HydraulicControlBoard_Rainbow_v1_2_copy - 2011

Users » Lightvalve » Code » HydraulicControlBoard_Rainbow_v1_2_copy

Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy

2011

main.cpp@207:ea3ce5d72ae3, 2020-12-24 (annotated)

Committer:: Lightvalve
Date:: Thu Dec 24 14:45:19 2020 +0000
Revision:: 207:ea3ce5d72ae3
Parent:: 206:a81419fb58ea
Child:: 208:066030f7951f

201224-4

Who changed what in which revision?

User	Revision	Line number	New contents of line
Lightvalve	207:ea3ce5d72ae3	1	//201224_4
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	164:645207e160ca	11	#include "FlashWriter.h"
Lightvalve	165:42c938a40313	12	#include <string>
Lightvalve	165:42c938a40313	13	#include <iostream>
Lightvalve	174:d5377766d7ea	14	#include <cmath>
Lightvalve	59:bc8c8270f0ab	15
Lightvalve	59:bc8c8270f0ab	16	using namespace std;
Lightvalve	59:bc8c8270f0ab	17	Timer t;
GiJeongKim	0:51c43836c1d7	18
Lightvalve	31:66738bfecec5	19	///191008////
Lightvalve	31:66738bfecec5	20
jobuuu	7:e9086c72bb22	21	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	22	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	23	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	24	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	25	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	26	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	27	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	28	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	29
Lightvalve	24:ef6e1092e9e6	30
jobuuu	7:e9086c72bb22	31	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	32	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	33	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	34
jobuuu	7:e9086c72bb22	35	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	36	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	37	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	38	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	39
jobuuu	7:e9086c72bb22	40	// SPI ///////////////////////////////////////////
Lightvalve	165:42c938a40313	41	SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	165:42c938a40313	42	DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	43	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	44	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	45	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	46	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	47
jobuuu	7:e9086c72bb22	48	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	49	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	50
jobuuu	7:e9086c72bb22	51	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	52	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	53	CANMessage msg;
Lightvalve	11:82d8768d7351	54	void onMsgReceived()
Lightvalve	11:82d8768d7351	55	{
Lightvalve	11:82d8768d7351	56	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	57	}
jobuuu	2:a1c0a37df760	58
jobuuu	7:e9086c72bb22	59	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	60	State pos;
jobuuu	7:e9086c72bb22	61	State vel;
jobuuu	7:e9086c72bb22	62	State Vout;
jobuuu	7:e9086c72bb22	63	State torq;
Lightvalve	198:c70c5a9f17dd	64	State torq_dot;
jobuuu	7:e9086c72bb22	65	State pres_A;
jobuuu	7:e9086c72bb22	66	State pres_B;
jobuuu	7:e9086c72bb22	67	State cur;
Lightvalve	14:8e7590227d22	68	State valve_pos;
Lightvalve	14:8e7590227d22	69
Lightvalve	14:8e7590227d22	70	State INIT_Vout;
Lightvalve	14:8e7590227d22	71	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	72	State INIT_Pos;
Lightvalve	14:8e7590227d22	73	State INIT_torq;
jobuuu	5:a4319f79457b	74
Lightvalve	19:23b7c1ad8683	75	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	76	extern int CID_RX_REF_POSITION;
Lightvalve	48:e7bcfc244d40	77	extern int CID_RX_REF_VALVE_POS;
Lightvalve	44:35fa6884d0c6	78	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	79
Lightvalve	19:23b7c1ad8683	80	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	81	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	82	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	83	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	84	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	85	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	86
Lightvalve	59:bc8c8270f0ab	87
Lightvalve	59:bc8c8270f0ab	88
Lightvalve	59:bc8c8270f0ab	89
jobuuu	7:e9086c72bb22	90	// =============================================================================
jobuuu	7:e9086c72bb22	91	// =============================================================================
jobuuu	7:e9086c72bb22	92	// =============================================================================
jobuuu	7:e9086c72bb22	93
Lightvalve	12:6f2531038ea4	94	/*******************************************************************************
Lightvalve	12:6f2531038ea4	95	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	96	******************************************************************************/
Lightvalve	13:747daba9cf59	97	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	98	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	99	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	100	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	101	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	102	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	103	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	104	};
Lightvalve	12:6f2531038ea4	105
Lightvalve	12:6f2531038ea4	106	/*******************************************************************************
Lightvalve	12:6f2531038ea4	107	* CONTROL MODE
Lightvalve	12:6f2531038ea4	108	******************************************************************************/
Lightvalve	13:747daba9cf59	109	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	110	//control mode
Lightvalve	12:6f2531038ea4	111	MODE_NO_ACT = 0, //0
Lightvalve	46:fdcb8bd86fd6	112	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	46:fdcb8bd86fd6	113	MODE_JOINT_CONTROL, //2
Lightvalve	49:3c630b5eba9f	114
Lightvalve	46:fdcb8bd86fd6	115	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	136:a843f32ced33	116	MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve	166:bfc1fd2629d8	117	MODE_RL, //5
Lightvalve	13:747daba9cf59	118
Lightvalve	12:6f2531038ea4	119	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	120	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	121	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	122
Lightvalve	12:6f2531038ea4	123	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	124	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	125
Lightvalve	14:8e7590227d22	126	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	127	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	128	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	166:bfc1fd2629d8	129	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve	13:747daba9cf59	130
Lightvalve	12:6f2531038ea4	131	//utility
Lightvalve	12:6f2531038ea4	132	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	133	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	134	MODE_FIND_HOME, //22
Lightvalve	55:f4819de54e7a	135	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	136	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	137	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	138	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	139
Lightvalve	12:6f2531038ea4	140	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	141	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	142	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	55:f4819de54e7a	143	MODE_SYSTEM_ID, //33
Lightvalve	164:645207e160ca	144	MODE_FREQ_TEST, //34
Lightvalve	164:645207e160ca	145	MODE_SEND_BUFFER, //35
Lightvalve	164:645207e160ca	146	MODE_SEND_OVER, //36
Lightvalve	164:645207e160ca	147	MODE_STEP_TEST, //37
Lightvalve	12:6f2531038ea4	148	};
Lightvalve	12:6f2531038ea4	149
Lightvalve	63:a2d7c63419c2	150	void SystemClock_Config(void)
Lightvalve	63:a2d7c63419c2	151	{
Lightvalve	164:645207e160ca	152	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve	164:645207e160ca	153	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve	63:a2d7c63419c2	154
Lightvalve	164:645207e160ca	155	/** Configure the main internal regulator output voltage
Lightvalve	164:645207e160ca	156	*/
Lightvalve	164:645207e160ca	157	__HAL_RCC_PWR_CLK_ENABLE();
Lightvalve	164:645207e160ca	158	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve	164:645207e160ca	159	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	164:645207e160ca	160	*/
Lightvalve	164:645207e160ca	161	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve	164:645207e160ca	162	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve	164:645207e160ca	163	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve	164:645207e160ca	164	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve	164:645207e160ca	165	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve	164:645207e160ca	166	RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve	164:645207e160ca	167	RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve	164:645207e160ca	168	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve	164:645207e160ca	169	RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve	164:645207e160ca	170	RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve	164:645207e160ca	171	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve	164:645207e160ca	172	//Error_Handler();
Lightvalve	164:645207e160ca	173	}
Lightvalve	164:645207e160ca	174	/** Activate the Over-Drive mode
Lightvalve	164:645207e160ca	175	*/
Lightvalve	164:645207e160ca	176	if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve	164:645207e160ca	177	//Error_Handler();
Lightvalve	164:645207e160ca	178	}
Lightvalve	164:645207e160ca	179	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	164:645207e160ca	180	*/
Lightvalve	164:645207e160ca	181	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK\|RCC_CLOCKTYPE_SYSCLK
Lightvalve	164:645207e160ca	182	\|RCC_CLOCKTYPE_PCLK1\|RCC_CLOCKTYPE_PCLK2;
Lightvalve	164:645207e160ca	183	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve	164:645207e160ca	184	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve	164:645207e160ca	185	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve	164:645207e160ca	186	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve	63:a2d7c63419c2	187
Lightvalve	164:645207e160ca	188	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve	164:645207e160ca	189	//Error_Handler();
Lightvalve	164:645207e160ca	190	}
Lightvalve	63:a2d7c63419c2	191	}
Lightvalve	63:a2d7c63419c2	192
Lightvalve	97:7bbcb3c0fb06	193	float u_past[num_array_u_past] = {0.0f};
Lightvalve	66:328e1be06f5d	194	float x_past[num_array_x_past] = {0.0f};
Lightvalve	83:a3b46118b5cd	195	float x_future[num_array_x_future] = {0.0f};
Lightvalve	66:328e1be06f5d	196	float f_past[num_array_f_past] = {0.0f};
Lightvalve	66:328e1be06f5d	197	float f_future[num_array_f_future] = {0.0f};
Lightvalve	64:a8e6799dbce3	198
Lightvalve	71:f80dc3970c99	199	float input_NN[num_input] = { 0.0f };
Lightvalve	63:a2d7c63419c2	200
Lightvalve	164:645207e160ca	201	const float h1[num_input][16] = {
Lightvalve	207:ea3ce5d72ae3	202	{-1.3188419342041016f,1.1015946865081787f,0.1310378611087799f,0.425862580537796f,-1.3821747303009033f,1.1033618450164795f,-0.17743819952011108f,0.8947198987007141f,-0.8323164582252502f,-0.04114618897438049f,-0.003459111088886857f,-1.0934569835662842f,-0.2590428590774536f,-0.5558655261993408f,-0.2611466646194458f,0.024373603984713554f},
Lightvalve	207:ea3ce5d72ae3	203	{-1.044303297996521f,0.7612116932868958f,-0.3988758325576782f,0.1073291152715683f,-1.0053714513778687f,0.5248311758041382f,-0.4116867780685425f,0.35538050532341003f,-0.3489154279232025f,0.21759790182113647f,-0.11023671925067902f,-0.5993606448173523f,0.24837161600589752f,-0.7363064885139465f,-0.21292872726917267f,0.18341368436813354f},
Lightvalve	207:ea3ce5d72ae3	204	{-0.8023618459701538f,0.4315384030342102f,0.36955419182777405f,-0.2512732148170471f,-0.38124769926071167f,0.3337925374507904f,0.2916664779186249f,0.20207014679908752f,-0.26900148391723633f,0.22544367611408234f,-0.25711753964424133f,-0.31503909826278687f,0.0064854794181883335f,0.035251207649707794f,0.056768983602523804f,-0.18308201432228088f},
Lightvalve	207:ea3ce5d72ae3	205	{-0.394621878862381f,-0.1719120293855667f,0.40358296036720276f,0.42023688554763794f,0.06037278473377228f,-0.44249752163887024f,-0.11764177680015564f,0.10723409801721573f,0.0934249609708786f,0.3654900789260864f,0.11849074065685272f,0.4522974491119385f,-0.15813837945461273f,0.24657508730888367f,-0.3007376194000244f,0.027820143848657608f},
Lightvalve	207:ea3ce5d72ae3	206	{0.5724979639053345f,-0.48123183846473694f,-0.005224883556365967f,0.37380412220954895f,0.6026304364204407f,-0.6522341966629028f,0.13140985369682312f,-0.7390255928039551f,0.4500592052936554f,0.18186268210411072f,0.2947525978088379f,0.6649997234344482f,-0.0602697990834713f,0.8220046162605286f,-0.39249828457832336f,-0.4024631679058075f},
Lightvalve	207:ea3ce5d72ae3	207	{1.4929051399230957f,-1.7723467350006104f,0.22110894322395325f,0.41007909178733826f,1.5461177825927734f,-1.6431761980056763f,0.16770240664482117f,-1.7085875272750854f,1.1471062898635864f,0.1962171047925949f,-0.3956814706325531f,1.565327763557434f,-0.2601589560508728f,1.6338653564453125f,-0.4196912348270416f,-0.5275029540061951f},
Lightvalve	207:ea3ce5d72ae3	208	{0.16622689366340637f,0.094024159014225f,-0.2540779709815979f,-0.7612617015838623f,-0.49709346890449524f,0.39399170875549316f,0.06107431650161743f,-0.15140821039676666f,-0.42806950211524963f,-0.017373915761709213f,0.223312646150589f,-0.09082504361867905f,-0.1699696183204651f,0.21603620052337646f,-0.15860587358474731f,-0.30729222297668457f},
Lightvalve	207:ea3ce5d72ae3	209	{0.3740707039833069f,-0.5162192583084106f,-0.2703247666358948f,-0.21249370276927948f,-0.22460711002349854f,-0.2896941006183624f,-0.18203827738761902f,-0.4928327798843384f,0.1716698259115219f,0.05402236431837082f,0.04233044758439064f,-0.18938399851322174f,0.38246333599090576f,0.36619728803634644f,0.0436977744102478f,-0.11313924938440323f},
Lightvalve	207:ea3ce5d72ae3	210	{0.44147852063179016f,0.08511102199554443f,0.10406997799873352f,-0.6988250017166138f,-0.12479954212903976f,-0.014051994308829308f,-0.07359349727630615f,-0.5255224704742432f,0.26467326283454895f,0.30673301219940186f,-0.44213414192199707f,0.2275058627128601f,0.23771138489246368f,0.4562159776687622f,-0.31029027700424194f,-0.05488807335495949f},
Lightvalve	207:ea3ce5d72ae3	211	{0.06252124905586243f,-0.37980619072914124f,0.18748918175697327f,-0.43770161271095276f,0.0818045362830162f,0.20953527092933655f,-0.3036908507347107f,-0.10104111582040787f,0.7176201343536377f,-0.5149088501930237f,-0.18206652998924255f,-0.6509184241294861f,0.38291072845458984f,-0.058381062000989914f,0.35390153527259827f,-0.22490857541561127f},
Lightvalve	207:ea3ce5d72ae3	212	{0.44843414425849915f,0.07815257459878922f,0.3775894343852997f,-0.030792826786637306f,-0.1508180946111679f,0.06181186065077782f,-0.20654654502868652f,0.11699937283992767f,0.24502204358577728f,-0.0012500198790803552f,0.17670658230781555f,-0.5153126120567322f,-0.06283143907785416f,0.06424001604318619f,0.2710213363170624f,-0.5186665654182434f},
Lightvalve	207:ea3ce5d72ae3	213	{-0.32994866371154785f,-0.42429524660110474f,-0.40945154428482056f,-0.2757742404937744f,-0.014833655208349228f,-0.05719117075204849f,0.15575703978538513f,0.4994480609893799f,0.4656277000904083f,0.18031072616577148f,-0.5855719447135925f,-0.013890904374420643f,0.15162703394889832f,0.07344543188810349f,0.10656675696372986f,-0.24474458396434784f},
Lightvalve	207:ea3ce5d72ae3	214	{-0.024391446262598038f,-0.21064427495002747f,0.2015570104122162f,-0.10794585943222046f,0.19281460344791412f,0.11780568212270737f,-0.24415965378284454f,0.25574594736099243f,0.32768353819847107f,-0.22811290621757507f,-0.26534199714660645f,-0.3911608159542084f,0.0980864018201828f,0.11463749408721924f,-0.22613362967967987f,-0.5228750705718994f},
Lightvalve	207:ea3ce5d72ae3	215	{-0.17537148296833038f,-0.0768209844827652f,0.41918185353279114f,-0.33424243330955505f,-0.40935051441192627f,-0.2844356596469879f,-0.32497477531433105f,-0.1858813613653183f,0.2077520787715912f,-0.2599889934062958f,-0.3490596115589142f,-0.36629024147987366f,-0.3129832148551941f,0.010562135837972164f,0.04871204495429993f,-0.00758293317630887f},
Lightvalve	207:ea3ce5d72ae3	216	{0.10920947790145874f,0.02847476489841938f,0.20596781373023987f,-0.16273868083953857f,0.17861789464950562f,-0.1890067607164383f,0.042680561542510986f,0.39797306060791016f,0.4726075828075409f,0.05316445603966713f,-0.44276881217956543f,-0.6162247657775879f,0.10978464782238007f,-0.005044030491262674f,0.06784489750862122f,0.07384920120239258f},
Lightvalve	207:ea3ce5d72ae3	217	{-0.027906058356165886f,-0.4482294023036957f,-0.4106670916080475f,-0.3072645962238312f,-0.24792344868183136f,-0.1550082266330719f,-0.15809619426727295f,-0.023345662280917168f,0.36193379759788513f,-0.03558121994137764f,-0.6655545234680176f,-0.13668949902057648f,-0.27069708704948425f,0.16696994006633759f,-0.08373728394508362f,0.10844256728887558f},
Lightvalve	63:a2d7c63419c2	218	};
Lightvalve	63:a2d7c63419c2	219
Lightvalve	164:645207e160ca	220	const float h2[16][16] = {
Lightvalve	207:ea3ce5d72ae3	221	{-0.6137141585350037f,1.4743585586547852f,-0.06966331601142883f,0.44523122906684875f,-0.21907491981983185f,1.177562952041626f,0.17531350255012512f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.07571391761302948f,-0.2901824414730072f,0.12968102097511292f,-1.8563700914382935f,-0.35320353507995605f,2.347154378890991f},
