717525482f,-0.059931907802820206f,0.3954955041408539f,0.2401815950870514f,0.0033026933670043945f,-0.07171623408794403f,-0.3347725570201874f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.3078825771808624f,-0.3092644512653351f,-0.041866134852170944f,-0.12116000801324844f,-0.08961938321590424f,-0.2887650728225708f}, |
Lightvalve | 148:a1aa20ae5332 | 228 | {-0.2724846303462982f,-0.2191464900970459f,-0.15798500180244446f,0.3605934679508209f,-0.37393757700920105f,0.36071473360061646f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.11572924256324768f,-0.2837170362472534f,0.41839322447776794f,-0.007733283098787069f,-0.12089615315198898f,0.09913300722837448f}, |
Lightvalve | 149:0c49704a06ed | 229 | {-0.44937533140182495f,0.22338654100894928f,-0.2018718123435974f,0.028087720274925232f,0.07545611262321472f,0.40182366967201233f,-0.35733166337013245f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.3509725034236908f,-0.6551876664161682f,-0.2901351749897003f,-0.4390539526939392f,-0.4476006031036377f,-0.39824172854423523f}, |
Lightvalve | 110:8dcb1600cb90 | 230 | {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, |
Lightvalve | 148:a1aa20ae5332 | 231 | {-0.32074493169784546f,0.28163957595825195f,0.12081471085548401f,-0.2792678773403168f,0.29976895451545715f,-0.09895425289869308f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.19800294935703278f,-0.21138212084770203f,-0.32622218132019043f,0.10677647590637207f,0.025399623438715935f,-0.12184686958789825f}, |
Lightvalve | 63:a2d7c63419c2 | 232 | }; |
Lightvalve | 63:a2d7c63419c2 | 233 | |
Lightvalve | 110:8dcb1600cb90 | 234 | const float h3[16][16] = { |
Lightvalve | 148:a1aa20ae5332 | 235 | {-0.36079341173171997f,-2.3632097244262695f,0.5522572994232178f,-0.18605372309684753f,0.4817552864551544f,-0.6248658895492554f,0.3332441747188568f,0.3036012351512909f,-0.25323954224586487f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,1.1125493049621582f,-0.44441652297973633f,-1.3757370710372925f,1.5330219268798828f}, |
Lightvalve | 149:0c49704a06ed | 236 | {0.047732532024383545f,2.2143423557281494f,-0.5372059941291809f,-0.33036500215530396f,-0.2043900489807129f,-0.630955696105957f,-0.3198729455471039f,0.06247803568840027f,-2.8049497604370117f,-0.5740840435028076f,0.27142685651779175f,-0.4278912842273712f,-1.1769685745239258f,-0.3789185583591461f,-0.36737439036369324f,-1.6531002521514893f}, |
Lightvalve | 113:f41863b95e6f | 237 | {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f}, |
Lightvalve | 149:0c49704a06ed | 238 | {-0.30922991037368774f,0.1414455622434616f,0.23235689103603363f,-0.46450337767601013f,-0.309892475605011f,0.10625627636909485f,0.20021501183509827f,0.07002416253089905f,-0.24391815066337585f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.48090386390686035f,0.14736925065517426f,0.28556615114212036f,-0.6021602153778076f}, |
Lightvalve | 128:26b416050376 | 239 | {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f}, |
Lightvalve | 149:0c49704a06ed | 240 | {-0.37449589371681213f,0.20651906728744507f,-3.5051519870758057f,0.04070039466023445f,-0.3909818232059479f,1.060563087463379f,-0.18732719123363495f,0.22384825348854065f,-0.34972047805786133f,-0.4653087854385376f,-0.23815886676311493f,0.013178281486034393f,0.5318746566772461f,-0.1912338137626648f,0.44518983364105225f,-0.8809158205986023f}, |
Lightvalve | 148:a1aa20ae5332 | 241 | {0.4110594093799591f,0.16345514357089996f,-0.09862132370471954f,0.37246426939964294f,0.2589079439640045f,-0.17609281837940216f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.5628896951675415f,0.035575930029153824f,0.3126353323459625f,0.043686822056770325f}, |
Lightvalve | 130:06e670a4f416 | 242 | {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f}, |
Lightvalve | 113:f41863b95e6f | 243 | {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f}, |
Lightvalve | 148:a1aa20ae5332 | 244 | {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, |
Lightvalve | 149:0c49704a06ed | 245 | {0.15459725260734558f,2.2374267578125f,-0.20702162384986877f,-0.18694625794887543f,-0.38738688826560974f,2.2054245471954346f,-0.08742031455039978f,0.05785742402076721f,-0.033114273101091385f,-0.21430663764476776f,0.1268840730190277f,-0.30447322130203247f,-0.346512109041214f,-0.4680652916431427f,0.4414437711238861f,0.33215945959091187f}, |
Lightvalve | 148:a1aa20ae5332 | 246 | {-0.408692330121994f,0.06622173637151718f,0.053418613970279694f,0.0922636091709137f,-0.02326192334294319f,-0.13765206933021545f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.40041646361351013f,-0.306822270154953f,-0.3139876425266266f,0.34044501185417175f}, |
Lightvalve | 148:a1aa20ae5332 | 247 | {-0.2991822361946106f,0.243866965174675f,0.057913534343242645f,-0.05932474136352539f,0.22261089086532593f,0.10624121874570847f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.15249380469322205f,-0.27166613936424255f,0.22517405450344086f,-0.03341919556260109f}, |
Lightvalve | 149:0c49704a06ed | 248 | {-0.2675279378890991f,-0.2037803679704666f,1.1293216943740845f,-0.0006368464673869312f,-0.07937370985746384f,0.6289604306221008f,-0.32875844836235046f,-0.31893211603164673f,-1.493899941444397f,-0.9095659255981445f,-0.45591795444488525f,-0.5414313077926636f,1.5906513929367065f,-1.8899198770523071f,0.15753714740276337f,0.6742598414421082f}, |
Lightvalve | 148:a1aa20ae5332 | 249 | {-0.015470266342163086f,-2.7333335876464844f,0.773011326789856f,0.28740301728248596f,0.09213997423648834f,-0.3367389440536499f,0.05196094512939453f,-0.008358269929885864f,-0.41446444392204285f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.7641319036483765f,-0.060428280383348465f,-0.20003503561019897f,0.5673503875732422f}, |
Lightvalve | 149:0c49704a06ed | 250 | {0.1863725483417511f,1.4587724208831787f,-0.041027557104825974f,-0.47461920976638794f,0.39698487520217896f,1.376760482788086f,0.04860696196556091f,0.17769548296928406f,-0.022646836936473846f,0.2179073542356491f,-0.3929237127304077f,0.19592127203941345f,0.10718917101621628f,0.05651840567588806f,-0.019543873146176338f,0.5210090279579163f}, |
Lightvalve | 64:a8e6799dbce3 | 251 | }; |
Lightvalve | 63:a2d7c63419c2 | 252 | |
Lightvalve | 149:0c49704a06ed | 253 | const float hout[16] = { 0.45773375034332275f,0.3668799102306366f,-0.13413715362548828f,-0.016836805269122124f,0.08971219509840012f,0.4475780427455902f,0.0030125975608825684f,0.15066689252853394f,-0.0630112737417221f,-0.06807868182659149f,0.21825642883777618f,-0.13003207743167877f,-0.49909707903862f,0.2512344419956207f,0.6037299036979675f,-0.14567755162715912f }; |
Lightvalve | 64:a8e6799dbce3 | 254 | |
Lightvalve | 149:0c49704a06ed | 255 | const float b1[16] = { 0.3099610209465027f,1.3175290822982788f,-1.7145336866378784f,0.23827297985553741f,1.7536879777908325f,1.1309794187545776f,-0.058932315558195114f,3.621431350708008f,1.4655077457427979f,-0.9159175157546997f,0.574961245059967f,1.2480543851852417f,-0.3789219558238983f,-0.948204517364502f,-1.087764859199524f,0.9895656108856201f }; |
Lightvalve | 85:471334725012 | 256 | |
Lightvalve | 149:0c49704a06ed | 257 | const float b2[16] = { -0.11788398772478104f,-1.093178153038025f,-1.4564176797866821f,-0.7737739086151123f,-0.6939148902893066f,0.0007033227011561394f,0.16136431694030762f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.5001667737960815f,0.3422625660896301f,-0.2033599615097046f,2.1852619647979736f,0.09860430657863617f,0.48487624526023865f }; |
Lightvalve | 63:a2d7c63419c2 | 258 | |
Lightvalve | 149:0c49704a06ed | 259 | const float b3[16] = { -1.963319182395935f,-0.22525213658809662f,-0.5830517411231995f,-0.12286757677793503f,-0.2395627647638321f,-0.07051343470811844f,-0.45353031158447266f,-0.6562485098838806f,0.47261902689933777f,0.013313661329448223f,-0.291460245847702f,-0.15192735195159912f,-0.1306169033050537f,0.5831792950630188f,-1.3271163702011108f,0.528087854385376f }; |
Lightvalve | 85:471334725012 | 260 | |
Lightvalve | 149:0c49704a06ed | 261 | const float bout[1] = { -0.18529483675956726f }; |
Lightvalve | 63:a2d7c63419c2 | 262 | |
Lightvalve | 64:a8e6799dbce3 | 263 | |
Lightvalve | 85:471334725012 | 264 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 85:471334725012 | 265 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 59:bc8c8270f0ab | 266 | |
GiJeongKim | 0:51c43836c1d7 | 267 | int main() |
GiJeongKim | 0:51c43836c1d7 | 268 | { |
Lightvalve | 64:a8e6799dbce3 | 269 | |
Lightvalve | 63:a2d7c63419c2 | 270 | HAL_Init(); |
Lightvalve | 63:a2d7c63419c2 | 271 | SystemClock_Config(); |
Lightvalve | 63:a2d7c63419c2 | 272 | |
jobuuu | 6:df07d3491e3a | 273 | /********************************* |
jobuuu | 1:e04e563be5ce | 274 | *** Initialization |
jobuuu | 6:df07d3491e3a | 275 | *********************************/ |
Lightvalve | 67:3995ffeaa786 | 276 | LED = 0; |
Lightvalve | 59:bc8c8270f0ab | 277 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 278 | |
GiJeongKim | 0:51c43836c1d7 | 279 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 280 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 281 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 282 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 283 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 284 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 285 | |
GiJeongKim | 0:51c43836c1d7 | 286 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 287 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 288 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 289 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 290 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 291 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 292 | |
Lightvalve | 16:903b5a4433b4 | 293 | //rom |
Lightvalve | 19:23b7c1ad8683 | 294 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 295 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 296 | |
GiJeongKim | 0:51c43836c1d7 | 297 | // ADC init |
jobuuu | 5:a4319f79457b | 298 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 299 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 300 | |
GiJeongKim | 0:51c43836c1d7 | 301 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 302 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 303 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 304 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 305 | |
Lightvalve | 11:82d8768d7351 | 306 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 307 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 308 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 309 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 310 | |
Lightvalve | 49:3c630b5eba9f | 311 | // TMR2 init |
Lightvalve | 54:6f50d9d3bfee | 312 | // Init_TMR2(); |
Lightvalve | 54:6f50d9d3bfee | 313 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 54:6f50d9d3bfee | 314 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 315 | |
GiJeongKim | 0:51c43836c1d7 | 316 | // CAN |
jobuuu | 2:a1c0a37df760 | 317 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 318 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 319 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 320 | |
Lightvalve | 23:59218d4a256d | 321 | //Timer priority |
Lightvalve | 23:59218d4a256d | 322 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 55:f4819de54e7a | 323 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 52:647072f5307a | 324 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 325 | |
Lightvalve | 23:59218d4a256d | 326 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 327 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 328 | |
GiJeongKim | 0:51c43836c1d7 | 329 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 330 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 331 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 332 | |
Lightvalve | 11:82d8768d7351 | 333 | //DAC init |
Lightvalve | 56:2eade98630e2 | 334 | if (SENSING_MODE == 0) { |
Lightvalve | 56:2eade98630e2 | 335 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 56:2eade98630e2 | 336 | dac_2 = 0.0f; |
Lightvalve | 56:2eade98630e2 | 337 | } else if (SENSING_MODE == 1) { |
Lightvalve | 56:2eade98630e2 | 338 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 56:2eade98630e2 | 339 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 56:2eade98630e2 | 340 | } |
Lightvalve | 11:82d8768d7351 | 341 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 342 | |
Lightvalve | 19:23b7c1ad8683 | 343 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 344 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 345 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 346 | else |
Lightvalve | 38:118df027d851 | 347 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 348 | } |
Lightvalve | 59:bc8c8270f0ab | 349 | |
Lightvalve | 59:bc8c8270f0ab | 350 | |
jobuuu | 6:df07d3491e3a | 351 | /************************************ |
jobuuu | 1:e04e563be5ce | 352 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 353 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 354 | while(1) { |
Lightvalve | 64:a8e6799dbce3 | 355 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 64:a8e6799dbce3 | 356 | //if(timer_while==1000) { |
Lightvalve | 63:a2d7c63419c2 | 357 | //i2c |
Lightvalve | 64:a8e6799dbce3 | 358 | |
Lightvalve | 63:a2d7c63419c2 | 359 | read_field(i2c_slave_addr1); |
Lightvalve | 63:a2d7c63419c2 | 360 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 63:a2d7c63419c2 | 361 | // if(LED==1) { |
Lightvalve | 63:a2d7c63419c2 | 362 | // LED=0; |
Lightvalve | 63:a2d7c63419c2 | 363 | // } else |
Lightvalve | 63:a2d7c63419c2 | 364 | // LED = 1; |
Lightvalve | 63:a2d7c63419c2 | 365 | timer_while = 0; |
Lightvalve | 64:a8e6799dbce3 | 366 | //} |
Lightvalve | 64:a8e6799dbce3 | 367 | |
Lightvalve | 64:a8e6799dbce3 | 368 | timer_while ++; |
Lightvalve | 64:a8e6799dbce3 | 369 | |
Lightvalve | 85:471334725012 | 370 | //LED = 0; |
Lightvalve | 85:471334725012 | 371 | |