Lightvalve	207:ea3ce5d72ae3	222	{0.11523692309856415f,-0.9528547525405884f,0.057057321071624756f,-0.5944203734397888f,-0.35503754019737244f,-1.0155067443847656f,-0.3579281270503998f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.5133021473884583f,-0.5619229078292847f,0.19565780460834503f,1.373045563697815f,-0.07346101105213165f,-0.2817831039428711f},
Lightvalve	206:a81419fb58ea	223	{-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve	207:ea3ce5d72ae3	224	{0.2854876220226288f,-0.2779490351676941f,-0.2894435524940491f,0.473821759223938f,0.08946844935417175f,0.3670594394207001f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.24802200496196747f,0.3810727596282959f,-0.404754102230072f,-0.24357056617736816f,0.18828310072422028f,0.10349465161561966f},
Lightvalve	207:ea3ce5d72ae3	225	{-0.6117962598800659f,-1.10486900806427f,-0.25313520431518555f,0.1484975814819336f,0.036378175020217896f,0.3806813657283783f,-0.29555338621139526f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.740439236164093f,-0.6068781018257141f,-0.04600336775183678f,-1.4622244834899902f,-0.44563576579093933f,2.0960819721221924f},
Lightvalve	207:ea3ce5d72ae3	226	{0.20252275466918945f,2.0455241203308105f,-0.3519742488861084f,-0.13307900726795197f,-0.3015052080154419f,-1.0664831399917603f,-0.45894497632980347f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.4327160120010376f,-0.17152506113052368f,-0.32991352677345276f,1.1493836641311646f,0.1872640699148178f,-0.09607189148664474f},
Lightvalve	206:a81419fb58ea	227	{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve	207:ea3ce5d72ae3	228	{-0.3769959509372711f,0.7894091010093689f,0.33083590865135193f,-1.434015154838562f,-0.14358049631118774f,-1.39875066280365f,-0.12520501017570496f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-0.42964687943458557f,-0.4603452980518341f,-0.3540525734424591f,1.1433944702148438f,0.5242350101470947f,0.2081318348646164f},
Lightvalve	207:ea3ce5d72ae3	229	{-0.6740375757217407f,0.947818398475647f,-0.11379697918891907f,-0.06858066469430923f,0.041274964809417725f,-0.545332133769989f,-0.1525300294160843f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.4976799190044403f,-0.5077089667320251f,-0.5060222148895264f,-0.5033490657806396f,-0.5192798376083374f,-0.37890273332595825f},
Lightvalve	207:ea3ce5d72ae3	230	{-0.17178326845169067f,0.5441228747367859f,-0.13502129912376404f,0.7287293076515198f,0.12987366318702698f,0.6195155382156372f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.4668400287628174f,0.3686023950576782f,0.3811538517475128f,-0.6144871711730957f,-0.21053126454353333f,0.05651098117232323f},
Lightvalve	207:ea3ce5d72ae3	231	{-1.580880880355835f,-0.10419536381959915f,0.0457797646522522f,-0.2574945092201233f,-0.03321319818496704f,-0.6347406506538391f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-1.071244239807129f,0.32463788986206055f,-0.3971530497074127f,0.34406694769859314f,-0.5322715640068054f,-0.2935540974140167f},
Lightvalve	207:ea3ce5d72ae3	232	{0.11559143662452698f,-1.3624541759490967f,0.3954955041408539f,0.10072405636310577f,0.0033026933670043945f,-0.022512730211019516f,-0.2536891996860504f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.002665468491613865f,-0.3433115482330322f,-0.07050289958715439f,-0.7653756141662598f,0.13200169801712036f,0.39050841331481934f},
Lightvalve	207:ea3ce5d72ae3	233	{-0.3031129240989685f,-0.18701240420341492f,-0.15798500180244446f,0.38361304998397827f,-0.37393757700920105f,0.3994772434234619f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.08566135168075562f,-0.2837170362472534f,0.41839322447776794f,-0.041237227618694305f,-0.14707240462303162f,0.13266873359680176f},
Lightvalve	207:ea3ce5d72ae3	234	{-0.11508955806493759f,-0.4854642450809479f,-0.2018718123435974f,0.3094158470630646f,0.07545611262321472f,0.021646978333592415f,-0.12517906725406647f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.37494906783103943f,-0.44791656732559204f,-0.3139974772930145f,-0.6191354990005493f,-0.7066778540611267f,-0.5619688034057617f},
Lightvalve	206:a81419fb58ea	235	{0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve	207:ea3ce5d72ae3	236	{-0.8834927678108215f,0.24794167280197144f,0.12081471085548401f,-0.17883329093456268f,0.29976895451545715f,-0.1233057752251625f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-0.13238534331321716f,-0.14616242051124573f,-0.19991017878055573f,0.08705843240022659f,0.25427308678627014f,0.03441285714507103f},
Lightvalve	63:a2d7c63419c2	237	};
Lightvalve	63:a2d7c63419c2	238
Lightvalve	164:645207e160ca	239	const float h3[16][16] = {
Lightvalve	207:ea3ce5d72ae3	240	{-0.36079341173171997f,0.4179607927799225f,-0.4788687825202942f,-0.943571150302887f,-0.6513329744338989f,0.45123860239982605f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,-0.34280824661254883f,0.8033843636512756f,0.22359506785869598f,-0.4850134551525116f},
Lightvalve	207:ea3ce5d72ae3	241	{0.047732532024383545f,-0.0005002500838600099f,0.2062004953622818f,-0.49202707409858704f,-0.7950537204742432f,0.5808789134025574f,-0.3198729455471039f,-0.021581318229436874f,0.030888425186276436f,-0.4661758840084076f,0.3326369524002075f,-0.40172186493873596f,-0.3751802444458008f,-0.22362682223320007f,-0.36363548040390015f,-0.1590748429298401f},
Lightvalve	206:a81419fb58ea	242	{0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve	207:ea3ce5d72ae3	243	{-0.30922991037368774f,0.005268699023872614f,0.17382051050662994f,-0.9704000353813171f,-0.3447703421115875f,0.17672207951545715f,0.20021501183509827f,0.07002416253089905f,-0.29103443026542664f,-0.39435261487960815f,0.13192829489707947f,0.41021624207496643f,-0.34153303503990173f,0.17057965695858002f,0.27040961384773254f,-0.5609870553016663f},
Lightvalve	206:a81419fb58ea	244	{-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve	207:ea3ce5d72ae3	245	{-0.37449589371681213f,0.04980236664414406f,-0.8650763630867004f,-0.5145219564437866f,-0.32554495334625244f,0.6611357927322388f,-0.18732719123363495f,0.22384825348854065f,-1.9989635944366455f,-0.31645265221595764f,-0.08919548988342285f,0.12389334291219711f,-0.7621546387672424f,0.4246171712875366f,0.5176900029182434f,-1.4521894454956055f},
Lightvalve	207:ea3ce5d72ae3	246	{0.4110594093799591f,0.2715781033039093f,-0.28422388434410095f,0.37246426939964294f,0.15203647315502167f,-0.09465086460113525f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21155259013175964f,0.09161094576120377f,0.3126353323459625f,-0.3391006588935852f},
Lightvalve	207:ea3ce5d72ae3	247	{-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	206:a81419fb58ea	248	{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve	206:a81419fb58ea	249	{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve	207:ea3ce5d72ae3	250	{0.15459725260734558f,0.3581882119178772f,0.048021938651800156f,0.001559896394610405f,-0.2978953719139099f,0.2191316783428192f,-0.08742031455039978f,0.05785742402076721f,-0.08406508713960648f,-0.34975606203079224f,0.1268840730190277f,-0.30447322130203247f,-0.10453349351882935f,-0.10472984611988068f,0.4355164170265198f,0.2022944986820221f},
Lightvalve	207:ea3ce5d72ae3	251	{-0.408692330121994f,-0.1563672423362732f,0.050031907856464386f,-0.0608118437230587f,-0.04799661040306091f,-0.17681097984313965f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.42210137844085693f,-0.23267120122909546f,-0.3349152207374573f,0.16666513681411743f},
Lightvalve	207:ea3ce5d72ae3	252	{-0.2991822361946106f,0.3794580399990082f,-0.07385820895433426f,-0.05301479622721672f,0.09207906574010849f,0.23433926701545715f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.021879205480217934f,-0.14001017808914185f,0.36124154925346375f,-0.1589106321334839f},
Lightvalve	207:ea3ce5d72ae3	253	{-0.2675279378890991f,-0.2702247202396393f,-0.027820924296975136f,0.1762058138847351f,1.2094794511795044f,-0.49327564239501953f,-0.32875844836235046f,-0.9438692331314087f,-1.6906083822250366f,-0.7808446288108826f,-0.46338480710983276f,-0.49088165163993835f,0.32546529173851013f,-1.8672279119491577f,0.34107983112335205f,1.1565977334976196f},
Lightvalve	207:ea3ce5d72ae3	254	{-0.015470266342163086f,-0.411062091588974f,0.24327310919761658f,0.33764204382896423f,-0.04734501242637634f,-0.23505239188671112f,0.05196094512939453f,-0.008358269929885864f,-0.414988249540329f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.14932915568351746f,0.10927555710077286f,0.07806598395109177f,-0.4222360849380493f},
Lightvalve	207:ea3ce5d72ae3	255	{0.1863725483417511f,-0.11428238451480865f,-0.8975226879119873f,-0.29820317029953003f,0.7560155987739563f,-2.0828094482421875f,0.04860696196556091f,0.14381852746009827f,-0.4302019774913788f,-0.03712918981909752f,-0.48258212208747864f,-0.003259873716160655f,0.0876874178647995f,0.22110247611999512f,-0.024374688044190407f,-0.4811014235019684f},
Lightvalve	64:a8e6799dbce3	256	};
Lightvalve	63:a2d7c63419c2	257
Lightvalve	207:ea3ce5d72ae3	258	const float hout[16] = { 0.45773375034332275f,0.4260376989841461f,-0.28214895725250244f,-0.45515841245651245f,-0.6544750332832336f,1.6178936958312988f,0.0030125975608825684f,-0.10850305110216141f,0.40490925312042236f,-0.0290994793176651f,0.16892266273498535f,-0.16082262992858887f,-0.12769775092601776f,0.8889163732528687f,0.47501274943351746f,-1.023742914199829f };
Lightvalve	207:ea3ce5d72ae3	259
Lightvalve	207:ea3ce5d72ae3	260	const float b1[16] = { 1.0162785053253174f,1.035319447517395f,-1.7145336866378784f,0.07014114409685135f,1.1736218929290771f,0.9144021272659302f,-0.058932315558195114f,1.0387669801712036f,-0.23452095687389374f,-1.037860631942749f,0.7774361371994019f,1.302432894706726f,-0.36770012974739075f,-0.9168588519096375f,-1.087764859199524f,0.9153636693954468f };
Lightvalve	207:ea3ce5d72ae3	261
Lightvalve	207:ea3ce5d72ae3	262	const float b2[16] = { -0.3601553738117218f,-0.395068883895874f,-1.4564176797866821f,-0.7482815980911255f,-0.6939148902893066f,-0.21344754099845886f,0.37928327918052673f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.11691909283399582f,0.5385819673538208f,-0.22755393385887146f,1.9857735633850098f,-0.00982106477022171f,0.9335681200027466f };
Lightvalve	207:ea3ce5d72ae3	263
Lightvalve	207:ea3ce5d72ae3	264	const float b3[16] = { -1.963319182395935f,-0.7248274683952332f,-0.27823957800865173f,-0.2004760503768921f,-0.028340673074126244f,0.3405115008354187f,-0.45353031158447266f,-0.7621715664863586f,-0.06493222713470459f,-0.030791999772191048f,-0.2325301319360733f,-0.16538390517234802f,-0.6433824300765991f,0.2660880982875824f,-1.2072917222976685f,-0.15581728518009186f };
Lightvalve	207:ea3ce5d72ae3	265
Lightvalve	207:ea3ce5d72ae3	266	const float bout[1] = { 0.07336390763521194f };
Lightvalve	63:a2d7c63419c2	267
Lightvalve	165:42c938a40313	268	/////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve	165:42c938a40313	269	float input_RL[num_input_RL] = { 0.0f };
Lightvalve	165:42c938a40313	270
Lightvalve	165:42c938a40313	271	//Critic Networks
Lightvalve	168:68c7914679ec	272	float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	273	float bc1[num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	274	float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	275	float bc2[num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	276	float hc3[num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	277	float bc3 = 0.0f;
Lightvalve	165:42c938a40313	278
Lightvalve	165:42c938a40313	279	//Critic Networks Temporary
Lightvalve	168:68c7914679ec	280	float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	281	float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	282	float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	283	float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	284	float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	285	float bc3_temp = 0.0f;
Lightvalve	165:42c938a40313	286
Lightvalve	165:42c938a40313	287	//Actor Networks
Lightvalve	168:68c7914679ec	288	float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	289	float ba1[num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	290	float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	291	float ba2[num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	292	float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve	168:68c7914679ec	293	float ba3[2] = {0.0f};
Lightvalve	165:42c938a40313	294
Lightvalve	165:42c938a40313	295	//Actor Networks Temporary
Lightvalve	168:68c7914679ec	296	float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	297	float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	298	float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	299	float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	300	float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve	168:68c7914679ec	301	float ba3_temp[2] = {0.0f};
Lightvalve	64:a8e6799dbce3	302
Lightvalve	85:471334725012	303	float VALVE_POS_RAW_NN = 0.0f;
Lightvalve	85:471334725012	304	float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve	59:bc8c8270f0ab	305
Lightvalve	174:d5377766d7ea	306	/////////////////////////////////////////////RL tuning
Lightvalve	174:d5377766d7ea	307	float Gradient_Limit = 0.5f;
Lightvalve	174:d5377766d7ea	308	float gradient_rate_actor = 0.001f;
Lightvalve	174:d5377766d7ea	309	float gradient_rate_critic = 0.001f;
Lightvalve	174:d5377766d7ea	310	//////////////////////////////////////////////////////////////////////////////
Lightvalve	165:42c938a40313	311
Lightvalve	165:42c938a40313	312	float Critic_Network_Temp(float *arr)
Lightvalve	165:42c938a40313	313	{
Lightvalve	168:68c7914679ec	314	float output1[num_hidden_unit1] = { 0.0f };
Lightvalve	168:68c7914679ec	315	float output2[num_hidden_unit2] = { 0.0f };
Lightvalve	165:42c938a40313	316	float output = 0.0f;
Lightvalve	168:68c7914679ec	317	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	165:42c938a40313	318	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	165:42c938a40313	319	output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve	165:42c938a40313	320	}
Lightvalve	168:68c7914679ec	321	//ReLU
Lightvalve	168:68c7914679ec	322	output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve	168:68c7914679ec	323	hx_c_sum[index2] = output1[index2];
Lightvalve	168:68c7914679ec	324	if (output1[index2] < 0) {
Lightvalve	168:68c7914679ec	325	output1[index2] = 0;
Lightvalve	168:68c7914679ec	326	}
Lightvalve	168:68c7914679ec	327	//tanh
Lightvalve	168:68c7914679ec	328	//output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve	168:68c7914679ec	329	}
Lightvalve	168:68c7914679ec	330	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	168:68c7914679ec	331	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	169:c828479f53f9	332	output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve	168:68c7914679ec	333	}
Lightvalve	168:68c7914679ec	334	//ReLU
Lightvalve	168:68c7914679ec	335	output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve	168:68c7914679ec	336	hxh_c_sum[index2] = output2[index2];
Lightvalve	168:68c7914679ec	337	if (output2[index2] < 0) {
Lightvalve	168:68c7914679ec	338	output2[index2] = 0;
Lightvalve	168:68c7914679ec	339	}
Lightvalve	168:68c7914679ec	340	//tanh
Lightvalve	168:68c7914679ec	341	//output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve	165:42c938a40313	342	}
Lightvalve	165:42c938a40313	343	for (int index2 = 0; index2 < 1; index2++) {
Lightvalve	168:68c7914679ec	344	for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve	168:68c7914679ec	345	output = output + hc3_temp[index1] * output2[index1];
Lightvalve	165:42c938a40313	346	}
Lightvalve	168:68c7914679ec	347	output = output + bc3_temp;
Lightvalve	168:68c7914679ec	348	hxhh_c_sum = output;
Lightvalve	165:42c938a40313	349	}
Lightvalve	165:42c938a40313	350	return output;
Lightvalve	165:42c938a40313	351	}
Lightvalve	165:42c938a40313	352
Lightvalve	165:42c938a40313	353
Lightvalve	165:42c938a40313	354	void Actor_Network(float *arr)
Lightvalve	165:42c938a40313	355	{
Lightvalve	168:68c7914679ec	356	float output1[num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	357	float output2[num_hidden_unit2] = {0.0f};
Lightvalve	165:42c938a40313	358	float output[2] = {0.0f};
Lightvalve	165:42c938a40313	359
Lightvalve	168:68c7914679ec	360	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	168:68c7914679ec	361	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	173:1074553d2f6f	362	output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve	168:68c7914679ec	363	}
Lightvalve	173:1074553d2f6f	364	output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve	168:68c7914679ec	365	hx_a_sum[index2] = output1[index2];
Lightvalve	168:68c7914679ec	366	if (output1[index2] < 0) {
Lightvalve	168:68c7914679ec	367	output1[index2] = 0;
Lightvalve	168:68c7914679ec	368	}
Lightvalve	168:68c7914679ec	369	}
Lightvalve	168:68c7914679ec	370	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	168:68c7914679ec	371	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	173:1074553d2f6f	372	output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve	168:68c7914679ec	373	}
Lightvalve	173:1074553d2f6f	374	output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve	168:68c7914679ec	375	hxh_a_sum[index2] = output2[index2];
Lightvalve	168:68c7914679ec	376	if (output2[index2] < 0) {
Lightvalve	168:68c7914679ec	377	output2[index2] = 0;
Lightvalve	168:68c7914679ec	378	}
Lightvalve	168:68c7914679ec	379	}
Lightvalve	168:68c7914679ec	380	for (int index2 = 0; index2 < 2; index2++) {
Lightvalve	168:68c7914679ec	381	for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve	173:1074553d2f6f	382	output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve	168:68c7914679ec	383	}
Lightvalve	173:1074553d2f6f	384	hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve	168:68c7914679ec	385	}
Lightvalve	173:1074553d2f6f	386
Lightvalve	173:1074553d2f6f	387	mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve	173:1074553d2f6f	388	deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve	168:68c7914679ec	389	//Softplus
Lightvalve	168:68c7914679ec	390	mean = log(1.0f+exp(mean_before_SP));
Lightvalve	168:68c7914679ec	391	deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve	174:d5377766d7ea	392	logging2 = mean;
Lightvalve	174:d5377766d7ea	393	logging4 = deviation;
Lightvalve	168:68c7914679ec	394	}
Lightvalve	168:68c7914679ec	395
Lightvalve	168:68c7914679ec	396
Lightvalve	168:68c7914679ec	397	void Actor_Network_Old(float *arr)
Lightvalve	168:68c7914679ec	398	{
Lightvalve	168:68c7914679ec	399	float output1[num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	400	float output2[num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	401	float output[2] = {0.0f};
Lightvalve	168:68c7914679ec	402
Lightvalve	168:68c7914679ec	403	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	165:42c938a40313	404	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	165:42c938a40313	405	output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve	165:42c938a40313	406	}
Lightvalve	165:42c938a40313	407	output1[index2] = output1[index2] + ba1[index2];
Lightvalve	165:42c938a40313	408	if (output1[index2] < 0) {
Lightvalve	165:42c938a40313	409	output1[index2] = 0;
Lightvalve	165:42c938a40313	410	}
Lightvalve	165:42c938a40313	411	}
Lightvalve	168:68c7914679ec	412	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	168:68c7914679ec	413	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	169:c828479f53f9	414	output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve	165:42c938a40313	415	}
Lightvalve	168:68c7914679ec	416	output2[index2] = output2[index2] + ba2[index2];
Lightvalve	168:68c7914679ec	417	if (output2[index2] < 0) {
Lightvalve	168:68c7914679ec	418	output2[index2] = 0;
Lightvalve	165:42c938a40313	419	}
Lightvalve	165:42c938a40313	420	}
Lightvalve	165:42c938a40313	421	for (int index2 = 0; index2 < 2; index2++) {
Lightvalve	168:68c7914679ec	422	for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve	168:68c7914679ec	423	output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve	165:42c938a40313	424	}
Lightvalve	165:42c938a40313	425	}
Lightvalve	168:68c7914679ec	426	mean_old = output[0] + ba3[0];
Lightvalve	168:68c7914679ec	427	deviation_old = output[1] + ba3[1];
Lightvalve	168:68c7914679ec	428	//Softplus
Lightvalve	168:68c7914679ec	429	mean_old = log(1.0f+exp(mean_old));
Lightvalve	168:68c7914679ec	430	deviation_old = log(1.0f+exp(deviation_old));
Lightvalve	165:42c938a40313	431	}
Lightvalve	165:42c938a40313	432
Lightvalve	165:42c938a40313	433	float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve	165:42c938a40313	434	{
Lightvalve	165:42c938a40313	435	float grad_mean = 0.0f;
Lightvalve	165:42c938a40313	436	grad_mean = (action-mean)exp(-(action-mean)(action-mean)/(2.0fdeviationdeviation))/(sqrt(2.0fPI)deviationdeviationdeviation);
Lightvalve	165:42c938a40313	437	return grad_mean;
Lightvalve	165:42c938a40313	438	}
Lightvalve	165:42c938a40313	439
Lightvalve	165:42c938a40313	440	float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve	165:42c938a40313	441	{
Lightvalve	165:42c938a40313	442	float grad_dev = 0.0f;
Lightvalve	165:42c938a40313	443	grad_dev = exp(-(action-mean)(action-mean)/(2.0fdeviationdeviation))(-1.0f/(sqrt(2.0fPI)deviationdeviation) + (action-mean)(action-mean)/(sqrt(2.0fPI)deviationdeviationdeviation*deviation));
Lightvalve	165:42c938a40313	444	return grad_dev;
Lightvalve	165:42c938a40313	445	}
Lightvalve	165:42c938a40313	446
Lightvalve	168:68c7914679ec	447	float ReLU(float x)
Lightvalve	168:68c7914679ec	448	{
Lightvalve	168:68c7914679ec	449	if (x >= 0) {
Lightvalve	168:68c7914679ec	450	return x;
Lightvalve	168:68c7914679ec	451	} else {
Lightvalve	168:68c7914679ec	452	return 0.0f;
Lightvalve	168:68c7914679ec	453	}
Lightvalve	168:68c7914679ec	454	}
Lightvalve	168:68c7914679ec	455
Lightvalve	165:42c938a40313	456	void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve	165:42c938a40313	457	{
Lightvalve	168:68c7914679ec	458	float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve	172:8e9cf31d63f4	459	float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	460	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	165:42c938a40313	461	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	168:68c7914679ec	462	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	463	float d_V_d_hc1 = 0.0f;
Lightvalve	168:68c7914679ec	464	for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve	168:68c7914679ec	465	if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve	168:68c7914679ec	466	if (hx_c_sum_array[n][index2] > 0) {
Lightvalve	172:8e9cf31d63f4	467	d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]hc2_temp[index2][k]hc3_temp[k];
Lightvalve	168:68c7914679ec	468	}
Lightvalve	168:68c7914679ec	469	}
Lightvalve	165:42c938a40313	470	}
Lightvalve	172:8e9cf31d63f4	471	G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f(return_G[n]-V[n])(-d_V_d_hc1);
Lightvalve	165:42c938a40313	472	}
Lightvalve	165:42c938a40313	473	G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve	174:d5377766d7ea	474	if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	475	else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	476	//hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve	168:68c7914679ec	477	}
Lightvalve	168:68c7914679ec	478	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	479	float d_V_d_bc1 = 0.0f;
Lightvalve	168:68c7914679ec	480	for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve	168:68c7914679ec	481	if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve	168:68c7914679ec	482	if (hx_c_sum_array[n][index2] > 0) {
Lightvalve	172:8e9cf31d63f4	483	d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve	168:68c7914679ec	484	}
Lightvalve	168:68c7914679ec	485	}
Lightvalve	168:68c7914679ec	486	}
Lightvalve	172:8e9cf31d63f4	487	G_bc1[index2] = G_bc1[index2] + 2.0f(return_G[n]-V[n])(-d_V_d_bc1);
Lightvalve	168:68c7914679ec	488	}
Lightvalve	168:68c7914679ec	489	G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve	174:d5377766d7ea	490	if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	491	else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	492	//bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve	168:68c7914679ec	493	}
Lightvalve	168:68c7914679ec	494
Lightvalve	170:2f7289dbd488	495
Lightvalve	168:68c7914679ec	496	float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	497	float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	498	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	168:68c7914679ec	499	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	168:68c7914679ec	500	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	501	float d_V_d_hc2 = 0.0f;
Lightvalve	168:68c7914679ec	502	if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve	168:68c7914679ec	503	if (hx_c_sum_array[n][index1] > 0) {
Lightvalve	172:8e9cf31d63f4	504	d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve	168:68c7914679ec	505	}
Lightvalve	168:68c7914679ec	506	}
Lightvalve	172:8e9cf31d63f4	507	G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f(return_G[n]-V[n])(-d_V_d_hc2);
Lightvalve	168:68c7914679ec	508	}
Lightvalve	168:68c7914679ec	509	G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve	174:d5377766d7ea	510	if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	511	else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	512	//hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve	168:68c7914679ec	513	}
Lightvalve	168:68c7914679ec	514	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	515	float d_V_d_bc2 = 0.0f;
Lightvalve	168:68c7914679ec	516	if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve	172:8e9cf31d63f4	517	d_V_d_bc2 = hc3_temp[index2];
Lightvalve	168:68c7914679ec	518	}
Lightvalve	172:8e9cf31d63f4	519	G_bc2[index2] = G_bc2[index2] + 2.0f(return_G[n]-V[n])(-d_V_d_bc2);
Lightvalve	168:68c7914679ec	520	}
Lightvalve	168:68c7914679ec	521	G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve	174:d5377766d7ea	522	if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	523	else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	524	//bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve	168:68c7914679ec	525	}
Lightvalve	168:68c7914679ec	526
Lightvalve	168:68c7914679ec	527	float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve	168:68c7914679ec	528	float G_bc3 = 0.0f;
Lightvalve	168:68c7914679ec	529	for (int index2 = 0; index2 < 1; index2++) {
Lightvalve	168:68c7914679ec	530	for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve	168:68c7914679ec	531	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	532	float d_V_d_hc3 = 0.0f;
Lightvalve	168:68c7914679ec	533	if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve	172:8e9cf31d63f4	534	d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve	168:68c7914679ec	535	}
Lightvalve	172:8e9cf31d63f4	536	G_hc3[index1] = G_hc3[index1] + 2.0f(return_G[n]-V[n])(-d_V_d_hc3);
Lightvalve	168:68c7914679ec	537	}
Lightvalve	168:68c7914679ec	538	G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve	174:d5377766d7ea	539	if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	540	else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	541	//hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve	168:68c7914679ec	542	}
Lightvalve	168:68c7914679ec	543	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	544	float d_V_d_bc3 = 0.0f;
Lightvalve	172:8e9cf31d63f4	545	d_V_d_bc3 = 1.0f;
Lightvalve	172:8e9cf31d63f4	546	G_bc3 = G_bc3 + 2.0f(return_G[n]-V[n])(-d_V_d_bc3);
Lightvalve	168:68c7914679ec	547	}
Lightvalve	168:68c7914679ec	548	G_bc3 = G_bc3 / batch_size;
Lightvalve	174:d5377766d7ea	549	if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve	174:d5377766d7ea	550	else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	551	//bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve	168:68c7914679ec	552	}
Lightvalve	168:68c7914679ec	553
Lightvalve	168:68c7914679ec	554	// Simultaneous Update
Lightvalve	168:68c7914679ec	555	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	168:68c7914679ec	556	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	174:d5377766d7ea	557	hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve	165:42c938a40313	558	}
Lightvalve	174:d5377766d7ea	559	bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve	165:42c938a40313	560	}
Lightvalve	168:68c7914679ec	561	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	168:68c7914679ec	562	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	174:d5377766d7ea	563	hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve	168:68c7914679ec	564	}
Lightvalve	174:d5377766d7ea	565	bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve	168:68c7914679ec	566	}
Lightvalve	165:42c938a40313	567	for (int index2 = 0; index2 < 1; index2++) {
Lightvalve	168:68c7914679ec	568	for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve	174:d5377766d7ea	569	hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve	165:42c938a40313	570	}
Lightvalve	174:d5377766d7ea	571	bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve	165:42c938a40313	572	}
Lightvalve	165:42c938a40313	573	}
Lightvalve	165:42c938a40313	574
Lightvalve	168:68c7914679ec	575	///////////////////////////Softplus//////////////////////////////////
Lightvalve	165:42c938a40313	576	void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve	165:42c938a40313	577	{
Lightvalve	174:d5377766d7ea	578
Lightvalve	168:68c7914679ec	579
Lightvalve	168:68c7914679ec	580	float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	581	float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve	168:68c7914679ec	582
Lightvalve	168:68c7914679ec	583	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	165:42c938a40313	584	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	168:68c7914679ec	585	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	586	float d_x_d_ha1 = 0.0f;
Lightvalve	172:8e9cf31d63f4	587	float d_y_d_ha1 = 0.0f;
Lightvalve	168:68c7914679ec	588	if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) \|\| (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve	165:42c938a40313	589	G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve	165:42c938a40313	590	} else {
Lightvalve	168:68c7914679ec	591	for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve	168:68c7914679ec	592	if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve	168:68c7914679ec	593	if (hx_a_sum_array[n][index2] > 0) {
Lightvalve	172:8e9cf31d63f4	594	d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]ha2_temp[index2][k]ha3_temp[k][0];
Lightvalve	172:8e9cf31d63f4	595	d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]ha2_temp[index2][k]ha3_temp[k][1];
Lightvalve	168:68c7914679ec	596	}
Lightvalve	166:bfc1fd2629d8	597	}
Lightvalve	165:42c938a40313	598	}
Lightvalve	165:42c938a40313	599	float d_mean_d_ha1 = 0.0f;
Lightvalve	165:42c938a40313	600	float d_dev_d_ha1 = 0.0f;
Lightvalve	172:8e9cf31d63f4	601	d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1;
Lightvalve	172:8e9cf31d63f4	602	d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1;
Lightvalve	168:68c7914679ec	603
Lightvalve	168:68c7914679ec	604	G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n](d_mean_d_ha1Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve	165:42c938a40313	605	}
Lightvalve	165:42c938a40313	606	}
Lightvalve	171:589ea3edcf3c	607	G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve	174:d5377766d7ea	608	if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	609	else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	610	//ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve	165:42c938a40313	611	}
Lightvalve	168:68c7914679ec	612
Lightvalve	168:68c7914679ec	613	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	614	float d_x_d_ba1 = 0.0f;
Lightvalve	172:8e9cf31d63f4	615	float d_y_d_ba1 = 0.0f;
Lightvalve	168:68c7914679ec	616	if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) \|\| (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve	165:42c938a40313	617	G_ba1[index2] = G_ba1[index2];
Lightvalve	165:42c938a40313	618	} else {
Lightvalve	168:68c7914679ec	619	for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve	168:68c7914679ec	620	if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve	168:68c7914679ec	621	if (hx_a_sum_array[n][index2] > 0) {
Lightvalve	172:8e9cf31d63f4	622	d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve	172:8e9cf31d63f4	623	d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve	168:68c7914679ec	624	}
Lightvalve	166:bfc1fd2629d8	625	}
Lightvalve	165:42c938a40313	626	}
Lightvalve	165:42c938a40313	627	float d_mean_d_ba1 = 0.0f;
Lightvalve	165:42c938a40313	628	float d_dev_d_ba1 = 0.0f;
Lightvalve	172:8e9cf31d63f4	629	d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1;
Lightvalve	172:8e9cf31d63f4	630	d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1;
Lightvalve	168:68c7914679ec	631
Lightvalve	168:68c7914679ec	632	G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n](d_mean_d_ba1Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve	165:42c938a40313	633	}
Lightvalve	165:42c938a40313	634	}
Lightvalve	171:589ea3edcf3c	635	G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve	174:d5377766d7ea	636	if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	637	else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	638	//ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve	165:42c938a40313	639	}
Lightvalve	165:42c938a40313	640
Lightvalve	168:68c7914679ec	641	float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	642	float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve	168:68c7914679ec	643
Lightvalve	168:68c7914679ec	644	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	168:68c7914679ec	645	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	168:68c7914679ec	646	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	647	float d_x_d_ha2 = 0.0f;
Lightvalve	172:8e9cf31d63f4	648	float d_y_d_ha2 = 0.0f;
Lightvalve	168:68c7914679ec	649	if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) \|\| (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve	165:42c938a40313	650	G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve	165:42c938a40313	651	} else {
Lightvalve	168:68c7914679ec	652	if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve	168:68c7914679ec	653	if (hx_a_sum_array[n][index1] > 0) {
Lightvalve	172:8e9cf31d63f4	654	d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve	172:8e9cf31d63f4	655	d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve	166:bfc1fd2629d8	656	}
Lightvalve	165:42c938a40313	657	}
Lightvalve	168:68c7914679ec	658
Lightvalve	165:42c938a40313	659	float d_mean_d_ha2 = 0.0f;
Lightvalve	165:42c938a40313	660	float d_dev_d_ha2 = 0.0f;
Lightvalve	172:8e9cf31d63f4	661	d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2;
Lightvalve	172:8e9cf31d63f4	662	d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2;
Lightvalve	168:68c7914679ec	663
Lightvalve	168:68c7914679ec	664	G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n](d_mean_d_ha2Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve	165:42c938a40313	665	}
Lightvalve	165:42c938a40313	666	}
Lightvalve	171:589ea3edcf3c	667	G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve	174:d5377766d7ea	668	if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	669	else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	670	//ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve	165:42c938a40313	671	}