Lightvalve | 71:f80dc3970c99 | 372 | if(NN_Control_Flag == 0) { |
Lightvalve | 71:f80dc3970c99 | 373 | LED = 0; |
Lightvalve | 71:f80dc3970c99 | 374 | } |
Lightvalve | 64:a8e6799dbce3 | 375 | |
Lightvalve | 71:f80dc3970c99 | 376 | else if(NN_Control_Flag == 1) { |
Lightvalve | 115:7141c0517b82 | 377 | |
Lightvalve | 145:b273ae9cec75 | 378 | // int ind = 0; |
Lightvalve | 145:b273ae9cec75 | 379 | // for(int i=0; i<numpast_u; i++) { |
Lightvalve | 145:b273ae9cec75 | 380 | // input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 145:b273ae9cec75 | 381 | // ind = ind + 1; |
Lightvalve | 145:b273ae9cec75 | 382 | // } |
Lightvalve | 145:b273ae9cec75 | 383 | // |
Lightvalve | 145:b273ae9cec75 | 384 | // for(int i=0; i<numpast_x; i++) { |
Lightvalve | 145:b273ae9cec75 | 385 | // input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 120:dcb3ce3056a0 | 386 | // ind = ind + 1; |
Lightvalve | 120:dcb3ce3056a0 | 387 | // } |
Lightvalve | 145:b273ae9cec75 | 388 | // input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 145:b273ae9cec75 | 389 | // ind = ind + 1; |
Lightvalve | 145:b273ae9cec75 | 390 | // |
Lightvalve | 145:b273ae9cec75 | 391 | //// for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 145:b273ae9cec75 | 392 | //// input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 145:b273ae9cec75 | 393 | //// ind = ind + 1; |
Lightvalve | 145:b273ae9cec75 | 394 | //// } |
Lightvalve | 145:b273ae9cec75 | 395 | // |
Lightvalve | 145:b273ae9cec75 | 396 | // for(int i=0; i<numpast_f; i++) { |
Lightvalve | 145:b273ae9cec75 | 397 | // input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 145:b273ae9cec75 | 398 | // ind = ind + 1; |
Lightvalve | 145:b273ae9cec75 | 399 | // } |
Lightvalve | 145:b273ae9cec75 | 400 | // input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 145:b273ae9cec75 | 401 | // ind = ind + 1; |
Lightvalve | 145:b273ae9cec75 | 402 | // for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 145:b273ae9cec75 | 403 | //// input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f; |
Lightvalve | 145:b273ae9cec75 | 404 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f; |
Lightvalve | 145:b273ae9cec75 | 405 | // ind = ind + 1; |
Lightvalve | 145:b273ae9cec75 | 406 | // } |
Lightvalve | 115:7141c0517b82 | 407 | |
Lightvalve | 110:8dcb1600cb90 | 408 | float output1[16] = { 0.0f }; |
Lightvalve | 110:8dcb1600cb90 | 409 | float output2[16] = { 0.0f }; |
Lightvalve | 110:8dcb1600cb90 | 410 | float output3[16] = { 0.0f }; |
Lightvalve | 64:a8e6799dbce3 | 411 | float output = 0.0f; |
Lightvalve | 63:a2d7c63419c2 | 412 | |
Lightvalve | 110:8dcb1600cb90 | 413 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 66:328e1be06f5d | 414 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 64:a8e6799dbce3 | 415 | output1[index2] = output1[index2] |
Lightvalve | 71:f80dc3970c99 | 416 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 64:a8e6799dbce3 | 417 | } |
Lightvalve | 64:a8e6799dbce3 | 418 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 64:a8e6799dbce3 | 419 | if (output1[index2] < 0) { |
Lightvalve | 64:a8e6799dbce3 | 420 | output1[index2] = 0; |
Lightvalve | 64:a8e6799dbce3 | 421 | } |
Lightvalve | 64:a8e6799dbce3 | 422 | } |
Lightvalve | 63:a2d7c63419c2 | 423 | |
Lightvalve | 110:8dcb1600cb90 | 424 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 110:8dcb1600cb90 | 425 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 64:a8e6799dbce3 | 426 | output2[index2] = output2[index2] |
Lightvalve | 64:a8e6799dbce3 | 427 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 64:a8e6799dbce3 | 428 | } |
Lightvalve | 64:a8e6799dbce3 | 429 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 64:a8e6799dbce3 | 430 | if (output2[index2] < 0) { |
Lightvalve | 64:a8e6799dbce3 | 431 | output2[index2] = 0; |
Lightvalve | 64:a8e6799dbce3 | 432 | } |
Lightvalve | 64:a8e6799dbce3 | 433 | } |
Lightvalve | 63:a2d7c63419c2 | 434 | |
Lightvalve | 110:8dcb1600cb90 | 435 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 110:8dcb1600cb90 | 436 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 64:a8e6799dbce3 | 437 | output3[index2] = output3[index2] |
Lightvalve | 64:a8e6799dbce3 | 438 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 64:a8e6799dbce3 | 439 | } |
Lightvalve | 64:a8e6799dbce3 | 440 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 64:a8e6799dbce3 | 441 | if (output3[index2] < 0) { |
Lightvalve | 64:a8e6799dbce3 | 442 | output3[index2] = 0; |
Lightvalve | 64:a8e6799dbce3 | 443 | } |
Lightvalve | 63:a2d7c63419c2 | 444 | } |
Lightvalve | 64:a8e6799dbce3 | 445 | |
Lightvalve | 64:a8e6799dbce3 | 446 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 110:8dcb1600cb90 | 447 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 71:f80dc3970c99 | 448 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 64:a8e6799dbce3 | 449 | } |
Lightvalve | 64:a8e6799dbce3 | 450 | output = output + bout[index2]; |
Lightvalve | 71:f80dc3970c99 | 451 | |
Lightvalve | 64:a8e6799dbce3 | 452 | } |
Lightvalve | 71:f80dc3970c99 | 453 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 99:50159049a518 | 454 | output_normalized = output; |
Lightvalve | 66:328e1be06f5d | 455 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 99:50159049a518 | 456 | |
Lightvalve | 64:a8e6799dbce3 | 457 | if(output>=0) { |
Lightvalve | 64:a8e6799dbce3 | 458 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 64:a8e6799dbce3 | 459 | } else { |
Lightvalve | 64:a8e6799dbce3 | 460 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 63:a2d7c63419c2 | 461 | } |
Lightvalve | 85:471334725012 | 462 | |
Lightvalve | 86:d6e591bece22 | 463 | // // torque feedback |
Lightvalve | 86:d6e591bece22 | 464 | // torq.err = f_past[0] - torq.sen; //[N] |
Lightvalve | 86:d6e591bece22 | 465 | //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 86:d6e591bece22 | 466 | // torq.err_sum += torq.err/(float) 1500.0f; //[N] |
Lightvalve | 86:d6e591bece22 | 467 | // |
Lightvalve | 86:d6e591bece22 | 468 | // |
Lightvalve | 86:d6e591bece22 | 469 | // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f; |
Lightvalve | 86:d6e591bece22 | 470 | // |
Lightvalve | 86:d6e591bece22 | 471 | // if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 86:d6e591bece22 | 472 | // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 86:d6e591bece22 | 473 | // if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 86:d6e591bece22 | 474 | // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 86:d6e591bece22 | 475 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 86:d6e591bece22 | 476 | // valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 86:d6e591bece22 | 477 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 86:d6e591bece22 | 478 | // } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 86:d6e591bece22 | 479 | // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 86:d6e591bece22 | 480 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 86:d6e591bece22 | 481 | // valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 86:d6e591bece22 | 482 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 86:d6e591bece22 | 483 | // } |
Lightvalve | 86:d6e591bece22 | 484 | // } |
Lightvalve | 85:471334725012 | 485 | |
Lightvalve | 67:3995ffeaa786 | 486 | |
Lightvalve | 67:3995ffeaa786 | 487 | if(LED==1) { |
Lightvalve | 67:3995ffeaa786 | 488 | LED=0; |
Lightvalve | 67:3995ffeaa786 | 489 | } else |
Lightvalve | 67:3995ffeaa786 | 490 | LED = 1; |
Lightvalve | 67:3995ffeaa786 | 491 | |
Lightvalve | 63:a2d7c63419c2 | 492 | } |
Lightvalve | 60:b5452adfb2cd | 493 | |
Lightvalve | 85:471334725012 | 494 | //LED = 1; |
Lightvalve | 67:3995ffeaa786 | 495 | |
Lightvalve | 64:a8e6799dbce3 | 496 | |
GiJeongKim | 0:51c43836c1d7 | 497 | } |
jobuuu | 1:e04e563be5ce | 498 | } |
jobuuu | 1:e04e563be5ce | 499 | |
Lightvalve | 33:91b17819ec30 | 500 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 501 | { |
Lightvalve | 14:8e7590227d22 | 502 | |
Lightvalve | 13:747daba9cf59 | 503 | int i = 0; |
Lightvalve | 47:889798ff9329 | 504 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 505 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 506 | 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 | 507 | if(i==0) { |
Lightvalve | 49:3c630b5eba9f | 508 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 55:f4819de54e7a | 509 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 49:3c630b5eba9f | 510 | } else { |
Lightvalve | 55:f4819de54e7a | 511 | Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; |
Lightvalve | 38:118df027d851 | 512 | } |
Lightvalve | 14:8e7590227d22 | 513 | } else { |
Lightvalve | 49:3c630b5eba9f | 514 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 55:f4819de54e7a | 515 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 49:3c630b5eba9f | 516 | } else { |
Lightvalve | 55:f4819de54e7a | 517 | Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]); |
Lightvalve | 38:118df027d851 | 518 | } |
Lightvalve | 13:747daba9cf59 | 519 | } |
Lightvalve | 13:747daba9cf59 | 520 | break; |
Lightvalve | 13:747daba9cf59 | 521 | } |
Lightvalve | 13:747daba9cf59 | 522 | } |
Lightvalve | 14:8e7590227d22 | 523 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 524 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 525 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 526 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 527 | } |
Lightvalve | 36:a46e63505ed8 | 528 | |
Lightvalve | 55:f4819de54e7a | 529 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 530 | return Ref_Valve_Pos_FF; |
Lightvalve | 49:3c630b5eba9f | 531 | |
Lightvalve | 13:747daba9cf59 | 532 | } |
jobuuu | 6:df07d3491e3a | 533 | |
jobuuu | 6:df07d3491e3a | 534 | |
Lightvalve | 30:8d561f16383b | 535 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 536 | { |
Lightvalve | 13:747daba9cf59 | 537 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 538 | |
Lightvalve | 38:118df027d851 | 539 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 540 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 541 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 542 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 543 | } |
Lightvalve | 38:118df027d851 | 544 | |
Lightvalve | 87:a7b45368ea0f | 545 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 546 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 547 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 548 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 87:a7b45368ea0f | 549 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 87:a7b45368ea0f | 550 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 551 | |
Lightvalve | 13:747daba9cf59 | 552 | 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 | 553 | |
Lightvalve | 18:b8adf1582ea3 | 554 | for(i=0; i<24; i++) { |
Lightvalve | 87:a7b45368ea0f | 555 | if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { |
Lightvalve | 14:8e7590227d22 | 556 | if(i==0) { |
Lightvalve | 47:889798ff9329 | 557 | VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); |
Lightvalve | 14:8e7590227d22 | 558 | } else { |
Lightvalve | 47:889798ff9329 | 559 | VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1]; |
Lightvalve | 13:747daba9cf59 | 560 | } |
Lightvalve | 13:747daba9cf59 | 561 | break; |
Lightvalve | 13:747daba9cf59 | 562 | } |
Lightvalve | 13:747daba9cf59 | 563 | } |
Lightvalve | 57:f308b1656d9c | 564 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 565 | } |
Lightvalve | 13:747daba9cf59 | 566 | |
Lightvalve | 14:8e7590227d22 | 567 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 568 | 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 | 569 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 570 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 571 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 572 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 573 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 574 | }; // duty |
Lightvalve | 65:c2812cf26c38 | 575 | float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, |
Lightvalve | 65:c2812cf26c38 | 576 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 65:c2812cf26c38 | 577 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 65:c2812cf26c38 | 578 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 65:c2812cf26c38 | 579 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 65:c2812cf26c38 | 580 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 581 | }; // mV |
Lightvalve | 13:747daba9cf59 | 582 | |
Lightvalve | 30:8d561f16383b | 583 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 584 | { |
Lightvalve | 30:8d561f16383b | 585 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 586 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 587 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 588 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 589 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 590 | } else { |
Lightvalve | 13:747daba9cf59 | 591 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 592 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 593 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 594 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 595 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 596 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 597 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 598 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 599 | break; |
Lightvalve | 13:747daba9cf59 | 600 | } |
Lightvalve | 13:747daba9cf59 | 601 | } |
Lightvalve | 13:747daba9cf59 | 602 | } |
Lightvalve | 14:8e7590227d22 | 603 | |
Lightvalve | 13:747daba9cf59 | 604 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 605 | } |
jobuuu | 6:df07d3491e3a | 606 | |
Lightvalve | 55:f4819de54e7a | 607 | |
Lightvalve | 55:f4819de54e7a | 608 | |
Lightvalve | 55:f4819de54e7a | 609 | |