Lightvalve	168:68c7914679ec	672
Lightvalve	168:68c7914679ec	673	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	674	float d_x_d_ba2 = 0.0f;
Lightvalve	172:8e9cf31d63f4	675	float d_y_d_ba2 = 0.0f;
Lightvalve	168:68c7914679ec	676	if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) \|\| (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve	165:42c938a40313	677	G_ba2[index2] = G_ba2[index2];
Lightvalve	165:42c938a40313	678	} else {
Lightvalve	165:42c938a40313	679
Lightvalve	168:68c7914679ec	680	if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve	172:8e9cf31d63f4	681	d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve	172:8e9cf31d63f4	682	d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve	168:68c7914679ec	683	}
Lightvalve	168:68c7914679ec	684	float d_mean_d_ba2= 0.0f;
Lightvalve	168:68c7914679ec	685	float d_dev_d_ba2= 0.0f;
Lightvalve	172:8e9cf31d63f4	686	d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2;
Lightvalve	172:8e9cf31d63f4	687	d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2;
Lightvalve	168:68c7914679ec	688
Lightvalve	168:68c7914679ec	689	G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n](d_mean_d_ba2Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve	165:42c938a40313	690	}
Lightvalve	165:42c938a40313	691	}
Lightvalve	171:589ea3edcf3c	692	G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve	174:d5377766d7ea	693	if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	694	else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	695	//ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve	165:42c938a40313	696	}
Lightvalve	168:68c7914679ec	697
Lightvalve	168:68c7914679ec	698	float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve	168:68c7914679ec	699	float G_ba3[2] = {0.0f};
Lightvalve	168:68c7914679ec	700
Lightvalve	168:68c7914679ec	701	for (int index2 = 0; index2 < 2; index2++) {
Lightvalve	168:68c7914679ec	702	for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve	168:68c7914679ec	703	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	704	float d_x_d_ha3 = 0.0f;
Lightvalve	172:8e9cf31d63f4	705	float d_y_d_ha3 = 0.0f;
Lightvalve	168:68c7914679ec	706	if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) \|\| (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve	168:68c7914679ec	707	G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve	168:68c7914679ec	708	} else {
Lightvalve	168:68c7914679ec	709	if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve	168:68c7914679ec	710	if (hx_a_sum_array[n][index1] > 0) {
Lightvalve	172:8e9cf31d63f4	711	d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve	172:8e9cf31d63f4	712	d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve	168:68c7914679ec	713	}
Lightvalve	168:68c7914679ec	714	}
Lightvalve	168:68c7914679ec	715	float d_mean_d_ha3 = 0.0f;
Lightvalve	168:68c7914679ec	716	float d_dev_d_ha3 = 0.0f;
Lightvalve	172:8e9cf31d63f4	717	d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3;
Lightvalve	172:8e9cf31d63f4	718	d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3;
Lightvalve	168:68c7914679ec	719
Lightvalve	168:68c7914679ec	720	G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n](d_mean_d_ha3Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve	168:68c7914679ec	721	}
Lightvalve	168:68c7914679ec	722	}
Lightvalve	171:589ea3edcf3c	723	G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve	174:d5377766d7ea	724	if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	725	else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	726	//ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve	168:68c7914679ec	727	}
Lightvalve	168:68c7914679ec	728
Lightvalve	168:68c7914679ec	729	for (int n=0; n<batch_size; n++) {
Lightvalve	172:8e9cf31d63f4	730	float d_x_d_ba3 = 0.0f;
Lightvalve	172:8e9cf31d63f4	731	float d_y_d_ba3 = 0.0f;
Lightvalve	168:68c7914679ec	732	if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) \|\| (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve	168:68c7914679ec	733	G_ba3[index2] = G_ba3[index2];
Lightvalve	168:68c7914679ec	734	} else {
Lightvalve	168:68c7914679ec	735
Lightvalve	172:8e9cf31d63f4	736	d_x_d_ba3 = 1.0f;
Lightvalve	172:8e9cf31d63f4	737	d_y_d_ba3 = 1.0f;
Lightvalve	168:68c7914679ec	738
Lightvalve	168:68c7914679ec	739	float d_mean_d_ba3= 0.0f;
Lightvalve	168:68c7914679ec	740	float d_dev_d_ba3= 0.0f;
Lightvalve	172:8e9cf31d63f4	741	d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3;
Lightvalve	172:8e9cf31d63f4	742	d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3;
Lightvalve	168:68c7914679ec	743
Lightvalve	168:68c7914679ec	744	G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n](d_mean_d_ba3Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
Lightvalve	168:68c7914679ec	745	}
Lightvalve	168:68c7914679ec	746	}
Lightvalve	171:589ea3edcf3c	747	G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve	174:d5377766d7ea	748	if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve	174:d5377766d7ea	749	else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve	174:d5377766d7ea	750	//ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve	170:2f7289dbd488	751	}
Lightvalve	172:8e9cf31d63f4	752
Lightvalve	170:2f7289dbd488	753	// Simultaneous Update
Lightvalve	170:2f7289dbd488	754	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	170:2f7289dbd488	755	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	174:d5377766d7ea	756	ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve	170:2f7289dbd488	757	}
Lightvalve	174:d5377766d7ea	758	ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve	170:2f7289dbd488	759	}
Lightvalve	170:2f7289dbd488	760	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	170:2f7289dbd488	761	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	174:d5377766d7ea	762	ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve	170:2f7289dbd488	763	}
Lightvalve	174:d5377766d7ea	764	ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve	170:2f7289dbd488	765	}
Lightvalve	170:2f7289dbd488	766	for (int index2 = 0; index2 < 2; index2++) {
Lightvalve	170:2f7289dbd488	767	for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve	174:d5377766d7ea	768	ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve	170:2f7289dbd488	769	}
Lightvalve	174:d5377766d7ea	770	ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve	168:68c7914679ec	771	}
Lightvalve	165:42c938a40313	772	}
Lightvalve	165:42c938a40313	773
Lightvalve	165:42c938a40313	774	float rand_normal(double mean, double stddev)
Lightvalve	165:42c938a40313	775	{
Lightvalve	165:42c938a40313	776	//Box muller method
Lightvalve	165:42c938a40313	777	static double n2 = 0.0f;
Lightvalve	165:42c938a40313	778	static int n2_cached = 0;
Lightvalve	165:42c938a40313	779	if (!n2_cached) {
Lightvalve	165:42c938a40313	780	double x, y, r;
Lightvalve	165:42c938a40313	781	do {
Lightvalve	165:42c938a40313	782	x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve	165:42c938a40313	783	y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve	165:42c938a40313	784
Lightvalve	165:42c938a40313	785	r = xx + yy;
Lightvalve	165:42c938a40313	786	} while (r == 0.0f \|\| r > 1.0f);
Lightvalve	165:42c938a40313	787	{
Lightvalve	165:42c938a40313	788	double d = sqrt(-2.0f*log(r)/r);
Lightvalve	165:42c938a40313	789	double n1 = x*d;
Lightvalve	165:42c938a40313	790	n2 = y*d;
Lightvalve	165:42c938a40313	791	double result = n1*stddev + mean;
Lightvalve	165:42c938a40313	792	n2_cached = 1;
Lightvalve	165:42c938a40313	793	return result;
Lightvalve	165:42c938a40313	794	}
Lightvalve	165:42c938a40313	795	} else {
Lightvalve	165:42c938a40313	796	n2_cached = 0;
Lightvalve	165:42c938a40313	797	return n2*stddev + mean;
Lightvalve	165:42c938a40313	798	}
Lightvalve	165:42c938a40313	799	}
Lightvalve	165:42c938a40313	800
Lightvalve	174:d5377766d7ea	801	float mean_adv(float x[], int size)
Lightvalve	174:d5377766d7ea	802	{
Lightvalve	174:d5377766d7ea	803	float add = 0.0f;
Lightvalve	174:d5377766d7ea	804	float result;
Lightvalve	174:d5377766d7ea	805
Lightvalve	174:d5377766d7ea	806	for (int i=0; i<size; i++)
Lightvalve	174:d5377766d7ea	807	{
Lightvalve	174:d5377766d7ea	808	add += x[i];
Lightvalve	174:d5377766d7ea	809	}
Lightvalve	174:d5377766d7ea	810	result = (float) add/size;
Lightvalve	174:d5377766d7ea	811	return result;
Lightvalve	174:d5377766d7ea	812	}
Lightvalve	174:d5377766d7ea	813	float deviation_adv(float x[], int size)
Lightvalve	174:d5377766d7ea	814	{
Lightvalve	174:d5377766d7ea	815	float sigma = 0.0f;
Lightvalve	174:d5377766d7ea	816	float resultDeb = 0.0f;
Lightvalve	174:d5377766d7ea	817
Lightvalve	174:d5377766d7ea	818	for (int k=0; k<size; k++)
Lightvalve	174:d5377766d7ea	819	{
Lightvalve	174:d5377766d7ea	820	sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve	174:d5377766d7ea	821	resultDeb += sqrt(sigma);
Lightvalve	174:d5377766d7ea	822	}
Lightvalve	174:d5377766d7ea	823	return resultDeb;
Lightvalve	174:d5377766d7ea	824	}
Lightvalve	174:d5377766d7ea	825
Lightvalve	168:68c7914679ec	826
Lightvalve	165:42c938a40313	827	void Overwirte_Critic_Networks()
Lightvalve	165:42c938a40313	828	{
Lightvalve	168:68c7914679ec	829	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	165:42c938a40313	830	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	165:42c938a40313	831	hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve	165:42c938a40313	832	}
Lightvalve	165:42c938a40313	833	bc1[index2] = bc1_temp[index2];
Lightvalve	165:42c938a40313	834	}
Lightvalve	168:68c7914679ec	835	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	168:68c7914679ec	836	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	168:68c7914679ec	837	hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve	168:68c7914679ec	838	}
Lightvalve	168:68c7914679ec	839	bc2[index2] = bc2_temp[index2];
Lightvalve	168:68c7914679ec	840	hc3[index2] = hc3_temp[index2];
Lightvalve	168:68c7914679ec	841	}
Lightvalve	168:68c7914679ec	842	bc3 = bc3_temp;
Lightvalve	165:42c938a40313	843	}
Lightvalve	165:42c938a40313	844	void Overwirte_Actor_Networks()
Lightvalve	165:42c938a40313	845	{
Lightvalve	168:68c7914679ec	846	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	165:42c938a40313	847	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	165:42c938a40313	848	ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve	165:42c938a40313	849	}
Lightvalve	165:42c938a40313	850	ba1[index2] = ba1_temp[index2];
Lightvalve	165:42c938a40313	851	}
Lightvalve	168:68c7914679ec	852	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	168:68c7914679ec	853	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	165:42c938a40313	854	ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve	165:42c938a40313	855	}
Lightvalve	165:42c938a40313	856	ba2[index2] = ba2_temp[index2];
Lightvalve	165:42c938a40313	857	}
Lightvalve	168:68c7914679ec	858	for (int index2 = 0; index2 < 2; index2++) {
Lightvalve	168:68c7914679ec	859	for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve	168:68c7914679ec	860	ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve	168:68c7914679ec	861	}
Lightvalve	168:68c7914679ec	862	ba3[index2] = ba3_temp[index2];
Lightvalve	168:68c7914679ec	863	}
Lightvalve	165:42c938a40313	864	}
Lightvalve	165:42c938a40313	865
Lightvalve	165:42c938a40313	866
GiJeongKim	0:51c43836c1d7	867	int main()
GiJeongKim	0:51c43836c1d7	868	{
Lightvalve	64:a8e6799dbce3	869
Lightvalve	63:a2d7c63419c2	870	HAL_Init();
Lightvalve	63:a2d7c63419c2	871	SystemClock_Config();
Lightvalve	164:645207e160ca	872
jobuuu	6:df07d3491e3a	873	/*********************************
jobuuu	1:e04e563be5ce	874	*** Initialization
jobuuu	6:df07d3491e3a	875	*********************************/
Lightvalve	67:3995ffeaa786	876	LED = 0;
Lightvalve	59:bc8c8270f0ab	877	pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	878
GiJeongKim	0:51c43836c1d7	879	// i2c init
Lightvalve	8:5d2eebdad025	880	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	881	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	882	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	883	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	884	make_delay();
jobuuu	2:a1c0a37df760	885
GiJeongKim	0:51c43836c1d7	886	// // spi init
Lightvalve	165:42c938a40313	887	eeprom.format(8,3);
Lightvalve	165:42c938a40313	888	eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	889	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	890	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	891	make_delay();
Lightvalve	21:e5f1a43ea6f9	892
Lightvalve	16:903b5a4433b4	893	//rom
Lightvalve	19:23b7c1ad8683	894	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	895	make_delay();
Lightvalve	13:747daba9cf59	896
GiJeongKim	0:51c43836c1d7	897	// ADC init
jobuuu	5:a4319f79457b	898	Init_ADC();
Lightvalve	11:82d8768d7351	899	make_delay();
jobuuu	2:a1c0a37df760	900
GiJeongKim	0:51c43836c1d7	901	// Pwm init
GiJeongKim	0:51c43836c1d7	902	Init_PWM();
GiJeongKim	0:51c43836c1d7	903	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	904	make_delay();
Lightvalve	13:747daba9cf59	905
Lightvalve	11:82d8768d7351	906	// TMR3 init
Lightvalve	11:82d8768d7351	907	Init_TMR3();
Lightvalve	11:82d8768d7351	908	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	909	make_delay();
Lightvalve	21:e5f1a43ea6f9	910
Lightvalve	49:3c630b5eba9f	911	// TMR2 init
Lightvalve	54:6f50d9d3bfee	912	// Init_TMR2();
Lightvalve	54:6f50d9d3bfee	913	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	54:6f50d9d3bfee	914	// make_delay();
Lightvalve	21:e5f1a43ea6f9	915
GiJeongKim	0:51c43836c1d7	916	// CAN
jobuuu	2:a1c0a37df760	917	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	918	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	919	make_delay();
Lightvalve	34:bb2ca2fc2a8e	920
Lightvalve	23:59218d4a256d	921	//Timer priority
Lightvalve	23:59218d4a256d	922	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	55:f4819de54e7a	923	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	52:647072f5307a	924	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	925
Lightvalve	23:59218d4a256d	926	//can.reset();
Lightvalve	19:23b7c1ad8683	927	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	928
GiJeongKim	0:51c43836c1d7	929	// spi _ enc
GiJeongKim	0:51c43836c1d7	930	spi_enc_set_init();
Lightvalve	11:82d8768d7351	931	make_delay();
Lightvalve	13:747daba9cf59	932
Lightvalve	11:82d8768d7351	933	//DAC init
Lightvalve	56:2eade98630e2	934	if (SENSING_MODE == 0) {
Lightvalve	56:2eade98630e2	935	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	56:2eade98630e2	936	dac_2 = 0.0f;
Lightvalve	56:2eade98630e2	937	} else if (SENSING_MODE == 1) {
Lightvalve	56:2eade98630e2	938	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	56:2eade98630e2	939	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	56:2eade98630e2	940	}
Lightvalve	11:82d8768d7351	941	make_delay();
Lightvalve	13:747daba9cf59	942
Lightvalve	19:23b7c1ad8683	943	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	944	if(i%2==0)
Lightvalve	38:118df027d851	945	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	946	else
Lightvalve	38:118df027d851	947	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	948	}
Lightvalve	164:645207e160ca	949
Lightvalve	168:68c7914679ec	950	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	165:42c938a40313	951	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	174:d5377766d7ea	952	hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve	165:42c938a40313	953	}
Lightvalve	174:d5377766d7ea	954	bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve	168:68c7914679ec	955	}
Lightvalve	168:68c7914679ec	956	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	168:68c7914679ec	957	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	174:d5377766d7ea	958	hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve	168:68c7914679ec	959	}
Lightvalve	174:d5377766d7ea	960	bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve	174:d5377766d7ea	961	hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve	165:42c938a40313	962	}
Lightvalve	174:d5377766d7ea	963	bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve	168:68c7914679ec	964
Lightvalve	168:68c7914679ec	965	for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve	165:42c938a40313	966	for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve	174:d5377766d7ea	967	ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve	165:42c938a40313	968	}
Lightvalve	174:d5377766d7ea	969	ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve	168:68c7914679ec	970	}
Lightvalve	168:68c7914679ec	971	for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve	168:68c7914679ec	972	for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve	174:d5377766d7ea	973	ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve	168:68c7914679ec	974	}
Lightvalve	174:d5377766d7ea	975	ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve	165:42c938a40313	976	}
Lightvalve	165:42c938a40313	977	for (int index2 = 0; index2 < 2; index2++) {
Lightvalve	168:68c7914679ec	978	for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve	174:d5377766d7ea	979	ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve	165:42c938a40313	980	}
Lightvalve	174:d5377766d7ea	981	ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve	165:42c938a40313	982	}
Lightvalve	166:bfc1fd2629d8	983
Lightvalve	165:42c938a40313	984	Overwirte_Critic_Networks();
Lightvalve	165:42c938a40313	985	Overwirte_Actor_Networks();
Lightvalve	59:bc8c8270f0ab	986
jobuuu	6:df07d3491e3a	987	/************************************
jobuuu	1:e04e563be5ce	988	*** Program is operating!
jobuuu	6:df07d3491e3a	989	*************************************/
GiJeongKim	0:51c43836c1d7	990	while(1) {
Lightvalve	164:645207e160ca	991
Lightvalve	166:bfc1fd2629d8	992	// if(timer_while==27491) {
Lightvalve	166:bfc1fd2629d8	993	// timer_while = 0;
Lightvalve	166:bfc1fd2629d8	994	// pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5);
Lightvalve	166:bfc1fd2629d8	995	// //pc.printf("%f\n", virt_pos);
Lightvalve	166:bfc1fd2629d8	996	// //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve	166:bfc1fd2629d8	997	// //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve	166:bfc1fd2629d8	998	// }
Lightvalve	164:645207e160ca	999
Lightvalve	166:bfc1fd2629d8	1000
Lightvalve	166:bfc1fd2629d8	1001	//i2c
Lightvalve	175:02be1711ee0b	1002	read_field(i2c_slave_addr1);
Lightvalve	175:02be1711ee0b	1003	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	166:bfc1fd2629d8	1004
Lightvalve	172:8e9cf31d63f4	1005	//timer_while ++;
Lightvalve	164:645207e160ca	1006
Lightvalve	165:42c938a40313	1007	///////////////////////////////////////////////////////Neural Network
Lightvalve	164:645207e160ca	1008
Lightvalve	71:f80dc3970c99	1009	if(NN_Control_Flag == 0) {
Lightvalve	71:f80dc3970c99	1010	LED = 0;
Lightvalve	71:f80dc3970c99	1011	}
Lightvalve	164:645207e160ca	1012
Lightvalve	71:f80dc3970c99	1013	else if(NN_Control_Flag == 1) {
Lightvalve	164:645207e160ca	1014
Lightvalve	158:9dd4f35e9de8	1015	int ind = 0;
Lightvalve	158:9dd4f35e9de8	1016	for(int i=0; i<numpast_u; i++) {
Lightvalve	158:9dd4f35e9de8	1017	input_NN[ind] = u_past[time_interval*i];
Lightvalve	158:9dd4f35e9de8	1018	ind = ind + 1;
Lightvalve	158:9dd4f35e9de8	1019	}
Lightvalve	158:9dd4f35e9de8	1020
Lightvalve	158:9dd4f35e9de8	1021	for(int i=0; i<numpast_x; i++) {
Lightvalve	158:9dd4f35e9de8	1022	input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve	158:9dd4f35e9de8	1023	ind = ind + 1;
Lightvalve	158:9dd4f35e9de8	1024	}
Lightvalve	158:9dd4f35e9de8	1025	input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve	158:9dd4f35e9de8	1026	ind = ind + 1;
Lightvalve	164:645207e160ca	1027
Lightvalve	158:9dd4f35e9de8	1028	// for(int i=0; i<numfuture_x; i++) {
Lightvalve	158:9dd4f35e9de8	1029	// input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve	120:dcb3ce3056a0	1030	// ind = ind + 1;
Lightvalve	120:dcb3ce3056a0	1031	// }
Lightvalve	158:9dd4f35e9de8	1032
Lightvalve	158:9dd4f35e9de8	1033	for(int i=0; i<numpast_f; i++) {
Lightvalve	199:408f9f15c486	1034	// input_NN[ind] = f_past[time_intervali] / 10000.0f 8.0f + 0.5f;
Lightvalve	199:408f9f15c486	1035	input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve	158:9dd4f35e9de8	1036	ind = ind + 1;
Lightvalve	158:9dd4f35e9de8	1037	}
Lightvalve	199:408f9f15c486	1038	// input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve	206:a81419fb58ea	1039	// input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	206:a81419fb58ea	1040	// ind = ind + 1;
Lightvalve	158:9dd4f35e9de8	1041	for(int i=0; i<numfuture_f; i++) {
Lightvalve	199:408f9f15c486	1042	// input_NN[ind] = (f_future[time_intervali+time_interval] - torq.sen)/10000.0f 8.0f + 0.5f;
Lightvalve	207:ea3ce5d72ae3	1043	input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
Lightvalve	197:2e4d0c287578	1044	// input_NN[ind] = (f_future[time_intervali+time_interval])/10000.0f8.0f+0.5f;
Lightvalve	207:ea3ce5d72ae3	1045	// input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
Lightvalve	158:9dd4f35e9de8	1046	ind = ind + 1;
Lightvalve	158:9dd4f35e9de8	1047	}
Lightvalve	164:645207e160ca	1048
Lightvalve	110:8dcb1600cb90	1049	float output1[16] = { 0.0f };
Lightvalve	110:8dcb1600cb90	1050	float output2[16] = { 0.0f };
Lightvalve	110:8dcb1600cb90	1051	float output3[16] = { 0.0f };
Lightvalve	64:a8e6799dbce3	1052	float output = 0.0f;
Lightvalve	63:a2d7c63419c2	1053
Lightvalve	110:8dcb1600cb90	1054	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	66:328e1be06f5d	1055	for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve	64:a8e6799dbce3	1056	output1[index2] = output1[index2]
Lightvalve	71:f80dc3970c99	1057	+ h1[index1][index2] * input_NN[index1];
Lightvalve	64:a8e6799dbce3	1058	}
Lightvalve	64:a8e6799dbce3	1059	output1[index2] = output1[index2] + b1[index2];
Lightvalve	64:a8e6799dbce3	1060	if (output1[index2] < 0) {
Lightvalve	64:a8e6799dbce3	1061	output1[index2] = 0;
Lightvalve	64:a8e6799dbce3	1062	}
Lightvalve	64:a8e6799dbce3	1063	}
Lightvalve	63:a2d7c63419c2	1064
Lightvalve	110:8dcb1600cb90	1065	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	110:8dcb1600cb90	1066	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	64:a8e6799dbce3	1067	output2[index2] = output2[index2]
Lightvalve	64:a8e6799dbce3	1068	+ h2[index1][index2] * output1[index1];
Lightvalve	64:a8e6799dbce3	1069	}
Lightvalve	64:a8e6799dbce3	1070	output2[index2] = output2[index2] + b2[index2];
Lightvalve	64:a8e6799dbce3	1071	if (output2[index2] < 0) {
Lightvalve	64:a8e6799dbce3	1072	output2[index2] = 0;
Lightvalve	64:a8e6799dbce3	1073	}
Lightvalve	64:a8e6799dbce3	1074	}
Lightvalve	63:a2d7c63419c2	1075
Lightvalve	110:8dcb1600cb90	1076	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	110:8dcb1600cb90	1077	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	64:a8e6799dbce3	1078	output3[index2] = output3[index2]
Lightvalve	64:a8e6799dbce3	1079	+ h3[index1][index2] * output2[index1];
Lightvalve	64:a8e6799dbce3	1080	}
Lightvalve	64:a8e6799dbce3	1081	output3[index2] = output3[index2] + b3[index2];
Lightvalve	64:a8e6799dbce3	1082	if (output3[index2] < 0) {
Lightvalve	64:a8e6799dbce3	1083	output3[index2] = 0;
Lightvalve	64:a8e6799dbce3	1084	}
Lightvalve	63:a2d7c63419c2	1085	}
Lightvalve	64:a8e6799dbce3	1086
Lightvalve	64:a8e6799dbce3	1087	for (int index2 = 0; index2 < 1; index2++) {
Lightvalve	110:8dcb1600cb90	1088	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	71:f80dc3970c99	1089	output = output + hout[index1] * output3[index1];
Lightvalve	64:a8e6799dbce3	1090	}
Lightvalve	64:a8e6799dbce3	1091	output = output + bout[index2];
Lightvalve	164:645207e160ca	1092
Lightvalve	64:a8e6799dbce3	1093	}
Lightvalve	71:f80dc3970c99	1094	output = 1.0f/(1.0f+exp(-output));
Lightvalve	99:50159049a518	1095	output_normalized = output;
Lightvalve	66:328e1be06f5d	1096	output = output * 20000.0f - 10000.0f;
Lightvalve	164:645207e160ca	1097
Lightvalve	64:a8e6799dbce3	1098	if(output>=0) {
Lightvalve	64:a8e6799dbce3	1099	valve_pos.ref = output0.0001f((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	64:a8e6799dbce3	1100	} else {
Lightvalve	64:a8e6799dbce3	1101	valve_pos.ref = -output0.0001f((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	63:a2d7c63419c2	1102	}
Lightvalve	85:471334725012	1103
Lightvalve	164:645207e160ca	1104
Lightvalve	67:3995ffeaa786	1105	if(LED==1) {
Lightvalve	67:3995ffeaa786	1106	LED=0;
Lightvalve	67:3995ffeaa786	1107	} else
Lightvalve	67:3995ffeaa786	1108	LED = 1;
Lightvalve	164:645207e160ca	1109
Lightvalve	63:a2d7c63419c2	1110	}
Lightvalve	166:bfc1fd2629d8	1111
Lightvalve	166:bfc1fd2629d8	1112
Lightvalve	165:42c938a40313	1113	/////////////////////////////////////////////////////////////////////RL
Lightvalve	165:42c938a40313	1114	switch (Update_Case) {
Lightvalve	165:42c938a40313	1115	case 0: {
Lightvalve	165:42c938a40313	1116	break;
Lightvalve	165:42c938a40313	1117	}
Lightvalve	165:42c938a40313	1118	case 1: {
Lightvalve	165:42c938a40313	1119	//Network Update(just update and hold network)
Lightvalve	165:42c938a40313	1120	for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve	165:42c938a40313	1121	float loss_sum = 0.0f;
Lightvalve	170:2f7289dbd488	1122	for (int n=batch_size-1; n>=0; n--) {
Lightvalve	165:42c938a40313	1123	//Calculate Estimated V
Lightvalve	170:2f7289dbd488	1124	//float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve	170:2f7289dbd488	1125	float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve	170:2f7289dbd488	1126	V[n] = Critic_Network_Temp(temp_array);
Lightvalve	168:68c7914679ec	1127	for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve	170:2f7289dbd488	1128	hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve	168:68c7914679ec	1129	}
Lightvalve	168:68c7914679ec	1130	for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve	170:2f7289dbd488	1131	hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve	168:68c7914679ec	1132	}
Lightvalve	170:2f7289dbd488	1133	hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve	172:8e9cf31d63f4	1134
Lightvalve	170:2f7289dbd488	1135	pi[n] = exp(-(action_array[n]-mean_array[n])(action_array[n]-mean_array[n])/(2.0fdeviation_array[n]deviation_array[n]))/(sqrt(2.0fPI)*deviation_array[n]);
Lightvalve	165:42c938a40313	1136	Actor_Network_Old(temp_array);
Lightvalve	170:2f7289dbd488	1137	pi_old[n] = exp(-(action_array[n]-mean_old)(action_array[n]-mean_old)/(2.0fdeviation_olddeviation_old))/(sqrt(2.0fPI)*deviation_old);
Lightvalve	174:d5377766d7ea	1138	r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve	170:2f7289dbd488	1139	if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve	170:2f7289dbd488	1140	else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve	170:2f7289dbd488	1141	if(n == batch_size-1) td_target[n] = r[n];
Lightvalve	170:2f7289dbd488	1142	else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve	170:2f7289dbd488	1143	delta[n] = td_target[n] - V[n];
Lightvalve	170:2f7289dbd488	1144	if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve	170:2f7289dbd488	1145	else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve	174:d5377766d7ea	1146	// return_G[n] = advantage[n] + V[n];
Lightvalve	170:2f7289dbd488	1147	ratio[n] = pi[n]/pi_old[n];
Lightvalve	174:d5377766d7ea	1148	}
Lightvalve	174:d5377766d7ea	1149	float mean_advantage = 0.0f;
Lightvalve	174:d5377766d7ea	1150	float dev_advantage = 0.0f;
Lightvalve	174:d5377766d7ea	1151	mean_advantage = mean_adv(advantage, batch_size);
Lightvalve	174:d5377766d7ea	1152	dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve	174:d5377766d7ea	1153	for (int n=batch_size-1; n>=0; n--) {
Lightvalve	174:d5377766d7ea	1154	//advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve	170:2f7289dbd488	1155	surr1[n] = ratio[n] * advantage[n];
Lightvalve	170:2f7289dbd488	1156	if (ratio[n] > 1.0f + epsilon) {
Lightvalve	170:2f7289dbd488	1157	surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve	170:2f7289dbd488	1158	} else if( ratio[n] < 1.0f - epsilon) {
Lightvalve	170:2f7289dbd488	1159	surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve	165:42c938a40313	1160	} else {
Lightvalve	170:2f7289dbd488	1161	surr2[n] = ratio[n]*advantage[n];
Lightvalve	165:42c938a40313	1162	}
Lightvalve	170:2f7289dbd488	1163	loss[n] = -min(surr1[n], surr2[n]);
Lightvalve	170:2f7289dbd488	1164	loss_sum = loss_sum + loss[n];
Lightvalve	165:42c938a40313	1165	}
Lightvalve	165:42c938a40313	1166	reward_sum = 0.0f;
Lightvalve	165:42c938a40313	1167	for (int i=0; i<batch_size; i++) {
Lightvalve	165:42c938a40313	1168	reward_sum = reward_sum + r[i];
Lightvalve	165:42c938a40313	1169	}
Lightvalve	165:42c938a40313	1170	logging5 = reward_sum;
Lightvalve	166:bfc1fd2629d8	1171
Lightvalve	166:bfc1fd2629d8	1172
Lightvalve	165:42c938a40313	1173	//loss_batch = loss_sum / (float) batch_size;
Lightvalve	165:42c938a40313	1174	loss_batch = loss_sum;
Lightvalve	165:42c938a40313	1175	//Update Networks
Lightvalve	165:42c938a40313	1176	update_Critic_Networks(state_array);
Lightvalve	165:42c938a40313	1177	update_Actor_Networks(state_array);
Lightvalve	165:42c938a40313	1178	}
Lightvalve	165:42c938a40313	1179	Update_Done_Flag = 1;
Lightvalve	165:42c938a40313	1180	Update_Case = 0;
Lightvalve	165:42c938a40313	1181	//logging1 = V[0];
Lightvalve	166:bfc1fd2629d8	1182
Lightvalve	165:42c938a40313	1183	break;
Lightvalve	165:42c938a40313	1184	}
Lightvalve	165:42c938a40313	1185	case 2: {
Lightvalve	165:42c938a40313	1186	//Network apply to next Network
Lightvalve	165:42c938a40313	1187	Overwirte_Critic_Networks();
Lightvalve	165:42c938a40313	1188	Overwirte_Actor_Networks();
Lightvalve	165:42c938a40313	1189	virt_pos = 10.0f;
Lightvalve	165:42c938a40313	1190	Update_Done_Flag = 1;
Lightvalve	165:42c938a40313	1191	Update_Case = 0;
Lightvalve	165:42c938a40313	1192	break;
Lightvalve	165:42c938a40313	1193	}
Lightvalve	164:645207e160ca	1194
Lightvalve	165:42c938a40313	1195	}
GiJeongKim	0:51c43836c1d7	1196	}
jobuuu	1:e04e563be5ce	1197	}
jobuuu	1:e04e563be5ce	1198
Lightvalve	33:91b17819ec30	1199	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	1200	{
Lightvalve	14:8e7590227d22	1201
Lightvalve	13:747daba9cf59	1202	int i = 0;
Lightvalve	47:889798ff9329	1203	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	1204	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	1205	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	1206	if(i==0) {
Lightvalve	49:3c630b5eba9f	1207	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	55:f4819de54e7a	1208	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	1209	} else {
Lightvalve	55:f4819de54e7a	1210	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	1211	}
Lightvalve	14:8e7590227d22	1212	} else {
Lightvalve	49:3c630b5eba9f	1213	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	55:f4819de54e7a	1214	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	1215	} else {
Lightvalve	55:f4819de54e7a	1216	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	1217	}
Lightvalve	13:747daba9cf59	1218	}
Lightvalve	13:747daba9cf59	1219	break;
Lightvalve	13:747daba9cf59	1220	}
Lightvalve	13:747daba9cf59	1221	}
Lightvalve	14:8e7590227d22	1222	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	1223	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1224	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	1225	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1226	}
Lightvalve	36:a46e63505ed8	1227
Lightvalve	55:f4819de54e7a	1228	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	1229	return Ref_Valve_Pos_FF;
Lightvalve	49:3c630b5eba9f	1230
Lightvalve	13:747daba9cf59	1231	}
jobuuu	6:df07d3491e3a	1232
jobuuu	6:df07d3491e3a	1233
Lightvalve	30:8d561f16383b	1234	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	1235	{
Lightvalve	13:747daba9cf59	1236	int i = 0;
Lightvalve	13:747daba9cf59	1237
Lightvalve	38:118df027d851	1238	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	1239	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	1240	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	1241	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	1242	}
Lightvalve	38:118df027d851	1243
Lightvalve	87:a7b45368ea0f	1244	valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve	13:747daba9cf59	1245	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	1246	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	1247	valve_pos_err_sum += valve_pos_err;
Lightvalve	87:a7b45368ea0f	1248	if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve	87:a7b45368ea0f	1249	if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve	13:747daba9cf59	1250
Lightvalve	13:747daba9cf59	1251	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	1252
Lightvalve	18:b8adf1582ea3	1253	for(i=0; i<24; i++) {
Lightvalve	87:a7b45368ea0f	1254	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	1255	if(i==0) {
Lightvalve	47:889798ff9329	1256	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	1257	} else {
Lightvalve	47:889798ff9329	1258	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	1259	}
Lightvalve	13:747daba9cf59	1260	break;
Lightvalve	13:747daba9cf59	1261	}
Lightvalve	13:747daba9cf59	1262	}
Lightvalve	57:f308b1656d9c	1263	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	1264	}
Lightvalve	13:747daba9cf59	1265
Lightvalve	14:8e7590227d22	1266	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	1267	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	1268	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	1269	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	1270	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	1271	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	1272	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	1273	}; // duty
Lightvalve	65:c2812cf26c38	1274	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	1275	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	65:c2812cf26c38	1276	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	65:c2812cf26c38	1277	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	65:c2812cf26c38	1278	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	65:c2812cf26c38	1279	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	1280	}; // mV
Lightvalve	13:747daba9cf59	1281
Lightvalve	30:8d561f16383b	1282	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	1283	{
Lightvalve	30:8d561f16383b	1284	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	1285	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	1286	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	1287	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	1288	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	1289	} else {
Lightvalve	13:747daba9cf59	1290	int idx = 0;
Lightvalve	13:747daba9cf59	1291	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	1292	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	1293	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	1294	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	1295	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	1296	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	1297	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	1298	break;
Lightvalve	13:747daba9cf59	1299	}
Lightvalve	13:747daba9cf59	1300	}
Lightvalve	13:747daba9cf59	1301	}
Lightvalve	14:8e7590227d22	1302
Lightvalve	13:747daba9cf59	1303	return PWM_duty;
Lightvalve	13:747daba9cf59	1304	}
jobuuu	6:df07d3491e3a	1305
Lightvalve	55:f4819de54e7a	1306
Lightvalve	55:f4819de54e7a	1307
Lightvalve	55:f4819de54e7a	1308
Lightvalve	55:f4819de54e7a	1309
jobuuu	2:a1c0a37df760	1310	/*******************************************************************************
jobuuu	2:a1c0a37df760	1311	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	1312	*******************************************************************************/
jobuuu	2:a1c0a37df760	1313
Lightvalve	50:b46bed7fec80	1314	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	50:b46bed7fec80	1315	float DT_TMR4 = (float)DT_20k;
Lightvalve	55:f4819de54e7a	1316	long CNT_TMR4 = 0;
Lightvalve	55:f4819de54e7a	1317	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	1318	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	1319	{
Lightvalve	19:23b7c1ad8683	1320	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	1321
Lightvalve	21:e5f1a43ea6f9	1322	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	1323	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	1324	********************************************************/
Lightvalve	13:747daba9cf59	1325
Lightvalve	55:f4819de54e7a	1326	//Encoder
Lightvalve	55:f4819de54e7a	1327	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	55:f4819de54e7a	1328	ENC_UPDATE();
Lightvalve	55:f4819de54e7a	1329	}
Lightvalve	59:bc8c8270f0ab	1330
Lightvalve	59:bc8c8270f0ab	1331	ADC1->CR2 \|= 0x40000000;
Lightvalve	56:2eade98630e2	1332	if (SENSING_MODE == 0) {
Lightvalve	56:2eade98630e2	1333	// Torque Sensing (0~210)bar =============================================
Lightvalve	56:2eade98630e2	1334	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	56:2eade98630e2	1335	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	56:2eade98630e2	1336	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	65:c2812cf26c38	1337	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	65:c2812cf26c38	1338
Lightvalve	65:c2812cf26c38	1339
Lightvalve	65:c2812cf26c38	1340	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	65:c2812cf26c38	1341	//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	65:c2812cf26c38	1342	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	65:c2812cf26c38	1343	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	65:c2812cf26c38	1344	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve	65:c2812cf26c38	1345
Lightvalve	17:1865016ca2e7	1346
Lightvalve	56:2eade98630e2	1347	} else if (SENSING_MODE == 1) {
Lightvalve	56:2eade98630e2	1348	// Pressure Sensing (0~210)bar =============================================
Lightvalve	56:2eade98630e2	1349	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	56:2eade98630e2	1350	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	56:2eade98630e2	1351	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	56:2eade98630e2	1352	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	56:2eade98630e2	1353	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	56:2eade98630e2	1354	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	56:2eade98630e2	1355	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	49:3c630b5eba9f	1356
Lightvalve	56:2eade98630e2	1357	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	56:2eade98630e2	1358	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	1359	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	56:2eade98630e2	1360	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	1361	}
Lightvalve	56:2eade98630e2	1362	}
Lightvalve	59:bc8c8270f0ab	1363
Lightvalve	56:2eade98630e2	1364	// //Pressure sensor A
Lightvalve	56:2eade98630e2	1365	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	56:2eade98630e2	1366	// //while((ADC1->SR & 0b10));