Lightvalve | 55:f4819de54e7a | 610 | |
jobuuu | 2:a1c0a37df760 | 611 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 612 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 613 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 614 | |
Lightvalve | 50:b46bed7fec80 | 615 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 50:b46bed7fec80 | 616 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 55:f4819de54e7a | 617 | long CNT_TMR4 = 0; |
Lightvalve | 55:f4819de54e7a | 618 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 619 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 620 | { |
Lightvalve | 19:23b7c1ad8683 | 621 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 622 | |
Lightvalve | 21:e5f1a43ea6f9 | 623 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 624 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 625 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 626 | |
Lightvalve | 55:f4819de54e7a | 627 | //Encoder |
Lightvalve | 55:f4819de54e7a | 628 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 55:f4819de54e7a | 629 | ENC_UPDATE(); |
Lightvalve | 55:f4819de54e7a | 630 | } |
Lightvalve | 59:bc8c8270f0ab | 631 | |
Lightvalve | 59:bc8c8270f0ab | 632 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 56:2eade98630e2 | 633 | if (SENSING_MODE == 0) { |
Lightvalve | 56:2eade98630e2 | 634 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 56:2eade98630e2 | 635 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 56:2eade98630e2 | 636 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 56:2eade98630e2 | 637 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 65:c2812cf26c38 | 638 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 65:c2812cf26c38 | 639 | |
Lightvalve | 65:c2812cf26c38 | 640 | |
Lightvalve | 65:c2812cf26c38 | 641 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 65:c2812cf26c38 | 642 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 65:c2812cf26c38 | 643 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 65:c2812cf26c38 | 644 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 65:c2812cf26c38 | 645 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 65:c2812cf26c38 | 646 | |
Lightvalve | 17:1865016ca2e7 | 647 | |
Lightvalve | 56:2eade98630e2 | 648 | } else if (SENSING_MODE == 1) { |
Lightvalve | 56:2eade98630e2 | 649 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 56:2eade98630e2 | 650 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 56:2eade98630e2 | 651 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 56:2eade98630e2 | 652 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 56:2eade98630e2 | 653 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 56:2eade98630e2 | 654 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 56:2eade98630e2 | 655 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 56:2eade98630e2 | 656 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 49:3c630b5eba9f | 657 | |
Lightvalve | 56:2eade98630e2 | 658 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 56:2eade98630e2 | 659 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm |
Lightvalve | 56:2eade98630e2 | 660 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 56:2eade98630e2 | 661 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N |
Lightvalve | 56:2eade98630e2 | 662 | } |
Lightvalve | 56:2eade98630e2 | 663 | } |
Lightvalve | 59:bc8c8270f0ab | 664 | |
Lightvalve | 56:2eade98630e2 | 665 | // //Pressure sensor A |
Lightvalve | 56:2eade98630e2 | 666 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 56:2eade98630e2 | 667 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 56:2eade98630e2 | 668 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 56:2eade98630e2 | 669 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 56:2eade98630e2 | 670 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 56:2eade98630e2 | 671 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. |
Lightvalve | 56:2eade98630e2 | 672 | // |
Lightvalve | 56:2eade98630e2 | 673 | // |
Lightvalve | 56:2eade98630e2 | 674 | // //Pressure sensor B |
Lightvalve | 56:2eade98630e2 | 675 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 56:2eade98630e2 | 676 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 56:2eade98630e2 | 677 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 56:2eade98630e2 | 678 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 679 | |
Lightvalve | 17:1865016ca2e7 | 680 | |
Lightvalve | 21:e5f1a43ea6f9 | 681 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 682 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 683 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 684 | //while((ADC3->SR & 0b10)); |
Lightvalve | 50:b46bed7fec80 | 685 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 686 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 687 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 688 | //cur.sen = raw_cur; |
Lightvalve | 56:2eade98630e2 | 689 | |
Lightvalve | 55:f4819de54e7a | 690 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 691 | } |
Lightvalve | 11:82d8768d7351 | 692 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 693 | } |
Lightvalve | 19:23b7c1ad8683 | 694 | |
Lightvalve | 19:23b7c1ad8683 | 695 | |
Lightvalve | 18:b8adf1582ea3 | 696 | int j =0; |
Lightvalve | 52:647072f5307a | 697 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 47:889798ff9329 | 698 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 44:35fa6884d0c6 | 699 | int cnt_trans = 0; |
Lightvalve | 47:889798ff9329 | 700 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 55:f4819de54e7a | 701 | int can_rest =0; |
Lightvalve | 47:889798ff9329 | 702 | |
Lightvalve | 11:82d8768d7351 | 703 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 704 | { |
Lightvalve | 19:23b7c1ad8683 | 705 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 55:f4819de54e7a | 706 | |
Lightvalve | 55:f4819de54e7a | 707 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 55:f4819de54e7a | 708 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 55:f4819de54e7a | 709 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 55:f4819de54e7a | 710 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 55:f4819de54e7a | 711 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 55:f4819de54e7a | 712 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 55:f4819de54e7a | 713 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 55:f4819de54e7a | 714 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 55:f4819de54e7a | 715 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 55:f4819de54e7a | 716 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 55:f4819de54e7a | 717 | } |
Lightvalve | 49:3c630b5eba9f | 718 | |
Lightvalve | 49:3c630b5eba9f | 719 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 47:889798ff9329 | 720 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 44:35fa6884d0c6 | 721 | cnt_trans++; |
Lightvalve | 45:2694daea349b | 722 | torq.err_sum = 0; |
Lightvalve | 47:889798ff9329 | 723 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 44:35fa6884d0c6 | 724 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 49:3c630b5eba9f | 725 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 47:889798ff9329 | 726 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 44:35fa6884d0c6 | 727 | cnt_trans++; |
Lightvalve | 45:2694daea349b | 728 | torq.err_sum = 0; |
Lightvalve | 47:889798ff9329 | 729 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 44:35fa6884d0c6 | 730 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 49:3c630b5eba9f | 731 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 56:2eade98630e2 | 732 | alpha_trans = 1.0f; |
Lightvalve | 44:35fa6884d0c6 | 733 | cnt_trans = 0; |
Lightvalve | 49:3c630b5eba9f | 734 | } else { |
Lightvalve | 56:2eade98630e2 | 735 | alpha_trans = 0.0f; |
Lightvalve | 44:35fa6884d0c6 | 736 | cnt_trans = 0; |
Lightvalve | 44:35fa6884d0c6 | 737 | } |
Lightvalve | 44:35fa6884d0c6 | 738 | |
Lightvalve | 49:3c630b5eba9f | 739 | |
Lightvalve | 55:f4819de54e7a | 740 | int UTILITY_MODE = 0; |
Lightvalve | 55:f4819de54e7a | 741 | int CONTROL_MODE = 0; |
Lightvalve | 56:2eade98630e2 | 742 | |
Lightvalve | 55:f4819de54e7a | 743 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 55:f4819de54e7a | 744 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 55:f4819de54e7a | 745 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 55:f4819de54e7a | 746 | } else { |
Lightvalve | 55:f4819de54e7a | 747 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 55:f4819de54e7a | 748 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 55:f4819de54e7a | 749 | } |
Lightvalve | 54:6f50d9d3bfee | 750 | |
Lightvalve | 54:6f50d9d3bfee | 751 | |
Lightvalve | 54:6f50d9d3bfee | 752 | |
Lightvalve | 55:f4819de54e7a | 753 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 54:6f50d9d3bfee | 754 | |
Lightvalve | 55:f4819de54e7a | 755 | switch (UTILITY_MODE) { |
Lightvalve | 55:f4819de54e7a | 756 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 757 | break; |
Lightvalve | 13:747daba9cf59 | 758 | } |
Lightvalve | 14:8e7590227d22 | 759 | |
Lightvalve | 14:8e7590227d22 | 760 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 761 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 762 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 763 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 764 | |
Lightvalve | 14:8e7590227d22 | 765 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 766 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 767 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 768 | |
Lightvalve | 82:c355d3e52bf1 | 769 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 770 | |
Lightvalve | 30:8d561f16383b | 771 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 57:f308b1656d9c | 772 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 49:3c630b5eba9f | 773 | |
Lightvalve | 16:903b5a4433b4 | 774 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 775 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 776 | } |
Lightvalve | 13:747daba9cf59 | 777 | } else { |
Lightvalve | 56:2eade98630e2 | 778 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 779 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 780 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 781 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 782 | |
Lightvalve | 16:903b5a4433b4 | 783 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 784 | |
Lightvalve | 30:8d561f16383b | 785 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 786 | |
Lightvalve | 13:747daba9cf59 | 787 | } |
Lightvalve | 14:8e7590227d22 | 788 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 789 | break; |
Lightvalve | 19:23b7c1ad8683 | 790 | } |
Lightvalve | 14:8e7590227d22 | 791 | |
Lightvalve | 49:3c630b5eba9f | 792 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 49:3c630b5eba9f | 793 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 49:3c630b5eba9f | 794 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 49:3c630b5eba9f | 795 | // else temp_time = 0; |
Lightvalve | 49:3c630b5eba9f | 796 | // } |
Lightvalve | 49:3c630b5eba9f | 797 | // if (need_enc_init) { |
Lightvalve | 49:3c630b5eba9f | 798 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:3c630b5eba9f | 799 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 49:3c630b5eba9f | 800 | // pos_plus_end = pos.sen; |
Lightvalve | 49:3c630b5eba9f | 801 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 49:3c630b5eba9f | 802 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 49:3c630b5eba9f | 803 | // pos_minus_end = pos.sen; |
Lightvalve | 49:3c630b5eba9f | 804 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 49:3c630b5eba9f | 805 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 49:3c630b5eba9f | 806 | // } |
Lightvalve | 49:3c630b5eba9f | 807 | // |
Lightvalve | 49:3c630b5eba9f | 808 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 49:3c630b5eba9f | 809 | // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); |
Lightvalve | 49:3c630b5eba9f | 810 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 49:3c630b5eba9f | 811 | // |
Lightvalve | 49:3c630b5eba9f | 812 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 49:3c630b5eba9f | 813 | // V_out = 0; |
Lightvalve | 49:3c630b5eba9f | 814 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 49:3c630b5eba9f | 815 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 49:3c630b5eba9f | 816 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 49:3c630b5eba9f | 817 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 49:3c630b5eba9f | 818 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 49:3c630b5eba9f | 819 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 49:3c630b5eba9f | 820 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 49:3c630b5eba9f | 821 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 49:3c630b5eba9f | 822 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 49:3c630b5eba9f | 823 | // |
Lightvalve | 49:3c630b5eba9f | 824 | // // Position of Dead Zone |
Lightvalve | 49:3c630b5eba9f | 825 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 49:3c630b5eba9f | 826 | // // | / | / |/ |
Lightvalve | 49:3c630b5eba9f | 827 | // // | ______/ ___|___/ ______/| |
Lightvalve | 49:3c630b5eba9f | 828 | // // |/ / | / | |
Lightvalve | 49:3c630b5eba9f | 829 | // // /| / | / | |
Lightvalve | 49:3c630b5eba9f | 830 | // // 0V 0V 0V |
Lightvalve | 49:3c630b5eba9f | 831 | // |
Lightvalve | 49:3c630b5eba9f | 832 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 49:3c630b5eba9f | 833 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 49:3c630b5eba9f | 834 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 49:3c630b5eba9f | 835 | // } else { |
Lightvalve | 49:3c630b5eba9f | 836 | // V_out -= DZ_dir; |