Lightvalve	56:2eade98630e2	1367	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	56:2eade98630e2	1368	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	56:2eade98630e2	1369	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	56:2eade98630e2	1370	// 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	1371	//
Lightvalve	56:2eade98630e2	1372	//
Lightvalve	56:2eade98630e2	1373	// //Pressure sensor B
Lightvalve	56:2eade98630e2	1374	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	56:2eade98630e2	1375	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	56:2eade98630e2	1376	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	56:2eade98630e2	1377	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	1378
Lightvalve	17:1865016ca2e7	1379
Lightvalve	21:e5f1a43ea6f9	1380	//Current
Lightvalve	21:e5f1a43ea6f9	1381	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	1382	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	1383	//while((ADC3->SR & 0b10));
Lightvalve	50:b46bed7fec80	1384	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	1385	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	1386	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	1387	//cur.sen = raw_cur;
Lightvalve	56:2eade98630e2	1388
Lightvalve	55:f4819de54e7a	1389	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	1390	}
Lightvalve	11:82d8768d7351	1391	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	1392	}
Lightvalve	19:23b7c1ad8683	1393
Lightvalve	19:23b7c1ad8683	1394
Lightvalve	18:b8adf1582ea3	1395	int j =0;
Lightvalve	52:647072f5307a	1396	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	47:889798ff9329	1397	float DT_TMR3 = (float)DT_5k;
Lightvalve	44:35fa6884d0c6	1398	int cnt_trans = 0;
Lightvalve	47:889798ff9329	1399	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	55:f4819de54e7a	1400	int can_rest =0;
Lightvalve	47:889798ff9329	1401
Lightvalve	11:82d8768d7351	1402	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	1403	{
Lightvalve	19:23b7c1ad8683	1404	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	55:f4819de54e7a	1405
Lightvalve	55:f4819de54e7a	1406	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	55:f4819de54e7a	1407	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	55:f4819de54e7a	1408	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	55:f4819de54e7a	1409	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	55:f4819de54e7a	1410	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	55:f4819de54e7a	1411	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	55:f4819de54e7a	1412	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	55:f4819de54e7a	1413	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	55:f4819de54e7a	1414	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	55:f4819de54e7a	1415	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	55:f4819de54e7a	1416	}
Lightvalve	49:3c630b5eba9f	1417
Lightvalve	49:3c630b5eba9f	1418	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	47:889798ff9329	1419	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	44:35fa6884d0c6	1420	cnt_trans++;
Lightvalve	45:2694daea349b	1421	torq.err_sum = 0;
Lightvalve	47:889798ff9329	1422	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	44:35fa6884d0c6	1423	MODE_POS_FT_TRANS = 2;
Lightvalve	49:3c630b5eba9f	1424	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	47:889798ff9329	1425	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	44:35fa6884d0c6	1426	cnt_trans++;
Lightvalve	45:2694daea349b	1427	torq.err_sum = 0;
Lightvalve	47:889798ff9329	1428	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	44:35fa6884d0c6	1429	MODE_POS_FT_TRANS = 0;
Lightvalve	49:3c630b5eba9f	1430	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	56:2eade98630e2	1431	alpha_trans = 1.0f;
Lightvalve	44:35fa6884d0c6	1432	cnt_trans = 0;
Lightvalve	49:3c630b5eba9f	1433	} else {
Lightvalve	56:2eade98630e2	1434	alpha_trans = 0.0f;
Lightvalve	44:35fa6884d0c6	1435	cnt_trans = 0;
Lightvalve	44:35fa6884d0c6	1436	}
Lightvalve	44:35fa6884d0c6	1437
Lightvalve	49:3c630b5eba9f	1438
Lightvalve	55:f4819de54e7a	1439	int UTILITY_MODE = 0;
Lightvalve	55:f4819de54e7a	1440	int CONTROL_MODE = 0;
Lightvalve	56:2eade98630e2	1441
Lightvalve	55:f4819de54e7a	1442	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	55:f4819de54e7a	1443	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	55:f4819de54e7a	1444	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	55:f4819de54e7a	1445	} else {
Lightvalve	55:f4819de54e7a	1446	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	55:f4819de54e7a	1447	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	55:f4819de54e7a	1448	}
Lightvalve	54:6f50d9d3bfee	1449
Lightvalve	54:6f50d9d3bfee	1450
Lightvalve	54:6f50d9d3bfee	1451
Lightvalve	55:f4819de54e7a	1452	// UTILITY MODE ------------------------------------------------------------
Lightvalve	54:6f50d9d3bfee	1453
Lightvalve	55:f4819de54e7a	1454	switch (UTILITY_MODE) {
Lightvalve	55:f4819de54e7a	1455	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	1456	break;
Lightvalve	13:747daba9cf59	1457	}
Lightvalve	14:8e7590227d22	1458
Lightvalve	14:8e7590227d22	1459	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1460	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1461	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	1462	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	1463
Lightvalve	14:8e7590227d22	1464	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1465	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	1466	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	1467
Lightvalve	82:c355d3e52bf1	1468	TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	1469
Lightvalve	30:8d561f16383b	1470	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	57:f308b1656d9c	1471	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	49:3c630b5eba9f	1472
Lightvalve	16:903b5a4433b4	1473	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	1474	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1475	}
Lightvalve	13:747daba9cf59	1476	} else {
Lightvalve	56:2eade98630e2	1477	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1478	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	1479	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	1480	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	1481
Lightvalve	165:42c938a40313	1482	// ROM_RESET_DATA();
Lightvalve	165:42c938a40313	1483	spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve	19:23b7c1ad8683	1484
Lightvalve	30:8d561f16383b	1485	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	1486
Lightvalve	13:747daba9cf59	1487	}
Lightvalve	14:8e7590227d22	1488	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	1489	break;
Lightvalve	19:23b7c1ad8683	1490	}
Lightvalve	14:8e7590227d22	1491
Lightvalve	49:3c630b5eba9f	1492	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	49:3c630b5eba9f	1493	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	49:3c630b5eba9f	1494	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	49:3c630b5eba9f	1495	// else temp_time = 0;
Lightvalve	49:3c630b5eba9f	1496	// }
Lightvalve	49:3c630b5eba9f	1497	// if (need_enc_init) {
Lightvalve	49:3c630b5eba9f	1498	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	1499	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1500	// pos_plus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	1501	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1502	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1503	// pos_minus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	1504	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	49:3c630b5eba9f	1505	// temp_time = TMR_FREQ_5k;
Lightvalve	49:3c630b5eba9f	1506	// }
Lightvalve	49:3c630b5eba9f	1507	//
Lightvalve	49:3c630b5eba9f	1508	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	1509	// 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	1510	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	49:3c630b5eba9f	1511	//
Lightvalve	49:3c630b5eba9f	1512	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	49:3c630b5eba9f	1513	// V_out = 0;
Lightvalve	49:3c630b5eba9f	1514	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	49:3c630b5eba9f	1515	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	1516	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	49:3c630b5eba9f	1517	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	49:3c630b5eba9f	1518	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	49:3c630b5eba9f	1519	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	49:3c630b5eba9f	1520	// CUR_VELOCITY_sum = 0;
Lightvalve	49:3c630b5eba9f	1521	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	1522	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	49:3c630b5eba9f	1523	//
Lightvalve	49:3c630b5eba9f	1524	// // Position of Dead Zone
Lightvalve	49:3c630b5eba9f	1525	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	49:3c630b5eba9f	1526	// // \| / \| / \|/
Lightvalve	49:3c630b5eba9f	1527	// // \| ______/ ___\|___/ ______/\|
Lightvalve	49:3c630b5eba9f	1528	// // \|/ / \| / \|
Lightvalve	49:3c630b5eba9f	1529	// // /\| / \| / \|
Lightvalve	49:3c630b5eba9f	1530	// // 0V 0V 0V
Lightvalve	49:3c630b5eba9f	1531	//
Lightvalve	49:3c630b5eba9f	1532	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	49:3c630b5eba9f	1533	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	49:3c630b5eba9f	1534	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	49:3c630b5eba9f	1535	// } else {
Lightvalve	49:3c630b5eba9f	1536	// V_out -= DZ_dir;
Lightvalve	49:3c630b5eba9f	1537	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	49:3c630b5eba9f	1538	// CUR_VELOCITY_sum = 0;
Lightvalve	49:3c630b5eba9f	1539	// }
Lightvalve	49:3c630b5eba9f	1540	// if (DZ_temp_cnt == 5) {
Lightvalve	49:3c630b5eba9f	1541	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	49:3c630b5eba9f	1542	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	49:3c630b5eba9f	1543	// DZ_dir = -DZ_dir;
Lightvalve	49:3c630b5eba9f	1544	// DZ_temp_cnt = 0;
Lightvalve	49:3c630b5eba9f	1545	// DZ_temp_cnt2++;
Lightvalve	49:3c630b5eba9f	1546	// }
Lightvalve	49:3c630b5eba9f	1547	// } else {
Lightvalve	49:3c630b5eba9f	1548	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	49:3c630b5eba9f	1549	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	49:3c630b5eba9f	1550	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	49:3c630b5eba9f	1551	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	1552	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	1553	// }
Lightvalve	49:3c630b5eba9f	1554	// V_out = 0;
Lightvalve	49:3c630b5eba9f	1555	//
Lightvalve	49:3c630b5eba9f	1556	// ROM_RESET_DATA();
Lightvalve	49:3c630b5eba9f	1557	//
Lightvalve	49:3c630b5eba9f	1558	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	49:3c630b5eba9f	1559	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	49:3c630b5eba9f	1560	//
Lightvalve	49:3c630b5eba9f	1561	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	1562	// DZ_temp_cnt2 = 0;
Lightvalve	49:3c630b5eba9f	1563	// }
Lightvalve	49:3c630b5eba9f	1564	// }
Lightvalve	49:3c630b5eba9f	1565	// TMR3_COUNT_DEADZONE++;
Lightvalve	49:3c630b5eba9f	1566	// break;
Lightvalve	49:3c630b5eba9f	1567	// }
Lightvalve	14:8e7590227d22	1568
Lightvalve	14:8e7590227d22	1569	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	1570	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	1571	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	1572	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	1573	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	57:f308b1656d9c	1574	pos.ref = pos.sen;
Lightvalve	57:f308b1656d9c	1575	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	1576	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	1577	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	65:c2812cf26c38	1578	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	1579	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	1580	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	1581	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	1582	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	1583	}
Lightvalve	29:69f3f5445d6d	1584	cnt_findhome++;
Lightvalve	14:8e7590227d22	1585
Lightvalve	29:69f3f5445d6d	1586	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	1587	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	1588	} else {
Lightvalve	29:69f3f5445d6d	1589	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	1590	}
Lightvalve	19:23b7c1ad8683	1591
Lightvalve	55:f4819de54e7a	1592	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	1593	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	65:c2812cf26c38	1594	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	65:c2812cf26c38	1595	else pos.ref = pos.ref - 12.0f;
Lightvalve	59:bc8c8270f0ab	1596
Lightvalve	57:f308b1656d9c	1597	// pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	57:f308b1656d9c	1598	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	57:f308b1656d9c	1599	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	57:f308b1656d9c	1600	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	57:f308b1656d9c	1601	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:bc8c8270f0ab	1602
Lightvalve	57:f308b1656d9c	1603	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	57:f308b1656d9c	1604	alpha_trans = 0.0f;
Lightvalve	59:bc8c8270f0ab	1605
Lightvalve	34:bb2ca2fc2a8e	1606
Lightvalve	29:69f3f5445d6d	1607	} else {
Lightvalve	29:69f3f5445d6d	1608	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	65:c2812cf26c38	1609	// ENC_SET_ZERO();
Lightvalve	29:69f3f5445d6d	1610	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	1611	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	1612	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	1613	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	1614	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	1615	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	1616	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	1617	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	1618	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	65:c2812cf26c38	1619
Lightvalve	65:c2812cf26c38	1620
Lightvalve	65:c2812cf26c38	1621	cnt_findhome = 0;
Lightvalve	65:c2812cf26c38	1622	pos.ref = 0.0f;
Lightvalve	65:c2812cf26c38	1623	vel.ref = 0.0f;
Lightvalve	65:c2812cf26c38	1624	pos.ref_home_pos = 0.0f;
Lightvalve	65:c2812cf26c38	1625	vel.ref_home_pos = 0.0f;
Lightvalve	65:c2812cf26c38	1626	//FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	65:c2812cf26c38	1627	//CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	164:645207e160ca	1628
Lightvalve	164:645207e160ca	1629
Lightvalve	29:69f3f5445d6d	1630	}
Lightvalve	29:69f3f5445d6d	1631	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	1632	int T_move = 2*TMR_FREQ_5k;
Lightvalve	57:f308b1656d9c	1633	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	1634	//pos.ref = 0.0f;
Lightvalve	57:f308b1656d9c	1635	vel.ref = 0.0f;
Lightvalve	164:645207e160ca	1636
Lightvalve	29:69f3f5445d6d	1637	// input for position control
Lightvalve	164:645207e160ca	1638
Lightvalve	65:c2812cf26c38	1639	// CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	65:c2812cf26c38	1640	alpha_trans = 0.0f;
Lightvalve	59:bc8c8270f0ab	1641
Lightvalve	65:c2812cf26c38	1642	double torq_ref = 0.0f;
Lightvalve	65:c2812cf26c38	1643	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	65:c2812cf26c38	1644	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	65:c2812cf26c38	1645	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	65:c2812cf26c38	1646
Lightvalve	65:c2812cf26c38	1647	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	65:c2812cf26c38	1648
Lightvalve	65:c2812cf26c38	1649	double I_REF_POS = 0.0f;
Lightvalve	65:c2812cf26c38	1650	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	65:c2812cf26c38	1651	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	65:c2812cf26c38	1652
Lightvalve	65:c2812cf26c38	1653	double temp_vel_pos = 0.0f;
Lightvalve	65:c2812cf26c38	1654	double temp_vel_torq = 0.0f;
Lightvalve	65:c2812cf26c38	1655	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	65:c2812cf26c38	1656
Lightvalve	67:3995ffeaa786	1657	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	65:c2812cf26c38	1658	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	1659	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:3995ffeaa786	1660	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	65:c2812cf26c38	1661	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	1662	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	65:c2812cf26c38	1663	}
Lightvalve	65:c2812cf26c38	1664	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	1665	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	65:c2812cf26c38	1666
Lightvalve	65:c2812cf26c38	1667	I_REF = I_REF_POS;
Lightvalve	65:c2812cf26c38	1668
Lightvalve	65:c2812cf26c38	1669
Lightvalve	65:c2812cf26c38	1670
Lightvalve	65:c2812cf26c38	1671	} else {
Lightvalve	65:c2812cf26c38	1672	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	65:c2812cf26c38	1673	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	1674
Lightvalve	65:c2812cf26c38	1675	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	65:c2812cf26c38	1676	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	65:c2812cf26c38	1677	} else {
Lightvalve	65:c2812cf26c38	1678	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	65:c2812cf26c38	1679	}
Lightvalve	65:c2812cf26c38	1680
Lightvalve	65:c2812cf26c38	1681	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	65:c2812cf26c38	1682
Lightvalve	65:c2812cf26c38	1683	V_out = (float) Vout.ref;
Lightvalve	65:c2812cf26c38	1684
Lightvalve	65:c2812cf26c38	1685	}
Lightvalve	65:c2812cf26c38	1686
Lightvalve	65:c2812cf26c38	1687
Lightvalve	164:645207e160ca	1688
Lightvalve	164:645207e160ca	1689
Lightvalve	57:f308b1656d9c	1690	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	57:f308b1656d9c	1691	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	57:f308b1656d9c	1692	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	57:f308b1656d9c	1693	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	57:f308b1656d9c	1694	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	1695
Lightvalve	29:69f3f5445d6d	1696	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	1697	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	1698	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	1699	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	1700	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	1701	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	1702	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	1703	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1704	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	55:f4819de54e7a	1705	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	1706	}
Lightvalve	13:747daba9cf59	1707	}
Lightvalve	19:23b7c1ad8683	1708
Lightvalve	13:747daba9cf59	1709	break;
Lightvalve	13:747daba9cf59	1710	}
Lightvalve	14:8e7590227d22	1711
Lightvalve	49:3c630b5eba9f	1712	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	49:3c630b5eba9f	1713	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	49:3c630b5eba9f	1714	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	49:3c630b5eba9f	1715	// else {
Lightvalve	49:3c630b5eba9f	1716	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1717	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	49:3c630b5eba9f	1718	// }
Lightvalve	49:3c630b5eba9f	1719	// }
Lightvalve	49:3c630b5eba9f	1720	// if (need_enc_init) {
Lightvalve	49:3c630b5eba9f	1721	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	1722	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1723	// pos_plus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	1724	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1725	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1726	// pos_minus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	1727	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1728	// need_enc_init = false;
Lightvalve	49:3c630b5eba9f	1729	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	49:3c630b5eba9f	1730	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	49:3c630b5eba9f	1731	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	49:3c630b5eba9f	1732	// }
Lightvalve	49:3c630b5eba9f	1733	// temp_time = TMR_FREQ_5k;
Lightvalve	49:3c630b5eba9f	1734	// }
Lightvalve	49:3c630b5eba9f	1735	// TMR3_COUNT_FLOWRATE++;
Lightvalve	49:3c630b5eba9f	1736	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	49:3c630b5eba9f	1737	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	49:3c630b5eba9f	1738	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	49:3c630b5eba9f	1739	// V_out = VALVE_VOLTAGE;
Lightvalve	49:3c630b5eba9f	1740	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	49:3c630b5eba9f	1741	// fl_temp_cnt++;
Lightvalve	49:3c630b5eba9f	1742	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	49:3c630b5eba9f	1743	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	49:3c630b5eba9f	1744	// // 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	1745	// fl_temp_cnt2++;
Lightvalve	49:3c630b5eba9f	1746	// }
Lightvalve	49:3c630b5eba9f	1747	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	49:3c630b5eba9f	1748	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	49:3c630b5eba9f	1749	// V_out = VALVE_VOLTAGE;