Lightvalve | 49:3c630b5eba9f | 837 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 49:3c630b5eba9f | 838 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 49:3c630b5eba9f | 839 | // } |
Lightvalve | 49:3c630b5eba9f | 840 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 49:3c630b5eba9f | 841 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 49:3c630b5eba9f | 842 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 49:3c630b5eba9f | 843 | // DZ_dir = -DZ_dir; |
Lightvalve | 49:3c630b5eba9f | 844 | // DZ_temp_cnt = 0; |
Lightvalve | 49:3c630b5eba9f | 845 | // DZ_temp_cnt2++; |
Lightvalve | 49:3c630b5eba9f | 846 | // } |
Lightvalve | 49:3c630b5eba9f | 847 | // } else { |
Lightvalve | 49:3c630b5eba9f | 848 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 49:3c630b5eba9f | 849 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 49:3c630b5eba9f | 850 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 49:3c630b5eba9f | 851 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 49:3c630b5eba9f | 852 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 49:3c630b5eba9f | 853 | // } |
Lightvalve | 49:3c630b5eba9f | 854 | // V_out = 0; |
Lightvalve | 49:3c630b5eba9f | 855 | // |
Lightvalve | 49:3c630b5eba9f | 856 | // ROM_RESET_DATA(); |
Lightvalve | 49:3c630b5eba9f | 857 | // |
Lightvalve | 49:3c630b5eba9f | 858 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 49:3c630b5eba9f | 859 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 49:3c630b5eba9f | 860 | // |
Lightvalve | 49:3c630b5eba9f | 861 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 49:3c630b5eba9f | 862 | // DZ_temp_cnt2 = 0; |
Lightvalve | 49:3c630b5eba9f | 863 | // } |
Lightvalve | 49:3c630b5eba9f | 864 | // } |
Lightvalve | 49:3c630b5eba9f | 865 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 49:3c630b5eba9f | 866 | // break; |
Lightvalve | 49:3c630b5eba9f | 867 | // } |
Lightvalve | 14:8e7590227d22 | 868 | |
Lightvalve | 14:8e7590227d22 | 869 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 870 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 871 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 872 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 873 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 57:f308b1656d9c | 874 | pos.ref = pos.sen; |
Lightvalve | 57:f308b1656d9c | 875 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 876 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 877 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 65:c2812cf26c38 | 878 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 879 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 880 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 881 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 882 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 883 | } |
Lightvalve | 29:69f3f5445d6d | 884 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 885 | |
Lightvalve | 29:69f3f5445d6d | 886 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 887 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 888 | } else { |
Lightvalve | 29:69f3f5445d6d | 889 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 890 | } |
Lightvalve | 19:23b7c1ad8683 | 891 | |
Lightvalve | 55:f4819de54e7a | 892 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 893 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 65:c2812cf26c38 | 894 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 65:c2812cf26c38 | 895 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 59:bc8c8270f0ab | 896 | |
Lightvalve | 57:f308b1656d9c | 897 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 57:f308b1656d9c | 898 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 57:f308b1656d9c | 899 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 57:f308b1656d9c | 900 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 57:f308b1656d9c | 901 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:bc8c8270f0ab | 902 | |
Lightvalve | 57:f308b1656d9c | 903 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 57:f308b1656d9c | 904 | alpha_trans = 0.0f; |
Lightvalve | 59:bc8c8270f0ab | 905 | |
Lightvalve | 34:bb2ca2fc2a8e | 906 | |
Lightvalve | 29:69f3f5445d6d | 907 | } else { |
Lightvalve | 29:69f3f5445d6d | 908 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 65:c2812cf26c38 | 909 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 910 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 911 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 912 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 913 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 914 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 915 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 916 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 917 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 918 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 65:c2812cf26c38 | 919 | |
Lightvalve | 65:c2812cf26c38 | 920 | |
Lightvalve | 65:c2812cf26c38 | 921 | cnt_findhome = 0; |
Lightvalve | 65:c2812cf26c38 | 922 | pos.ref = 0.0f; |
Lightvalve | 65:c2812cf26c38 | 923 | vel.ref = 0.0f; |
Lightvalve | 65:c2812cf26c38 | 924 | pos.ref_home_pos = 0.0f; |
Lightvalve | 65:c2812cf26c38 | 925 | vel.ref_home_pos = 0.0f; |
Lightvalve | 65:c2812cf26c38 | 926 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 65:c2812cf26c38 | 927 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 65:c2812cf26c38 | 928 | |
Lightvalve | 65:c2812cf26c38 | 929 | |
Lightvalve | 29:69f3f5445d6d | 930 | } |
Lightvalve | 29:69f3f5445d6d | 931 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 932 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 57:f308b1656d9c | 933 | pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; |
Lightvalve | 65:c2812cf26c38 | 934 | //pos.ref = 0.0f; |
Lightvalve | 57:f308b1656d9c | 935 | vel.ref = 0.0f; |
Lightvalve | 65:c2812cf26c38 | 936 | |
Lightvalve | 29:69f3f5445d6d | 937 | // input for position control |
Lightvalve | 65:c2812cf26c38 | 938 | |
Lightvalve | 65:c2812cf26c38 | 939 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 65:c2812cf26c38 | 940 | alpha_trans = 0.0f; |
Lightvalve | 59:bc8c8270f0ab | 941 | |
Lightvalve | 65:c2812cf26c38 | 942 | double torq_ref = 0.0f; |
Lightvalve | 65:c2812cf26c38 | 943 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 65:c2812cf26c38 | 944 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 65:c2812cf26c38 | 945 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 65:c2812cf26c38 | 946 | |
Lightvalve | 65:c2812cf26c38 | 947 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 65:c2812cf26c38 | 948 | |
Lightvalve | 65:c2812cf26c38 | 949 | double I_REF_POS = 0.0f; |
Lightvalve | 65:c2812cf26c38 | 950 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 65:c2812cf26c38 | 951 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 65:c2812cf26c38 | 952 | |
Lightvalve | 65:c2812cf26c38 | 953 | double temp_vel_pos = 0.0f; |
Lightvalve | 65:c2812cf26c38 | 954 | double temp_vel_torq = 0.0f; |
Lightvalve | 65:c2812cf26c38 | 955 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 65:c2812cf26c38 | 956 | |
Lightvalve | 67:3995ffeaa786 | 957 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 65:c2812cf26c38 | 958 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s |
Lightvalve | 65:c2812cf26c38 | 959 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:3995ffeaa786 | 960 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 65:c2812cf26c38 | 961 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 65:c2812cf26c38 | 962 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 65:c2812cf26c38 | 963 | } |
Lightvalve | 65:c2812cf26c38 | 964 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 65:c2812cf26c38 | 965 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 65:c2812cf26c38 | 966 | |
Lightvalve | 65:c2812cf26c38 | 967 | I_REF = I_REF_POS; |
Lightvalve | 65:c2812cf26c38 | 968 | |
Lightvalve | 65:c2812cf26c38 | 969 | |
Lightvalve | 65:c2812cf26c38 | 970 | |
Lightvalve | 65:c2812cf26c38 | 971 | } else { |
Lightvalve | 65:c2812cf26c38 | 972 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 65:c2812cf26c38 | 973 | VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 65:c2812cf26c38 | 974 | |
Lightvalve | 65:c2812cf26c38 | 975 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 65:c2812cf26c38 | 976 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 65:c2812cf26c38 | 977 | } else { |
Lightvalve | 65:c2812cf26c38 | 978 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 65:c2812cf26c38 | 979 | } |
Lightvalve | 65:c2812cf26c38 | 980 | |
Lightvalve | 65:c2812cf26c38 | 981 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 65:c2812cf26c38 | 982 | |
Lightvalve | 65:c2812cf26c38 | 983 | V_out = (float) Vout.ref; |
Lightvalve | 65:c2812cf26c38 | 984 | |
Lightvalve | 65:c2812cf26c38 | 985 | } |
Lightvalve | 65:c2812cf26c38 | 986 | |
Lightvalve | 65:c2812cf26c38 | 987 | |
Lightvalve | 65:c2812cf26c38 | 988 | |
Lightvalve | 65:c2812cf26c38 | 989 | |
Lightvalve | 57:f308b1656d9c | 990 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 57:f308b1656d9c | 991 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 57:f308b1656d9c | 992 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 57:f308b1656d9c | 993 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 57:f308b1656d9c | 994 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 995 | |
Lightvalve | 29:69f3f5445d6d | 996 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 997 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 998 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 999 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1000 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1001 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1002 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1003 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1004 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 55:f4819de54e7a | 1005 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1006 | } |
Lightvalve | 13:747daba9cf59 | 1007 | } |
Lightvalve | 19:23b7c1ad8683 | 1008 | |
Lightvalve | 13:747daba9cf59 | 1009 | break; |
Lightvalve | 13:747daba9cf59 | 1010 | } |
Lightvalve | 14:8e7590227d22 | 1011 | |
Lightvalve | 49:3c630b5eba9f | 1012 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 49:3c630b5eba9f | 1013 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 49:3c630b5eba9f | 1014 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 49:3c630b5eba9f | 1015 | // else { |
Lightvalve | 49:3c630b5eba9f | 1016 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 49:3c630b5eba9f | 1017 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 49:3c630b5eba9f | 1018 | // } |
Lightvalve | 49:3c630b5eba9f | 1019 | // } |
Lightvalve | 49:3c630b5eba9f | 1020 | // if (need_enc_init) { |
Lightvalve | 49:3c630b5eba9f | 1021 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 49:3c630b5eba9f | 1022 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 49:3c630b5eba9f | 1023 | // pos_plus_end = pos.sen; |
Lightvalve | 49:3c630b5eba9f | 1024 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 49:3c630b5eba9f | 1025 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 49:3c630b5eba9f | 1026 | // pos_minus_end = pos.sen; |
Lightvalve | 49:3c630b5eba9f | 1027 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 49:3c630b5eba9f | 1028 | // need_enc_init = false; |
Lightvalve | 49:3c630b5eba9f | 1029 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 49:3c630b5eba9f | 1030 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 49:3c630b5eba9f | 1031 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 49:3c630b5eba9f | 1032 | // } |
Lightvalve | 49:3c630b5eba9f | 1033 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 49:3c630b5eba9f | 1034 | // } |
Lightvalve | 49:3c630b5eba9f | 1035 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 49:3c630b5eba9f | 1036 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 49:3c630b5eba9f | 1037 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 49:3c630b5eba9f | 1038 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 49:3c630b5eba9f | 1039 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 49:3c630b5eba9f | 1040 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 49:3c630b5eba9f | 1041 | // fl_temp_cnt++; |
Lightvalve | 49:3c630b5eba9f | 1042 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 49:3c630b5eba9f | 1043 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 |
Lightvalve | 49:3c630b5eba9f | 1044 | // // 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 | 49:3c630b5eba9f | 1045 | // fl_temp_cnt2++; |
Lightvalve | 49:3c630b5eba9f | 1046 | // } |
Lightvalve | 49:3c630b5eba9f | 1047 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 49:3c630b5eba9f | 1048 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 49:3c630b5eba9f | 1049 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 49:3c630b5eba9f | 1050 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 49:3c630b5eba9f | 1051 | // fl_temp_cnt++; |
Lightvalve | 49:3c630b5eba9f | 1052 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 49:3c630b5eba9f | 1053 | // 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 | 49:3c630b5eba9f | 1054 | // // 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 | 49:3c630b5eba9f | 1055 | // fl_temp_cnt2++; |
Lightvalve | 49:3c630b5eba9f | 1056 | // } |
Lightvalve | 49:3c630b5eba9f | 1057 | // } |
Lightvalve | 49:3c630b5eba9f | 1058 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 49:3c630b5eba9f | 1059 | // |
Lightvalve | 49:3c630b5eba9f | 1060 | // ROM_RESET_DATA(); |
Lightvalve | 49:3c630b5eba9f | 1061 | // |
Lightvalve | 49:3c630b5eba9f | 1062 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 49:3c630b5eba9f | 1063 | // cur_vel_sum = 0; |
Lightvalve | 49:3c630b5eba9f | 1064 | // fl_temp_cnt = 0; |