Lightvalve	49:3c630b5eba9f	1750	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	49:3c630b5eba9f	1751	// fl_temp_cnt++;
Lightvalve	49:3c630b5eba9f	1752	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	49:3c630b5eba9f	1753	// 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	1754	// // 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	1755	// fl_temp_cnt2++;
Lightvalve	49:3c630b5eba9f	1756	// }
Lightvalve	49:3c630b5eba9f	1757	// }
Lightvalve	49:3c630b5eba9f	1758	// if (fl_temp_cnt2 == 100) {
Lightvalve	49:3c630b5eba9f	1759	//
Lightvalve	49:3c630b5eba9f	1760	// ROM_RESET_DATA();
Lightvalve	49:3c630b5eba9f	1761	//
Lightvalve	49:3c630b5eba9f	1762	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	49:3c630b5eba9f	1763	// cur_vel_sum = 0;
Lightvalve	49:3c630b5eba9f	1764	// fl_temp_cnt = 0;
Lightvalve	49:3c630b5eba9f	1765	// fl_temp_cnt2 = 0;
Lightvalve	49:3c630b5eba9f	1766	// flag_flowrate++;
Lightvalve	49:3c630b5eba9f	1767	// }
Lightvalve	49:3c630b5eba9f	1768	// if (flag_flowrate == 10) {
Lightvalve	49:3c630b5eba9f	1769	// V_out = 0;
Lightvalve	49:3c630b5eba9f	1770	// flag_flowrate = 0;
Lightvalve	49:3c630b5eba9f	1771	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	49:3c630b5eba9f	1772	// valve_gain_repeat_cnt++;
Lightvalve	49:3c630b5eba9f	1773	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	49:3c630b5eba9f	1774	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	1775	// valve_gain_repeat_cnt = 0;
Lightvalve	49:3c630b5eba9f	1776	// }
Lightvalve	49:3c630b5eba9f	1777	//
Lightvalve	49:3c630b5eba9f	1778	// }
Lightvalve	49:3c630b5eba9f	1779	// break;
Lightvalve	49:3c630b5eba9f	1780	// }
Lightvalve	49:3c630b5eba9f	1781	//
Lightvalve	49:3c630b5eba9f	1782	// }
Lightvalve	14:8e7590227d22	1783	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1784	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1785	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1786	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1787	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1788
Lightvalve	14:8e7590227d22	1789	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1790	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1791	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1792	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1793	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1794
Lightvalve	38:118df027d851	1795	float VREF_NullingGain = 0.0003f;
Lightvalve	56:2eade98630e2	1796	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	56:2eade98630e2	1797	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	1798
Lightvalve	30:8d561f16383b	1799	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1800	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1801	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1802	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1803
Lightvalve	30:8d561f16383b	1804	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1805	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1806	}
Lightvalve	13:747daba9cf59	1807	} else {
Lightvalve	55:f4819de54e7a	1808	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1809	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1810	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1811	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1812	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1813	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1814
Lightvalve	165:42c938a40313	1815	// ROM_RESET_DATA();
Lightvalve	165:42c938a40313	1816	spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve	165:42c938a40313	1817	spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve	19:23b7c1ad8683	1818
Lightvalve	30:8d561f16383b	1819	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1820	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1821	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1822	}
Lightvalve	14:8e7590227d22	1823	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1824	break;
Lightvalve	13:747daba9cf59	1825	}
Lightvalve	14:8e7590227d22	1826
Lightvalve	49:3c630b5eba9f	1827	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	49:3c630b5eba9f	1828	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1829	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1830	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1831	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	49:3c630b5eba9f	1832	// }
Lightvalve	49:3c630b5eba9f	1833	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1834	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1835	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1836	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	49:3c630b5eba9f	1837	// }
Lightvalve	49:3c630b5eba9f	1838	// } else {
Lightvalve	49:3c630b5eba9f	1839	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	1840	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	49:3c630b5eba9f	1841	// V_out = 0;
Lightvalve	49:3c630b5eba9f	1842	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	49:3c630b5eba9f	1843	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	49:3c630b5eba9f	1844	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	49:3c630b5eba9f	1845	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	49:3c630b5eba9f	1846	// CUR_PRES_A_sum = 0;
Lightvalve	49:3c630b5eba9f	1847	// CUR_PRES_B_sum = 0;
Lightvalve	49:3c630b5eba9f	1848	// CUR_PRES_A_mean = 0;
Lightvalve	49:3c630b5eba9f	1849	// CUR_PRES_B_mean = 0;
Lightvalve	49:3c630b5eba9f	1850	//
Lightvalve	49:3c630b5eba9f	1851	// ROM_RESET_DATA();
Lightvalve	49:3c630b5eba9f	1852	//
Lightvalve	49:3c630b5eba9f	1853	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	49:3c630b5eba9f	1854	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	49:3c630b5eba9f	1855	// }
Lightvalve	49:3c630b5eba9f	1856	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	49:3c630b5eba9f	1857	// break;
Lightvalve	49:3c630b5eba9f	1858	// }
Lightvalve	19:23b7c1ad8683	1859
Lightvalve	49:3c630b5eba9f	1860	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	49:3c630b5eba9f	1861	// 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	1862	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	49:3c630b5eba9f	1863	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1864	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1865	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	49:3c630b5eba9f	1866	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1867	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	49:3c630b5eba9f	1868	// V_out = 0.0f;
Lightvalve	49:3c630b5eba9f	1869	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	1870	// }
Lightvalve	49:3c630b5eba9f	1871	// break;
Lightvalve	49:3c630b5eba9f	1872	// }
Lightvalve	14:8e7590227d22	1873
Lightvalve	14:8e7590227d22	1874	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	57:f308b1656d9c	1875	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1876	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1877
Lightvalve	14:8e7590227d22	1878	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	58:64181f1d3e60	1879	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1880	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	57:f308b1656d9c	1881	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1882	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1883	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1884	data_num = 0;
Lightvalve	14:8e7590227d22	1885	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1886	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1887	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1888	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	57:f308b1656d9c	1889	Vout.ref = 0.0f;
Lightvalve	57:f308b1656d9c	1890	} else {
Lightvalve	13:747daba9cf59	1891	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1892	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1893	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1894	}
Lightvalve	14:8e7590227d22	1895
Lightvalve	17:1865016ca2e7	1896	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1897	int i;
Lightvalve	13:747daba9cf59	1898	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1899	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1900	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1901	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1902	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1903	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1904	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1905	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1906	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1907	}
Lightvalve	13:747daba9cf59	1908	}
Lightvalve	165:42c938a40313	1909	// ROM_RESET_DATA();
Lightvalve	165:42c938a40313	1910	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	165:42c938a40313	1911	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	165:42c938a40313	1912	for(int i=0; i<25; i++) {
Lightvalve	165:42c938a40313	1913	spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve	165:42c938a40313	1914	}
Lightvalve	13:747daba9cf59	1915	ID_index = 0;
Lightvalve	55:f4819de54e7a	1916	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1917	}
Lightvalve	14:8e7590227d22	1918
Lightvalve	14:8e7590227d22	1919
Lightvalve	13:747daba9cf59	1920	break;
Lightvalve	13:747daba9cf59	1921	}
Lightvalve	14:8e7590227d22	1922
Lightvalve	14:8e7590227d22	1923	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	57:f308b1656d9c	1924	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1925	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1926	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1927	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1928	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1929	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1930	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1931	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1932	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1933	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1934	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1935	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1936	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1937	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1938	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1939	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1940	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	1941	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1942	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1943	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1944	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	1945	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1946	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1947	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1948	data_num = 0;
Lightvalve	14:8e7590227d22	1949
Lightvalve	30:8d561f16383b	1950	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1951	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1952	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1953
Lightvalve	30:8d561f16383b	1954	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1955	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1956	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	1957
Lightvalve	30:8d561f16383b	1958	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1959	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1960	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1961	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1962
Lightvalve	58:64181f1d3e60	1963	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	1964	DZ_case = 1;
Lightvalve	58:64181f1d3e60	1965	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	1966	DZ_case = -1;
Lightvalve	14:8e7590227d22	1967	} else {
Lightvalve	13:747daba9cf59	1968	DZ_case = 0;
Lightvalve	13:747daba9cf59	1969	}
Lightvalve	59:bc8c8270f0ab	1970
Lightvalve	58:64181f1d3e60	1971	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	49:3c630b5eba9f	1972
Lightvalve	13:747daba9cf59	1973	first_check = 1;
Lightvalve	13:747daba9cf59	1974	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1975	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1976	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1977	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1978	DZ_index = 1;
Lightvalve	14:8e7590227d22	1979
Lightvalve	13:747daba9cf59	1980	}
Lightvalve	19:23b7c1ad8683	1981	} else {
Lightvalve	14:8e7590227d22	1982	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1983	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	1984	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	1985	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	1986	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1987	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1988	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1989	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1990	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1991	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1992	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1993	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1994	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1995	}
Lightvalve	14:8e7590227d22	1996	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	1997
Lightvalve	30:8d561f16383b	1998	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1999	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	2000	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	2001
Lightvalve	14:8e7590227d22	2002	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	2003	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	2004	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	2005	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	2006	} else {
Lightvalve	13:747daba9cf59	2007	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	2008	}
Lightvalve	14:8e7590227d22	2009
Lightvalve	13:747daba9cf59	2010	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	2011	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	2012	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	2013	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	2014	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	2015	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	2016	DZ_index = 1;
Lightvalve	13:747daba9cf59	2017	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	2018	}
Lightvalve	13:747daba9cf59	2019	}
Lightvalve	14:8e7590227d22	2020	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	2021	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	2022	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	2023	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	2024	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	2025	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	2026	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	2027	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	2028	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	2029	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	2030	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	2031	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	2032	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	2033	}
Lightvalve	14:8e7590227d22	2034	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:bc8c8270f0ab	2035
Lightvalve	30:8d561f16383b	2036	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	2037	Vout.ref = 0.0f;
Lightvalve	57:f308b1656d9c	2038	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	2039	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	2040	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	2041
Lightvalve	14:8e7590227d22	2042	if((FINAL_POS - START_POS)>100) {
Lightvalve	58:64181f1d3e60	2043	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	2044	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	58:64181f1d3e60	2045	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	2046	} else {
Lightvalve	58:64181f1d3e60	2047	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	2048	}
Lightvalve	14:8e7590227d22	2049
Lightvalve	13:747daba9cf59	2050	VALVE_DZ_timer = 0;
Lightvalve	58:64181f1d3e60	2051	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	2052	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	2053	SECOND_DZ = valve_pos.ref;
Lightvalve	55:f4819de54e7a	2054	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	2055	first_check = 0;
Lightvalve	33:91b17819ec30	2056	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	2057	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	2058
Lightvalve	165:42c938a40313	2059	// ROM_RESET_DATA();
Lightvalve	165:42c938a40313	2060	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	165:42c938a40313	2061	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	165:42c938a40313	2062	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	34:bb2ca2fc2a8e	2063
Lightvalve	58:64181f1d3e60	2064	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	2065	DZ_index = 1;
Lightvalve	13:747daba9cf59	2066	}
Lightvalve	13:747daba9cf59	2067	}
Lightvalve	14:8e7590227d22	2068	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	2069	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	2070	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	2071	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	2072	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	2073	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	2074	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	2075	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	2076	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	2077	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	2078	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	2079	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	2080	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	2081	}
Lightvalve	14:8e7590227d22	2082	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:bc8c8270f0ab	2083
Lightvalve	30:8d561f16383b	2084	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	2085	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	2086	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	2087
Lightvalve	14:8e7590227d22	2088	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	2089	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	2090	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	2091	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	2092	} else {
Lightvalve	13:747daba9cf59	2093	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	2094	}
Lightvalve	13:747daba9cf59	2095	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	2096	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	2097	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	2098	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	2099	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	2100	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	2101	DZ_index = 1;
Lightvalve	13:747daba9cf59	2102	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	2103	}
Lightvalve	13:747daba9cf59	2104	}
Lightvalve	14:8e7590227d22	2105	} else {
Lightvalve	30:8d561f16383b	2106	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	2107	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	2108	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	2109	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	2110	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	2111	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	2112	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	2113	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	2114	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	2115	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	2116	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	2117	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	2118	}
Lightvalve	14:8e7590227d22	2119	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	2120
Lightvalve	30:8d561f16383b	2121	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	2122	Vout.ref = 0.0f;
Lightvalve	57:f308b1656d9c	2123	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	2124	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	2125	FINAL_POS = pos.sen;
Lightvalve	59:bc8c8270f0ab	2126
Lightvalve	58:64181f1d3e60	2127	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	2128	DZ_DIRECTION = 1;
Lightvalve	58:64181f1d3e60	2129	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	58:64181f1d3e60	2130	DZ_DIRECTION = -1;
Lightvalve	58:64181f1d3e60	2131	} else {
Lightvalve	13:747daba9cf59	2132	DZ_DIRECTION = 1;
Lightvalve	58:64181f1d3e60	2133	}
Lightvalve	14:8e7590227d22	2134
Lightvalve	13:747daba9cf59	2135	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	2136	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	2137	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	2138	SECOND_DZ = valve_pos.ref;
Lightvalve	55:f4819de54e7a	2139	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	2140	first_check = 0;
Lightvalve	33:91b17819ec30	2141	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	2142	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	59:bc8c8270f0ab	2143