Lightvalve | 49:3c630b5eba9f | 1065 | // fl_temp_cnt2 = 0; |
Lightvalve | 49:3c630b5eba9f | 1066 | // flag_flowrate++; |
Lightvalve | 49:3c630b5eba9f | 1067 | // } |
Lightvalve | 49:3c630b5eba9f | 1068 | // if (flag_flowrate == 10) { |
Lightvalve | 49:3c630b5eba9f | 1069 | // V_out = 0; |
Lightvalve | 49:3c630b5eba9f | 1070 | // flag_flowrate = 0; |
Lightvalve | 49:3c630b5eba9f | 1071 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 49:3c630b5eba9f | 1072 | // valve_gain_repeat_cnt++; |
Lightvalve | 49:3c630b5eba9f | 1073 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 49:3c630b5eba9f | 1074 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 49:3c630b5eba9f | 1075 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 49:3c630b5eba9f | 1076 | // } |
Lightvalve | 49:3c630b5eba9f | 1077 | // |
Lightvalve | 49:3c630b5eba9f | 1078 | // } |
Lightvalve | 49:3c630b5eba9f | 1079 | // break; |
Lightvalve | 49:3c630b5eba9f | 1080 | // } |
Lightvalve | 49:3c630b5eba9f | 1081 | // |
Lightvalve | 49:3c630b5eba9f | 1082 | // } |
Lightvalve | 14:8e7590227d22 | 1083 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1084 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1085 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1086 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1087 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1088 | |
Lightvalve | 14:8e7590227d22 | 1089 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1090 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1091 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1092 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1093 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1094 | |
Lightvalve | 38:118df027d851 | 1095 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 56:2eade98630e2 | 1096 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 56:2eade98630e2 | 1097 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1098 | |
Lightvalve | 30:8d561f16383b | 1099 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1100 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1101 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1102 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1103 | |
Lightvalve | 30:8d561f16383b | 1104 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1105 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1106 | } |
Lightvalve | 13:747daba9cf59 | 1107 | } else { |
Lightvalve | 55:f4819de54e7a | 1108 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1109 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1110 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1111 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1112 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1113 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1114 | |
Lightvalve | 16:903b5a4433b4 | 1115 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1116 | |
Lightvalve | 30:8d561f16383b | 1117 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1118 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1119 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1120 | } |
Lightvalve | 14:8e7590227d22 | 1121 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1122 | break; |
Lightvalve | 13:747daba9cf59 | 1123 | } |
Lightvalve | 14:8e7590227d22 | 1124 | |
Lightvalve | 49:3c630b5eba9f | 1125 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 49:3c630b5eba9f | 1126 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 49:3c630b5eba9f | 1127 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 49:3c630b5eba9f | 1128 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 49:3c630b5eba9f | 1129 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 49:3c630b5eba9f | 1130 | // } |
Lightvalve | 49:3c630b5eba9f | 1131 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 49:3c630b5eba9f | 1132 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 49:3c630b5eba9f | 1133 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 49:3c630b5eba9f | 1134 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 49:3c630b5eba9f | 1135 | // } |
Lightvalve | 49:3c630b5eba9f | 1136 | // } else { |
Lightvalve | 49:3c630b5eba9f | 1137 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 49:3c630b5eba9f | 1138 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 49:3c630b5eba9f | 1139 | // V_out = 0; |
Lightvalve | 49:3c630b5eba9f | 1140 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 49:3c630b5eba9f | 1141 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 49:3c630b5eba9f | 1142 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 49:3c630b5eba9f | 1143 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 49:3c630b5eba9f | 1144 | // CUR_PRES_A_sum = 0; |
Lightvalve | 49:3c630b5eba9f | 1145 | // CUR_PRES_B_sum = 0; |
Lightvalve | 49:3c630b5eba9f | 1146 | // CUR_PRES_A_mean = 0; |
Lightvalve | 49:3c630b5eba9f | 1147 | // CUR_PRES_B_mean = 0; |
Lightvalve | 49:3c630b5eba9f | 1148 | // |
Lightvalve | 49:3c630b5eba9f | 1149 | // ROM_RESET_DATA(); |
Lightvalve | 49:3c630b5eba9f | 1150 | // |
Lightvalve | 49:3c630b5eba9f | 1151 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 49:3c630b5eba9f | 1152 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 49:3c630b5eba9f | 1153 | // } |
Lightvalve | 49:3c630b5eba9f | 1154 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 49:3c630b5eba9f | 1155 | // break; |
Lightvalve | 49:3c630b5eba9f | 1156 | // } |
Lightvalve | 19:23b7c1ad8683 | 1157 | |
Lightvalve | 49:3c630b5eba9f | 1158 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 49:3c630b5eba9f | 1159 | // 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 | 49:3c630b5eba9f | 1160 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 49:3c630b5eba9f | 1161 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 49:3c630b5eba9f | 1162 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 49:3c630b5eba9f | 1163 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 49:3c630b5eba9f | 1164 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 49:3c630b5eba9f | 1165 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 49:3c630b5eba9f | 1166 | // V_out = 0.0f; |
Lightvalve | 49:3c630b5eba9f | 1167 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 49:3c630b5eba9f | 1168 | // } |
Lightvalve | 49:3c630b5eba9f | 1169 | // break; |
Lightvalve | 49:3c630b5eba9f | 1170 | // } |
Lightvalve | 14:8e7590227d22 | 1171 | |
Lightvalve | 14:8e7590227d22 | 1172 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 57:f308b1656d9c | 1173 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1174 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1175 | |
Lightvalve | 14:8e7590227d22 | 1176 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 58:64181f1d3e60 | 1177 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1178 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 57:f308b1656d9c | 1179 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1180 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1181 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1182 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1183 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1184 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1185 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1186 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 57:f308b1656d9c | 1187 | Vout.ref = 0.0f; |
Lightvalve | 57:f308b1656d9c | 1188 | } else { |
Lightvalve | 13:747daba9cf59 | 1189 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1190 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1191 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1192 | } |
Lightvalve | 14:8e7590227d22 | 1193 | |
Lightvalve | 17:1865016ca2e7 | 1194 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1195 | int i; |
Lightvalve | 13:747daba9cf59 | 1196 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1197 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1198 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1199 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1200 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1201 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1202 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1203 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1204 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1205 | } |
Lightvalve | 13:747daba9cf59 | 1206 | } |
Lightvalve | 57:f308b1656d9c | 1207 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1208 | ID_index = 0; |
Lightvalve | 55:f4819de54e7a | 1209 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1210 | } |
Lightvalve | 14:8e7590227d22 | 1211 | |
Lightvalve | 14:8e7590227d22 | 1212 | |
Lightvalve | 13:747daba9cf59 | 1213 | break; |
Lightvalve | 13:747daba9cf59 | 1214 | } |
Lightvalve | 14:8e7590227d22 | 1215 | |
Lightvalve | 14:8e7590227d22 | 1216 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 57:f308b1656d9c | 1217 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1218 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1219 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1220 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1221 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1222 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1223 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1224 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1225 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1226 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1227 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1228 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1229 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1230 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1231 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 30:8d561f16383b | 1232 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1233 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1234 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1235 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1236 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1237 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1238 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1239 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1240 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1241 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1242 | |
Lightvalve | 30:8d561f16383b | 1243 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1244 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1245 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1246 | |
Lightvalve | 30:8d561f16383b | 1247 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1248 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1249 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 58:64181f1d3e60 | 1250 | |
Lightvalve | 30:8d561f16383b | 1251 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1252 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1253 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1254 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1255 | |
Lightvalve | 58:64181f1d3e60 | 1256 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1257 | DZ_case = 1; |
Lightvalve | 58:64181f1d3e60 | 1258 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1259 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1260 | } else { |
Lightvalve | 13:747daba9cf59 | 1261 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1262 | } |
Lightvalve | 59:bc8c8270f0ab | 1263 | |
Lightvalve | 58:64181f1d3e60 | 1264 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 49:3c630b5eba9f | 1265 | |
Lightvalve | 13:747daba9cf59 | 1266 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1267 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1268 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1269 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1270 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1271 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1272 | |
Lightvalve | 13:747daba9cf59 | 1273 | } |
Lightvalve | 19:23b7c1ad8683 | 1274 | } else { |
Lightvalve | 14:8e7590227d22 | 1275 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1276 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 58:64181f1d3e60 | 1277 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 58:64181f1d3e60 | 1278 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 58:64181f1d3e60 | 1279 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1280 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1281 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1282 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1283 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1284 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1285 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1286 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1287 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1288 | } |
Lightvalve | 14:8e7590227d22 | 1289 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 58:64181f1d3e60 | 1290 | |
Lightvalve | 30:8d561f16383b | 1291 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1292 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1293 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1294 | |
Lightvalve | 14:8e7590227d22 | 1295 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1296 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1297 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1298 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1299 | } else { |
Lightvalve | 13:747daba9cf59 | 1300 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1301 | } |
Lightvalve | 14:8e7590227d22 | 1302 | |
Lightvalve | 13:747daba9cf59 | 1303 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1304 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1305 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1306 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1307 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1308 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1309 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1310 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1311 | } |
Lightvalve | 13:747daba9cf59 | 1312 | } |
Lightvalve | 14:8e7590227d22 | 1313 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1314 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 58:64181f1d3e60 | 1315 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 58:64181f1d3e60 | 1316 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 58:64181f1d3e60 | 1317 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1318 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1319 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1320 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 58:64181f1d3e60 | 1321 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1322 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1323 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1324 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1325 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1326 | } |
Lightvalve | 14:8e7590227d22 | 1327 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:bc8c8270f0ab | 1328 | |
Lightvalve | 30:8d561f16383b | 1329 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1330 | Vout.ref = 0.0f; |
Lightvalve | 57:f308b1656d9c | 1331 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1332 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1333 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1334 | |
Lightvalve | 14:8e7590227d22 | 1335 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 58:64181f1d3e60 | 1336 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1337 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 58:64181f1d3e60 | 1338 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1339 | } else { |
Lightvalve | 58:64181f1d3e60 | 1340 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1341 | } |
Lightvalve | 14:8e7590227d22 | 1342 | |
Lightvalve | 13:747daba9cf59 | 1343 | VALVE_DZ_timer = 0; |
Lightvalve | 58:64181f1d3e60 | 1344 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1345 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1346 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 55:f4819de54e7a | 1347 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1348 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1349 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1350 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1351 | |
Lightvalve | 16:903b5a4433b4 | 1352 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1353 | |
Lightvalve | 58:64181f1d3e60 | 1354 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1355 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1356 | } |
Lightvalve | 13:747daba9cf59 | 1357 | } |
Lightvalve | 14:8e7590227d22 | 1358 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1359 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 58:64181f1d3e60 | 1360 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 58:64181f1d3e60 | 1361 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 58:64181f1d3e60 | 1362 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1363 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1364 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1365 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1366 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1367 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1368 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1369 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1370 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1371 | } |
Lightvalve | 14:8e7590227d22 | 1372 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:bc8c8270f0ab | 1373 | |
Lightvalve | 30:8d561f16383b | 1374 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1375 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1376 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1377 | |
Lightvalve | 14:8e7590227d22 | 1378 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1379 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1380 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1381 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1382 | } else { |
Lightvalve | 13:747daba9cf59 | 1383 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1384 | } |
Lightvalve | 13:747daba9cf59 | 1385 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1386 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1387 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1388 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1389 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1390 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1391 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1392 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1393 | } |
Lightvalve | 13:747daba9cf59 | 1394 | } |
Lightvalve | 14:8e7590227d22 | 1395 | } else { |
Lightvalve | 30:8d561f16383b | 1396 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 58:64181f1d3e60 | 1397 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 58:64181f1d3e60 | 1398 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 58:64181f1d3e60 | 1399 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1400 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1401 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1402 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1403 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1404 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1405 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1406 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1407 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1408 | } |
Lightvalve | 14:8e7590227d22 | 1409 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 58:64181f1d3e60 | 1410 | |
Lightvalve | 30:8d561f16383b | 1411 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1412 | Vout.ref = 0.0f; |
Lightvalve | 57:f308b1656d9c | 1413 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1414 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1415 | FINAL_POS = pos.sen; |
Lightvalve | 59:bc8c8270f0ab | 1416 | |
Lightvalve | 58:64181f1d3e60 | 1417 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1418 | DZ_DIRECTION = 1; |
Lightvalve | 58:64181f1d3e60 | 1419 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 58:64181f1d3e60 | 1420 | DZ_DIRECTION = -1; |
Lightvalve | 58:64181f1d3e60 | 1421 | } else { |
Lightvalve | 13:747daba9cf59 | 1422 | DZ_DIRECTION = 1; |
Lightvalve | 58:64181f1d3e60 | 1423 | } |
Lightvalve | 14:8e7590227d22 | 1424 | |
Lightvalve | 13:747daba9cf59 | 1425 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1426 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1427 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1428 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 55:f4819de54e7a | 1429 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1430 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1431 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1432 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 59:bc8c8270f0ab | 1433 | |
Lightvalve | 57:f308b1656d9c | 1434 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1435 | |
Lightvalve | 55:f4819de54e7a | 1436 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1437 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1438 | } |
Lightvalve | 13:747daba9cf59 | 1439 | } |
Lightvalve | 13:747daba9cf59 | 1440 | } |
Lightvalve | 14:8e7590227d22 | 1441 | } |
Lightvalve | 13:747daba9cf59 | 1442 | break; |
Lightvalve | 13:747daba9cf59 | 1443 | } |
Lightvalve | 14:8e7590227d22 | 1444 | |
Lightvalve | 14:8e7590227d22 | 1445 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 57:f308b1656d9c | 1446 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1447 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1448 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1449 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1450 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1451 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1452 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1453 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1454 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1455 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1456 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1457 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1458 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1459 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 57:f308b1656d9c | 1460 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1461 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1462 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1463 | VALVE_FR_timer = 0; |
Lightvalve | 55:f4819de54e7a | 1464 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1465 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1466 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1467 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1468 | } |
Lightvalve | 14:8e7590227d22 | 1469 | } else { |
Lightvalve | 30:8d561f16383b | 1470 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f308b1656d9c | 1471 | //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 57:f308b1656d9c | 1472 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 57:f308b1656d9c | 1473 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1474 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1475 | data_num = 0; |
Lightvalve | 55:f4819de54e7a | 1476 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1477 | |
Lightvalve | 14:8e7590227d22 | 1478 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1479 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1480 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 55:f4819de54e7a | 1481 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1482 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1483 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1484 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1485 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1486 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1487 | } |
Lightvalve | 30:8d561f16383b | 1488 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1489 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1490 | one_period_end = 1; |
Lightvalve | 57:f308b1656d9c | 1491 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1492 | } |
Lightvalve | 14:8e7590227d22 | 1493 | |
Lightvalve | 14:8e7590227d22 | 1494 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1495 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1496 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1497 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1498 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1499 | } |
Lightvalve | 13:747daba9cf59 | 1500 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1501 | |
Lightvalve | 13:747daba9cf59 | 1502 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1503 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1504 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1505 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1506 | } |
Lightvalve | 14:8e7590227d22 | 1507 | |
Lightvalve | 14:8e7590227d22 | 1508 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1509 | |
Lightvalve | 13:747daba9cf59 | 1510 | VALVE_POS_NUM = ID_index; |
Lightvalve | 57:f308b1656d9c | 1511 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1512 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1513 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1514 | VALVE_FR_timer = 0; |
Lightvalve | 55:f4819de54e7a | 1515 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 48:e7bcfc244d40 | 1516 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1517 | } |
Lightvalve | 13:747daba9cf59 | 1518 | } |
Lightvalve | 13:747daba9cf59 | 1519 | break; |
Lightvalve | 13:747daba9cf59 | 1520 | } |
Lightvalve | 56:2eade98630e2 | 1521 | |
Lightvalve | 55:f4819de54e7a | 1522 | case MODE_SYSTEM_ID: { |
Lightvalve | 55:f4819de54e7a | 1523 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 55:f4819de54e7a | 1524 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 55:f4819de54e7a | 1525 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 55:f4819de54e7a | 1526 | cnt_sysid++; |
Lightvalve | 55:f4819de54e7a | 1527 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 55:f4819de54e7a | 1528 | cnt_sysid = 0; |
Lightvalve | 55:f4819de54e7a | 1529 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 55:f4819de54e7a | 1530 | } |
Lightvalve | 55:f4819de54e7a | 1531 | break; |
Lightvalve | 55:f4819de54e7a | 1532 | } |
Lightvalve | 56:2eade98630e2 | 1533 | |
Lightvalve | 56:2eade98630e2 | 1534 | |
Lightvalve | 55:f4819de54e7a | 1535 | |
Lightvalve | 55:f4819de54e7a | 1536 | default: |
Lightvalve | 55:f4819de54e7a | 1537 | break; |
Lightvalve | 55:f4819de54e7a | 1538 | } |
Lightvalve | 55:f4819de54e7a | 1539 | |
Lightvalve | 55:f4819de54e7a | 1540 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 55:f4819de54e7a | 1541 | |
Lightvalve | 55:f4819de54e7a | 1542 | switch (CONTROL_MODE) { |
Lightvalve | 55:f4819de54e7a | 1543 | case MODE_NO_ACT: { |
Lightvalve | 55:f4819de54e7a | 1544 | V_out = 0.0f; |
Lightvalve | 55:f4819de54e7a | 1545 | break; |
Lightvalve | 55:f4819de54e7a | 1546 | } |
Lightvalve | 55:f4819de54e7a | 1547 | |
Lightvalve | 55:f4819de54e7a | 1548 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 65:c2812cf26c38 | 1549 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 55:f4819de54e7a | 1550 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 57:f308b1656d9c | 1551 | V_out = Vout.ref; |
Lightvalve | 65:c2812cf26c38 | 1552 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 65:c2812cf26c38 | 1553 | V_out = valve_pos.ref; |
Lightvalve | 65:c2812cf26c38 | 1554 | } else { |
Lightvalve | 65:c2812cf26c38 | 1555 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 55:f4819de54e7a | 1556 | } |
Lightvalve | 56:2eade98630e2 | 1557 | |
Lightvalve | 55:f4819de54e7a | 1558 | break; |
Lightvalve | 55:f4819de54e7a | 1559 | } |
Lightvalve | 55:f4819de54e7a | 1560 | |
Lightvalve | 55:f4819de54e7a | 1561 | case MODE_JOINT_CONTROL: { |
Lightvalve | 135:ccf70b9b1705 | 1562 | |
Lightvalve | 136:a843f32ced33 | 1563 | |
Lightvalve | 55:f4819de54e7a | 1564 | double torq_ref = 0.0f; |
Lightvalve | 55:f4819de54e7a | 1565 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 65:c2812cf26c38 | 1566 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 55:f4819de54e7a | 1567 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 65:c2812cf26c38 | 1568 | |
Lightvalve | 65:c2812cf26c38 | 1569 | //K & D Low Pass Filter |
Lightvalve | 65:c2812cf26c38 | 1570 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 65:c2812cf26c38 | 1571 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 65:c2812cf26c38 | 1572 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 65:c2812cf26c38 | 1573 | |
Lightvalve | 137:15621998925b | 1574 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 137:15621998925b | 1575 | torq_ref = torq.ref; |
Lightvalve | 55:f4819de54e7a | 1576 | |
Lightvalve | 55:f4819de54e7a | 1577 | // torque feedback |
Lightvalve | 65:c2812cf26c38 | 1578 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 55:f4819de54e7a | 1579 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 55:f4819de54e7a | 1580 | |
Lightvalve | 55:f4819de54e7a | 1581 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 56:2eade98630e2 | 1582 | |
Lightvalve | 55:f4819de54e7a | 1583 | double I_REF_POS = 0.0f; |
Lightvalve | 55:f4819de54e7a | 1584 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 55:f4819de54e7a | 1585 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 55:f4819de54e7a | 1586 | |
Lightvalve | 55:f4819de54e7a | 1587 | double temp_vel_pos = 0.0f; |
Lightvalve | 55:f4819de54e7a | 1588 | double temp_vel_torq = 0.0f; |
Lightvalve | 55:f4819de54e7a | 1589 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 56:2eade98630e2 | 1590 | |
Lightvalve | 67:3995ffeaa786 | 1591 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 55:f4819de54e7a | 1592 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 55:f4819de54e7a | 1593 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:3995ffeaa786 | 1594 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 55:f4819de54e7a | 1595 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 55:f4819de54e7a | 1596 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 55:f4819de54e7a | 1597 | } |
Lightvalve | 55:f4819de54e7a | 1598 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 55:f4819de54e7a | 1599 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 55:f4819de54e7a | 1600 | |
Lightvalve | 55:f4819de54e7a | 1601 | // velocity compensation for torque control |
Lightvalve | 67:3995ffeaa786 | 1602 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 55:f4819de54e7a | 1603 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 55:f4819de54e7a | 1604 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s |
Lightvalve | 55:f4819de54e7a | 1605 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 55:f4819de54e7a | 1606 | // L feedforward velocity |
Lightvalve | 67:3995ffeaa786 | 1607 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 55:f4819de54e7a | 1608 | I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive. |
Lightvalve | 55:f4819de54e7a | 1609 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 55:f4819de54e7a | 1610 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 55:f4819de54e7a | 1611 | // L feedforward velocity |
Lightvalve | 55:f4819de54e7a | 1612 | } |
Lightvalve | 55:f4819de54e7a | 1613 | if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 55:f4819de54e7a | 1614 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 55:f4819de54e7a | 1615 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 55:f4819de54e7a | 1616 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 55:f4819de54e7a | 1617 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 55:f4819de54e7a | 1618 | |
Lightvalve | 55:f4819de54e7a | 1619 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 65:c2812cf26c38 | 1620 | |
Lightvalve | 65:c2812cf26c38 | 1621 | // Anti-windup for FT |
Lightvalve | 65:c2812cf26c38 | 1622 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 65:c2812cf26c38 | 1623 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 65:c2812cf26c38 | 1624 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 65:c2812cf26c38 | 1625 | if (I_REF > I_MAX) { |
Lightvalve | 65:c2812cf26c38 | 1626 | double I_rem = I_REF - I_MAX; |
Lightvalve | 65:c2812cf26c38 | 1627 | I_rem = Ka*I_rem; |
Lightvalve | 65:c2812cf26c38 | 1628 | I_REF = I_MAX; |
Lightvalve | 65:c2812cf26c38 | 1629 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 65:c2812cf26c38 | 1630 | } else if (I_REF < -I_MAX) { |
Lightvalve | 65:c2812cf26c38 | 1631 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 65:c2812cf26c38 | 1632 | I_rem = Ka*I_rem; |
Lightvalve | 65:c2812cf26c38 | 1633 | I_REF = -I_MAX; |
Lightvalve | 65:c2812cf26c38 | 1634 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 65:c2812cf26c38 | 1635 | } |
Lightvalve | 65:c2812cf26c38 | 1636 | } |
Lightvalve | 55:f4819de54e7a | 1637 | |
Lightvalve | 55:f4819de54e7a | 1638 | } else { |
Lightvalve | 55:f4819de54e7a | 1639 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 70:3436ce769b1e | 1640 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 70:3436ce769b1e | 1641 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 70:3436ce769b1e | 1642 | |
Lightvalve | 55:f4819de54e7a | 1643 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f |
Lightvalve | 55:f4819de54e7a | 1644 | + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 55:f4819de54e7a | 1645 | |
Lightvalve | 70:3436ce769b1e | 1646 | VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; |
Lightvalve | 70:3436ce769b1e | 1647 | |
Lightvalve | 70:3436ce769b1e | 1648 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 70:3436ce769b1e | 1649 | |
Lightvalve | 70:3436ce769b1e | 1650 | |
Lightvalve | 70:3436ce769b1e | 1651 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 70:3436ce769b1e | 1652 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 55:f4819de54e7a | 1653 | } else { |
Lightvalve | 70:3436ce769b1e | 1654 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 55:f4819de54e7a | 1655 | } |
Lightvalve | 55:f4819de54e7a | 1656 | |
Lightvalve | 55:f4819de54e7a | 1657 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 137:15621998925b | 1658 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 55:f4819de54e7a | 1659 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 55:f4819de54e7a | 1660 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 55:f4819de54e7a | 1661 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 55:f4819de54e7a | 1662 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 55:f4819de54e7a | 1663 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 55:f4819de54e7a | 1664 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 55:f4819de54e7a | 1665 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 55:f4819de54e7a | 1666 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 55:f4819de54e7a | 1667 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 55:f4819de54e7a | 1668 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 55:f4819de54e7a | 1669 | } |
Lightvalve | 55:f4819de54e7a | 1670 | } |
Lightvalve | 59:bc8c8270f0ab | 1671 | |
Lightvalve | 55:f4819de54e7a | 1672 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:bc8c8270f0ab | 1673 | |
Lightvalve | 65:c2812cf26c38 | 1674 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 58:64181f1d3e60 | 1675 | V_out = (float) Vout.ref; |
Lightvalve | 55:f4819de54e7a | 1676 | |
Lightvalve | 55:f4819de54e7a | 1677 | } |
Lightvalve | 70:3436ce769b1e | 1678 | |
Lightvalve | 70:3436ce769b1e | 1679 | torq_ref_past = torq_ref; |
Lightvalve | 56:2eade98630e2 | 1680 | |
Lightvalve | 131:22ab22818e01 | 1681 | |
Lightvalve | 55:f4819de54e7a | 1682 | break; |
Lightvalve | 55:f4819de54e7a | 1683 | } |
Lightvalve | 56:2eade98630e2 | 1684 | |
Lightvalve | 55:f4819de54e7a | 1685 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 55:f4819de54e7a | 1686 | V_out = (float) Vout.ref; |
Lightvalve | 55:f4819de54e7a | 1687 | break; |
Lightvalve | 55:f4819de54e7a | 1688 | } |
Lightvalve | 136:a843f32ced33 | 1689 | |
Lightvalve | 136:a843f32ced33 | 1690 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 136:a843f32ced33 | 1691 | |
Lightvalve | 136:a843f32ced33 | 1692 | |
Lightvalve | 137:15621998925b | 1693 | float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 |
Lightvalve | 137:15621998925b | 1694 | float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 136:a843f32ced33 | 1695 | |
Lightvalve | 137:15621998925b | 1696 | // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 |
Lightvalve | 137:15621998925b | 1697 | // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 |
Lightvalve | 136:a843f32ced33 | 1698 | V = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 136:a843f32ced33 | 1699 | |
Lightvalve | 136:a843f32ced33 | 1700 | |
Lightvalve | 137:15621998925b | 1701 | float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 136:a843f32ced33 | 1702 | |
Lightvalve | 136:a843f32ced33 | 1703 | float g3_prime = 0.0f; |
Lightvalve | 136:a843f32ced33 | 1704 | if (torq.sen > Amm*(Ps-Pt)*0.000001f){ |
Lightvalve | 136:a843f32ced33 | 1705 | g3_prime = 1.0f; |
Lightvalve | 136:a843f32ced33 | 1706 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 136:a843f32ced33 | 1707 | g3_prime = -1.0f; |
Lightvalve | 136:a843f32ced33 | 1708 | } else { |
Lightvalve | 136:a843f32ced33 | 1709 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 136:a843f32ced33 | 1710 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 137:15621998925b | 1711 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 136:a843f32ced33 | 1712 | } else { |
Lightvalve | 136:a843f32ced33 | 1713 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 137:15621998925b | 1714 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 136:a843f32ced33 | 1715 | } |
Lightvalve | 136:a843f32ced33 | 1716 | } |
Lightvalve | 136:a843f32ced33 | 1717 | float tau = 0.01f; |
Lightvalve | 140:43026242815a | 1718 | float K_valve = 0.0004f; |
Lightvalve | 136:a843f32ced33 | 1719 | |
Lightvalve | 136:a843f32ced33 | 1720 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 136:a843f32ced33 | 1721 | if(value>=VALVE_CENTER) { |
Lightvalve | 136:a843f32ced33 | 1722 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 136:a843f32ced33 | 1723 | } else { |
Lightvalve | 136:a843f32ced33 | 1724 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 136:a843f32ced33 | 1725 | } |
Lightvalve | 136:a843f32ced33 | 1726 | float f4 = -x_v/tau; |
Lightvalve | 136:a843f32ced33 | 1727 | float g4 = K_valve/tau; |
Lightvalve | 136:a843f32ced33 | 1728 | |
Lightvalve | 137:15621998925b | 1729 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 136:a843f32ced33 | 1730 | |
Lightvalve | 136:a843f32ced33 | 1731 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 136:a843f32ced33 | 1732 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 136:a843f32ced33 | 1733 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 136:a843f32ced33 | 1734 | |
Lightvalve | 136:a843f32ced33 | 1735 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 136:a843f32ced33 | 1736 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 136:a843f32ced33 | 1737 | |
Lightvalve | 140:43026242815a | 1738 | float k3 = 20000.0f; //2000 |
Lightvalve | 140:43026242815a | 1739 | float k4 = 10.0f; |
Lightvalve | 140:43026242815a | 1740 | float rho3 = 3.2f; |
Lightvalve | 140:43026242815a | 1741 | float rho4 = 25000000.0f; |
Lightvalve | 137:15621998925b | 1742 | float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 136:a843f32ced33 | 1743 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 136:a843f32ced33 | 1744 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 137:15621998925b | 1745 | |
Lightvalve | 137:15621998925b | 1746 | if (x_4_des > 0) { |
Lightvalve | 137:15621998925b | 1747 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 137:15621998925b | 1748 | } else { |
Lightvalve | 137:15621998925b | 1749 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 137:15621998925b | 1750 | } |
Lightvalve | 137:15621998925b | 1751 | |
Lightvalve | 137:15621998925b | 1752 | |
Lightvalve | 136:a843f32ced33 | 1753 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 136:a843f32ced33 | 1754 | x_4_des_old = x_4_des; |
Lightvalve | 136:a843f32ced33 | 1755 | |
Lightvalve | 137:15621998925b | 1756 | V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; |
Lightvalve | 136:a843f32ced33 | 1757 | |
Lightvalve | 140:43026242815a | 1758 | float rho_gamma = 50000.0f;//5000 |
Lightvalve | 137:15621998925b | 1759 | float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); |
Lightvalve | 136:a843f32ced33 | 1760 | gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 136:a843f32ced33 | 1761 | break; |
Lightvalve | 136:a843f32ced33 | 1762 | } |
Lightvalve | 14:8e7590227d22 | 1763 | |
Lightvalve | 12:6f2531038ea4 | 1764 | default: |
Lightvalve | 12:6f2531038ea4 | 1765 | break; |
Lightvalve | 12:6f2531038ea4 | 1766 | } |
Lightvalve | 14:8e7590227d22 | 1767 | |
Lightvalve | 55:f4819de54e7a | 1768 | |
Lightvalve | 55:f4819de54e7a | 1769 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 56:2eade98630e2 | 1770 | |
Lightvalve | 55:f4819de54e7a | 1771 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 55:f4819de54e7a | 1772 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 55:f4819de54e7a | 1773 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 55:f4819de54e7a | 1774 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 65:c2812cf26c38 | 1775 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 55:f4819de54e7a | 1776 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 55:f4819de54e7a | 1777 | |
Lightvalve | 55:f4819de54e7a | 1778 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 65:c2812cf26c38 | 1779 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 55:f4819de54e7a | 1780 | |
Lightvalve | 55:f4819de54e7a | 1781 | |
Lightvalve | 55:f4819de54e7a | 1782 | // Moog Valve Current Control Gain |
Lightvalve | 65:c2812cf26c38 | 1783 | double R_model = 500.0f; // ohm |
Lightvalve | 55:f4819de54e7a | 1784 | double L_model = 1.2f; |
Lightvalve | 55:f4819de54e7a | 1785 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 55:f4819de54e7a | 1786 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 55:f4819de54e7a | 1787 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 55:f4819de54e7a | 1788 | |
Lightvalve | 55:f4819de54e7a | 1789 | // KNR Valve Current Control Gain |
Lightvalve | 55:f4819de54e7a | 1790 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 55:f4819de54e7a | 1791 | R_model = 163.0f; // ohm |
Lightvalve | 55:f4819de54e7a | 1792 | L_model = 1.0f; |
Lightvalve | 55:f4819de54e7a | 1793 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 55:f4819de54e7a | 1794 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 55:f4819de54e7a | 1795 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 55:f4819de54e7a | 1796 | } |
Lightvalve | 55:f4819de54e7a | 1797 | |
Lightvalve | 55:f4819de54e7a | 1798 | double FF_gain = 1.0f; |
Lightvalve | 55:f4819de54e7a | 1799 | |
Lightvalve | 65:c2812cf26c38 | 1800 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 55:f4819de54e7a | 1801 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 55:f4819de54e7a | 1802 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 55:f4819de54e7a | 1803 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 65:c2812cf26c38 | 1804 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV |
Lightvalve | 65:c2812cf26c38 | 1805 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 65:c2812cf26c38 | 1806 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 55:f4819de54e7a | 1807 | |
Lightvalve | 55:f4819de54e7a | 1808 | double Ka = 3.0f / KP_I; |
Lightvalve | 55:f4819de54e7a | 1809 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 55:f4819de54e7a | 1810 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 55:f4819de54e7a | 1811 | V_rem = Ka*V_rem; |
Lightvalve | 55:f4819de54e7a | 1812 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 65:c2812cf26c38 | 1813 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 55:f4819de54e7a | 1814 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 55:f4819de54e7a | 1815 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 55:f4819de54e7a | 1816 | V_rem = Ka*V_rem; |
Lightvalve | 55:f4819de54e7a | 1817 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 65:c2812cf26c38 | 1818 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 55:f4819de54e7a | 1819 | } |
Lightvalve | 55:f4819de54e7a | 1820 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 55:f4819de54e7a | 1821 | } else { |
Lightvalve | 55:f4819de54e7a | 1822 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 55:f4819de54e7a | 1823 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 55:f4819de54e7a | 1824 | } |
Lightvalve | 55:f4819de54e7a | 1825 | |
Lightvalve | 55:f4819de54e7a | 1826 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 55:f4819de54e7a | 1827 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 55:f4819de54e7a | 1828 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 55:f4819de54e7a | 1829 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 55:f4819de54e7a | 1830 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 55:f4819de54e7a | 1831 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 55:f4819de54e7a | 1832 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 55:f4819de54e7a | 1833 | |
Lightvalve | 55:f4819de54e7a | 1834 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 55:f4819de54e7a | 1835 | |
Lightvalve | 55:f4819de54e7a | 1836 | } else { |
Lightvalve | 55:f4819de54e7a | 1837 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 55:f4819de54e7a | 1838 | } |
Lightvalve | 55:f4819de54e7a | 1839 | |
Lightvalve | 55:f4819de54e7a | 1840 | // Output Voltage Linearization |
Lightvalve | 55:f4819de54e7a | 1841 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 65:c2812cf26c38 | 1842 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 55:f4819de54e7a | 1843 | |
Lightvalve | 55:f4819de54e7a | 1844 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 65:c2812cf26c38 | 1845 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 65:c2812cf26c38 | 1846 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 65:c2812cf26c38 | 1847 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 55:f4819de54e7a | 1848 | } |
Lightvalve | 87:a7b45368ea0f | 1849 | else { //////////////////////////sw valve |
Lightvalve | 87:a7b45368ea0f | 1850 | // Output Voltage Linearization |
Lightvalve | 133:79885a39c161 | 1851 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 133:79885a39c161 | 1852 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 87:a7b45368ea0f | 1853 | |
Lightvalve | 87:a7b45368ea0f | 1854 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 133:79885a39c161 | 1855 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 133:79885a39c161 | 1856 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 133:79885a39c161 | 1857 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 133:79885a39c161 | 1858 | |
Lightvalve | 133:79885a39c161 | 1859 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 133:79885a39c161 | 1860 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 133:79885a39c161 | 1861 | else V_out = 0.0f; |
Lightvalve | 87:a7b45368ea0f | 1862 | } |
Lightvalve | 65:c2812cf26c38 | 1863 | |
Lightvalve | 65:c2812cf26c38 | 1864 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 65:c2812cf26c38 | 1865 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 65:c2812cf26c38 | 1866 | // else V_out = V_out; |
Lightvalve | 65:c2812cf26c38 | 1867 | |
jobuuu | 7:e9086c72bb22 | 1868 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1869 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1870 | ********************************************************/ |
Lightvalve | 65:c2812cf26c38 | 1871 | if(DIR_VALVE<0){ |
Lightvalve | 65:c2812cf26c38 | 1872 | V_out = -V_out; |
Lightvalve | 65:c2812cf26c38 | 1873 | } |
Lightvalve | 65:c2812cf26c38 | 1874 | |
Lightvalve | 48:e7bcfc244d40 | 1875 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 48:e7bcfc244d40 | 1876 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 48:e7bcfc244d40 | 1877 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 48:e7bcfc244d40 | 1878 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1879 | } |
Lightvalve | 48:e7bcfc244d40 | 1880 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1881 | |
Lightvalve | 19:23b7c1ad8683 | 1882 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1883 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1884 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1885 | |
Lightvalve | 30:8d561f16383b | 1886 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1887 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1888 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1889 | } else { |
jobuuu | 2:a1c0a37df760 | 1890 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1891 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1892 | } |
Lightvalve | 13:747daba9cf59 | 1893 | |
jobuuu | 1:e04e563be5ce | 1894 | //pwm |
Lightvalve | 30:8d561f16383b | 1895 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1896 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 65:c2812cf26c38 | 1897 | |
Lightvalve | 59:bc8c8270f0ab | 1898 | |
Lightvalve | 55:f4819de54e7a | 1899 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1900 | |
Lightvalve | 52:647072f5307a | 1901 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 54:6f50d9d3bfee | 1902 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 55:f4819de54e7a | 1903 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 52:647072f5307a | 1904 | if (SENSING_MODE == 0) { |
Lightvalve | 65:c2812cf26c38 | 1905 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 52:647072f5307a | 1906 | } else if (SENSING_MODE == 1) { |
Lightvalve | 56:2eade98630e2 | 1907 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 52:647072f5307a | 1908 | } |
Lightvalve | 55:f4819de54e7a | 1909 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 52:647072f5307a | 1910 | if (SENSING_MODE == 0) { |
Lightvalve | 65:c2812cf26c38 | 1911 | CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); |
Lightvalve | 52:647072f5307a | 1912 | } else if (SENSING_MODE == 1) { |
Lightvalve | 65:c2812cf26c38 | 1913 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 52:647072f5307a | 1914 | } |
Lightvalve | 51:8ea76864368a | 1915 | } |
Lightvalve | 51:8ea76864368a | 1916 | } |
Lightvalve | 54:6f50d9d3bfee | 1917 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:647072f5307a | 1918 | //valve position |
Lightvalve | 52:647072f5307a | 1919 | double t_value = 0; |
Lightvalve | 95:d71c57e3515e | 1920 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 95:d71c57e3515e | 1921 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 95:d71c57e3515e | 1922 | } else { |
Lightvalve | 95:d71c57e3515e | 1923 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 95:d71c57e3515e | 1924 | } |
Lightvalve | 95:d71c57e3515e | 1925 | // if(OPERATING_MODE==5) { |
Lightvalve | 95:d71c57e3515e | 1926 | // if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 95:d71c57e3515e | 1927 | // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 95:d71c57e3515e | 1928 | // } else { |
Lightvalve | 95:d71c57e3515e | 1929 | // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 95:d71c57e3515e | 1930 | // } |
Lightvalve | 95:d71c57e3515e | 1931 | //t_value = (double) value; |
Lightvalve | 95:d71c57e3515e | 1932 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 95:d71c57e3515e | 1933 | // t_value = cur.sen * 1000.0f; |
Lightvalve | 87:a7b45368ea0f | 1934 | // } else { |
Lightvalve | 95:d71c57e3515e | 1935 | // t_value = V_out; |
Lightvalve | 87:a7b45368ea0f | 1936 | // } |
Lightvalve | 65:c2812cf26c38 | 1937 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 65:c2812cf26c38 | 1938 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 65:c2812cf26c38 | 1939 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 52:647072f5307a | 1940 | } |
Lightvalve | 56:2eade98630e2 | 1941 | |
Lightvalve | 56:2eade98630e2 | 1942 | |
Lightvalve | 129:d08121ac87ba | 1943 | if (flag_data_request[2] == LOW) { |
Lightvalve | 87:a7b45368ea0f | 1944 | //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 |
Lightvalve | 87:a7b45368ea0f | 1945 | double t_value = 0; |
Lightvalve | 87:a7b45368ea0f | 1946 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 129:d08121ac87ba | 1947 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 87:a7b45368ea0f | 1948 | } else { |
Lightvalve | 129:d08121ac87ba | 1949 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 87:a7b45368ea0f | 1950 | } |
Lightvalve | 137:15621998925b | 1951 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (torq.ref)); // 1400 |
Lightvalve | 53:b25725257569 | 1952 | } |
Lightvalve | 56:2eade98630e2 | 1953 | |
Lightvalve | 55:f4819de54e7a | 1954 | //If it doesn't rest, below can can not work. |
Lightvalve | 55:f4819de54e7a | 1955 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 55:f4819de54e7a | 1956 | ; |
Lightvalve | 55:f4819de54e7a | 1957 | } |
Lightvalve | 56:2eade98630e2 | 1958 | |
Lightvalve | 137:15621998925b | 1959 | if (flag_data_request[3] == LOW) { |
Lightvalve | 52:647072f5307a | 1960 | //PWM |
Lightvalve | 71:f80dc3970c99 | 1961 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 137:15621998925b | 1962 | CAN_TX_PWM((int16_t) gamma_hat); //1500 |
Lightvalve | 52:647072f5307a | 1963 | } |
Lightvalve | 55:f4819de54e7a | 1964 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 55:f4819de54e7a | 1965 | // ; |
Lightvalve | 55:f4819de54e7a | 1966 | // } |
Lightvalve | 54:6f50d9d3bfee | 1967 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 52:647072f5307a | 1968 | //valve position |
Lightvalve | 71:f80dc3970c99 | 1969 | CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600 |
Lightvalve | 52:647072f5307a | 1970 | } |
Lightvalve | 20:806196fda269 | 1971 | |
Lightvalve | 52:647072f5307a | 1972 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 51:8ea76864368a | 1973 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 51:8ea76864368a | 1974 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 51:8ea76864368a | 1975 | // } |
Lightvalve | 52:647072f5307a | 1976 | //if (flag_delay_test == 1){ |
Lightvalve | 56:2eade98630e2 | 1977 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 52:647072f5307a | 1978 | //} |
Lightvalve | 51:8ea76864368a | 1979 | |
Lightvalve | 52:647072f5307a | 1980 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 52:647072f5307a | 1981 | } |
Lightvalve | 52:647072f5307a | 1982 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 51:8ea76864368a | 1983 | |
Lightvalve | 20:806196fda269 | 1984 | } |
Lightvalve | 51:8ea76864368a | 1985 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 51:8ea76864368a | 1986 | |
Lightvalve | 56:2eade98630e2 | 1987 | } |