Lightvalve	165:42c938a40313	2144	// ROM_RESET_DATA();
Lightvalve	165:42c938a40313	2145	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	165:42c938a40313	2146	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	165:42c938a40313	2147	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	34:bb2ca2fc2a8e	2148
Lightvalve	55:f4819de54e7a	2149	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	2150	DZ_index = 1;
Lightvalve	13:747daba9cf59	2151	}
Lightvalve	13:747daba9cf59	2152	}
Lightvalve	13:747daba9cf59	2153	}
Lightvalve	14:8e7590227d22	2154	}
Lightvalve	13:747daba9cf59	2155	break;
Lightvalve	13:747daba9cf59	2156	}
Lightvalve	14:8e7590227d22	2157
Lightvalve	14:8e7590227d22	2158	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	57:f308b1656d9c	2159	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	2160	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	2161	if(first_check == 0) {
Lightvalve	30:8d561f16383b	2162	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	2163	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	2164	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	2165	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	2166	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	2167	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	2168	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	2169	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	2170	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	2171	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	2172	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	57:f308b1656d9c	2173	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	2174	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	2175	first_check = 1;
Lightvalve	13:747daba9cf59	2176	VALVE_FR_timer = 0;
Lightvalve	55:f4819de54e7a	2177	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	2178	ID_index = 0;
Lightvalve	13:747daba9cf59	2179	max_check = 0;
Lightvalve	13:747daba9cf59	2180	min_check = 0;
Lightvalve	13:747daba9cf59	2181	}
Lightvalve	14:8e7590227d22	2182	} else {
Lightvalve	30:8d561f16383b	2183	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	2184	//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	2185	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	57:f308b1656d9c	2186	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	2187	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	2188	data_num = 0;
Lightvalve	55:f4819de54e7a	2189	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	2190
Lightvalve	14:8e7590227d22	2191	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	2192	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	2193	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	55:f4819de54e7a	2194	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	2195	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	2196	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	2197	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	2198	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	2199	one_period_end = 1;
Lightvalve	13:747daba9cf59	2200	}
Lightvalve	30:8d561f16383b	2201	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	2202	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	2203	one_period_end = 1;
Lightvalve	57:f308b1656d9c	2204	V_out = 0.0f;
Lightvalve	13:747daba9cf59	2205	}
Lightvalve	14:8e7590227d22	2206
Lightvalve	14:8e7590227d22	2207	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	2208	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	2209	max_check = 1;
Lightvalve	14:8e7590227d22	2210	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	2211	min_check = 1;
Lightvalve	13:747daba9cf59	2212	}
Lightvalve	13:747daba9cf59	2213	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	2214
Lightvalve	13:747daba9cf59	2215	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	2216	one_period_end = 0;
Lightvalve	13:747daba9cf59	2217	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	2218	V_out = 0.0f;
Lightvalve	13:747daba9cf59	2219	}
Lightvalve	14:8e7590227d22	2220
Lightvalve	14:8e7590227d22	2221	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	2222
Lightvalve	13:747daba9cf59	2223	VALVE_POS_NUM = ID_index;
Lightvalve	165:42c938a40313	2224	// ROM_RESET_DATA();
Lightvalve	165:42c938a40313	2225	for(int i=0; i<100; i++) {
Lightvalve	165:42c938a40313	2226	spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve	165:42c938a40313	2227	spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve	165:42c938a40313	2228	}
Lightvalve	13:747daba9cf59	2229	ID_index = 0;
Lightvalve	13:747daba9cf59	2230	first_check = 0;
Lightvalve	13:747daba9cf59	2231	VALVE_FR_timer = 0;
Lightvalve	55:f4819de54e7a	2232	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	48:e7bcfc244d40	2233	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	2234	}
Lightvalve	13:747daba9cf59	2235	}
Lightvalve	13:747daba9cf59	2236	break;
Lightvalve	13:747daba9cf59	2237	}
Lightvalve	56:2eade98630e2	2238
Lightvalve	55:f4819de54e7a	2239	case MODE_SYSTEM_ID: {
Lightvalve	164:645207e160ca	2240	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve	55:f4819de54e7a	2241	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	55:f4819de54e7a	2242	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	55:f4819de54e7a	2243	cnt_sysid++;
Lightvalve	55:f4819de54e7a	2244	if (freq_sysid_Iref >= 300) {
Lightvalve	55:f4819de54e7a	2245	cnt_sysid = 0;
Lightvalve	55:f4819de54e7a	2246	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	55:f4819de54e7a	2247	}
Lightvalve	55:f4819de54e7a	2248	break;
Lightvalve	55:f4819de54e7a	2249	}
Lightvalve	56:2eade98630e2	2250
Lightvalve	164:645207e160ca	2251	case MODE_FREQ_TEST: {
Lightvalve	164:645207e160ca	2252	float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve	164:645207e160ca	2253	if(valve_pos_ref >= 0) {
Lightvalve	164:645207e160ca	2254	valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	164:645207e160ca	2255	} else {
Lightvalve	164:645207e160ca	2256	valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	164:645207e160ca	2257	}
Lightvalve	164:645207e160ca	2258	ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve	164:645207e160ca	2259	if(value>=(float) VALVE_CENTER) {
Lightvalve	164:645207e160ca	2260	pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	164:645207e160ca	2261	} else {
Lightvalve	164:645207e160ca	2262	pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	164:645207e160ca	2263	}
Lightvalve	56:2eade98630e2	2264
Lightvalve	164:645207e160ca	2265	CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve	164:645207e160ca	2266	cnt_freq_test++;
Lightvalve	164:645207e160ca	2267	if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve	164:645207e160ca	2268	buffer_data_size = cnt_freq_test;
Lightvalve	164:645207e160ca	2269	cnt_freq_test = 0;
Lightvalve	164:645207e160ca	2270	cnt_send_buffer = 0;
Lightvalve	164:645207e160ca	2271	freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve	164:645207e160ca	2272	if (freq_test_valve_ref >= 400) {
Lightvalve	164:645207e160ca	2273	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	164:645207e160ca	2274	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	164:645207e160ca	2275	CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve	164:645207e160ca	2276	}
Lightvalve	164:645207e160ca	2277	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	164:645207e160ca	2278	CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve	165:42c938a40313	2279
Lightvalve	164:645207e160ca	2280	}
Lightvalve	164:645207e160ca	2281	break;
Lightvalve	164:645207e160ca	2282	}
Lightvalve	164:645207e160ca	2283	case MODE_SEND_BUFFER: {
Lightvalve	164:645207e160ca	2284	// if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	164:645207e160ca	2285	// CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve	164:645207e160ca	2286	// if(cnt_send_buffer>=buffer_data_size) {
Lightvalve	164:645207e160ca	2287	// CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve	164:645207e160ca	2288	// }
Lightvalve	164:645207e160ca	2289	// cnt_send_buffer++;
Lightvalve	164:645207e160ca	2290	// }
Lightvalve	164:645207e160ca	2291
Lightvalve	164:645207e160ca	2292	break;
Lightvalve	164:645207e160ca	2293	}
Lightvalve	164:645207e160ca	2294	case MODE_SEND_OVER: {
Lightvalve	164:645207e160ca	2295	CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve	164:645207e160ca	2296	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	164:645207e160ca	2297	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	164:645207e160ca	2298	break;
Lightvalve	164:645207e160ca	2299	}
Lightvalve	165:42c938a40313	2300
Lightvalve	164:645207e160ca	2301	case MODE_STEP_TEST: {
Lightvalve	164:645207e160ca	2302	float valve_pos_ref = 0.0f;
Lightvalve	165:42c938a40313	2303	if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	164:645207e160ca	2304	valve_pos_ref = 0.0f;
Lightvalve	165:42c938a40313	2305	} else {
Lightvalve	164:645207e160ca	2306	valve_pos_ref = 10000.0f;
Lightvalve	164:645207e160ca	2307	}
Lightvalve	164:645207e160ca	2308	if(valve_pos_ref >= 0) {
Lightvalve	164:645207e160ca	2309	valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	164:645207e160ca	2310	} else {
Lightvalve	164:645207e160ca	2311	valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	164:645207e160ca	2312	}
Lightvalve	164:645207e160ca	2313	ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve	164:645207e160ca	2314	if(value>=(float) VALVE_CENTER) {
Lightvalve	164:645207e160ca	2315	pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	164:645207e160ca	2316	} else {
Lightvalve	164:645207e160ca	2317	pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	164:645207e160ca	2318	}
Lightvalve	164:645207e160ca	2319
Lightvalve	164:645207e160ca	2320	CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve	164:645207e160ca	2321	cnt_step_test++;
Lightvalve	165:42c938a40313	2322	if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	164:645207e160ca	2323	buffer_data_size = cnt_step_test;
Lightvalve	164:645207e160ca	2324	cnt_step_test = 0;
Lightvalve	164:645207e160ca	2325	cnt_send_buffer = 0;
Lightvalve	164:645207e160ca	2326	CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve	164:645207e160ca	2327	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	164:645207e160ca	2328	}
Lightvalve	164:645207e160ca	2329	// if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve	164:645207e160ca	2330	// {
Lightvalve	164:645207e160ca	2331	// CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	164:645207e160ca	2332	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	164:645207e160ca	2333	// CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve	164:645207e160ca	2334	// }
Lightvalve	165:42c938a40313	2335
Lightvalve	164:645207e160ca	2336	break;
Lightvalve	164:645207e160ca	2337	}
Lightvalve	55:f4819de54e7a	2338
Lightvalve	55:f4819de54e7a	2339	default:
Lightvalve	55:f4819de54e7a	2340	break;
Lightvalve	55:f4819de54e7a	2341	}
Lightvalve	55:f4819de54e7a	2342
Lightvalve	55:f4819de54e7a	2343	// CONTROL MODE ------------------------------------------------------------
Lightvalve	55:f4819de54e7a	2344
Lightvalve	55:f4819de54e7a	2345	switch (CONTROL_MODE) {
Lightvalve	55:f4819de54e7a	2346	case MODE_NO_ACT: {
Lightvalve	55:f4819de54e7a	2347	V_out = 0.0f;
Lightvalve	55:f4819de54e7a	2348	break;
Lightvalve	55:f4819de54e7a	2349	}
Lightvalve	55:f4819de54e7a	2350
Lightvalve	55:f4819de54e7a	2351	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	65:c2812cf26c38	2352	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	55:f4819de54e7a	2353	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	57:f308b1656d9c	2354	V_out = Vout.ref;
Lightvalve	65:c2812cf26c38	2355	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	65:c2812cf26c38	2356	V_out = valve_pos.ref;
Lightvalve	164:645207e160ca	2357	} else {
Lightvalve	65:c2812cf26c38	2358	I_REF = valve_pos.ref * 0.001f;
Lightvalve	55:f4819de54e7a	2359	}
Lightvalve	55:f4819de54e7a	2360	break;
Lightvalve	55:f4819de54e7a	2361	}
Lightvalve	55:f4819de54e7a	2362
Lightvalve	55:f4819de54e7a	2363	case MODE_JOINT_CONTROL: {
Lightvalve	164:645207e160ca	2364
Lightvalve	55:f4819de54e7a	2365	double torq_ref = 0.0f;
Lightvalve	55:f4819de54e7a	2366	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	65:c2812cf26c38	2367	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	55:f4819de54e7a	2368	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	164:645207e160ca	2369
Lightvalve	65:c2812cf26c38	2370	//K & D Low Pass Filter
Lightvalve	65:c2812cf26c38	2371	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	65:c2812cf26c38	2372	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	65:c2812cf26c38	2373	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	164:645207e160ca	2374
Lightvalve	137:15621998925b	2375	// torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	137:15621998925b	2376	torq_ref = torq.ref;
Lightvalve	55:f4819de54e7a	2377
Lightvalve	55:f4819de54e7a	2378	// torque feedback
Lightvalve	65:c2812cf26c38	2379	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	55:f4819de54e7a	2380	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	55:f4819de54e7a	2381
Lightvalve	55:f4819de54e7a	2382	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	56:2eade98630e2	2383
Lightvalve	55:f4819de54e7a	2384	double I_REF_POS = 0.0f;
Lightvalve	55:f4819de54e7a	2385	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	55:f4819de54e7a	2386	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	55:f4819de54e7a	2387
Lightvalve	55:f4819de54e7a	2388	double temp_vel_pos = 0.0f;
Lightvalve	55:f4819de54e7a	2389	double temp_vel_torq = 0.0f;
Lightvalve	55:f4819de54e7a	2390	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	56:2eade98630e2	2391
Lightvalve	67:3995ffeaa786	2392	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	55:f4819de54e7a	2393	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	2394	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:3995ffeaa786	2395	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	55:f4819de54e7a	2396	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	2397	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	55:f4819de54e7a	2398	}
Lightvalve	55:f4819de54e7a	2399	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	2400	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	55:f4819de54e7a	2401
Lightvalve	55:f4819de54e7a	2402	// velocity compensation for torque control
Lightvalve	67:3995ffeaa786	2403	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	55:f4819de54e7a	2404	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	55:f4819de54e7a	2405	// 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	2406	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	55:f4819de54e7a	2407	// L feedforward velocity
Lightvalve	67:3995ffeaa786	2408	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	55:f4819de54e7a	2409	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	2410	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	55:f4819de54e7a	2411	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	55:f4819de54e7a	2412	// L feedforward velocity
Lightvalve	55:f4819de54e7a	2413	}
Lightvalve	55:f4819de54e7a	2414	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	2415	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	55:f4819de54e7a	2416	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	55:f4819de54e7a	2417	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	55:f4819de54e7a	2418	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	55:f4819de54e7a	2419
Lightvalve	55:f4819de54e7a	2420	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	164:645207e160ca	2421
Lightvalve	65:c2812cf26c38	2422	// Anti-windup for FT
Lightvalve	65:c2812cf26c38	2423	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	65:c2812cf26c38	2424	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	65:c2812cf26c38	2425	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	65:c2812cf26c38	2426	if (I_REF > I_MAX) {
Lightvalve	65:c2812cf26c38	2427	double I_rem = I_REF - I_MAX;
Lightvalve	65:c2812cf26c38	2428	I_rem = Ka*I_rem;
Lightvalve	65:c2812cf26c38	2429	I_REF = I_MAX;
Lightvalve	65:c2812cf26c38	2430	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	65:c2812cf26c38	2431	} else if (I_REF < -I_MAX) {
Lightvalve	65:c2812cf26c38	2432	double I_rem = I_REF - (-I_MAX);
Lightvalve	65:c2812cf26c38	2433	I_rem = Ka*I_rem;
Lightvalve	65:c2812cf26c38	2434	I_REF = -I_MAX;
Lightvalve	65:c2812cf26c38	2435	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	65:c2812cf26c38	2436	}
Lightvalve	65:c2812cf26c38	2437	}
Lightvalve	55:f4819de54e7a	2438
Lightvalve	55:f4819de54e7a	2439	} else {
Lightvalve	55:f4819de54e7a	2440	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	70:3436ce769b1e	2441	float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve	70:3436ce769b1e	2442	float VALVE_POS_RAW = 0.0f;
Lightvalve	164:645207e160ca	2443
Lightvalve	200:ebc69d6ee6f1	2444	VALVE_POS_RAW_FORCE_FB = alpha_trans(((float) P_GAIN_JOINT_TORQUE torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	55:f4819de54e7a	2445
Lightvalve	70:3436ce769b1e	2446	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	164:645207e160ca	2447
Lightvalve	70:3436ce769b1e	2448	VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve	164:645207e160ca	2449
Lightvalve	164:645207e160ca	2450
Lightvalve	70:3436ce769b1e	2451	if (VALVE_POS_RAW >= 0) {
Lightvalve	70:3436ce769b1e	2452	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve	55:f4819de54e7a	2453	} else {
Lightvalve	70:3436ce769b1e	2454	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve	55:f4819de54e7a	2455	}
Lightvalve	55:f4819de54e7a	2456
Lightvalve	55:f4819de54e7a	2457	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	137:15621998925b	2458	double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	55:f4819de54e7a	2459	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	55:f4819de54e7a	2460	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	55:f4819de54e7a	2461	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	55:f4819de54e7a	2462	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	55:f4819de54e7a	2463	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	55:f4819de54e7a	2464	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	55:f4819de54e7a	2465	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	55:f4819de54e7a	2466	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	55:f4819de54e7a	2467	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	55:f4819de54e7a	2468	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	55:f4819de54e7a	2469	}
Lightvalve	55:f4819de54e7a	2470	}
Lightvalve	59:bc8c8270f0ab	2471
Lightvalve	55:f4819de54e7a	2472	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:bc8c8270f0ab	2473
Lightvalve	65:c2812cf26c38	2474	// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	58:64181f1d3e60	2475	V_out = (float) Vout.ref;
Lightvalve	55:f4819de54e7a	2476
Lightvalve	55:f4819de54e7a	2477	}
Lightvalve	164:645207e160ca	2478
Lightvalve	70:3436ce769b1e	2479	torq_ref_past = torq_ref;
Lightvalve	56:2eade98630e2	2480
Lightvalve	131:22ab22818e01	2481
Lightvalve	55:f4819de54e7a	2482	break;
Lightvalve	55:f4819de54e7a	2483	}
Lightvalve	56:2eade98630e2	2484
Lightvalve	55:f4819de54e7a	2485	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	55:f4819de54e7a	2486	V_out = (float) Vout.ref;
Lightvalve	55:f4819de54e7a	2487	break;
Lightvalve	55:f4819de54e7a	2488	}
Lightvalve	164:645207e160ca	2489
Lightvalve	136:a843f32ced33	2490	case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve	164:645207e160ca	2491
Lightvalve	164:645207e160ca	2492
Lightvalve	137:15621998925b	2493	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	2494	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	201:efc3a92cc6be	2495
Lightvalve	165:42c938a40313	2496	V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve	164:645207e160ca	2497
Lightvalve	164:645207e160ca	2498
Lightvalve	165:42c938a40313	2499	float f3 = -AmmAmmbeta0.000001f0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve	164:645207e160ca	2500
Lightvalve	136:a843f32ced33	2501	float g3_prime = 0.0f;
Lightvalve	164:645207e160ca	2502	if (torq.sen > Amm(Ps-Pt)0.000001f) {
Lightvalve	136:a843f32ced33	2503	g3_prime = 1.0f;
Lightvalve	136:a843f32ced33	2504	} else if (torq.sen < -Amm(Ps-Pt)0.000001f) {
Lightvalve	136:a843f32ced33	2505	g3_prime = -1.0f;
Lightvalve	136:a843f32ced33	2506	} else {
Lightvalve	136:a843f32ced33	2507	if ((value-VALVE_CENTER) > 0) {
Lightvalve	164:645207e160ca	2508	g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve	164:645207e160ca	2509	// g3_prime = sqrt(Ps-Pt);
Lightvalve	136:a843f32ced33	2510	} else {
Lightvalve	136:a843f32ced33	2511	g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve	137:15621998925b	2512	// g3_prime = sqrt(Ps-Pt);
Lightvalve	136:a843f32ced33	2513	}
Lightvalve	136:a843f32ced33	2514	}
Lightvalve	136:a843f32ced33	2515	float tau = 0.01f;
Lightvalve	140:43026242815a	2516	float K_valve = 0.0004f;
Lightvalve	164:645207e160ca	2517
Lightvalve	136:a843f32ced33	2518	float x_v = 0.0f; //x_v : -1~1
Lightvalve	136:a843f32ced33	2519	if(value>=VALVE_CENTER) {
Lightvalve	136:a843f32ced33	2520	x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	136:a843f32ced33	2521	} else {
Lightvalve	136:a843f32ced33	2522	x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	136:a843f32ced33	2523	}
Lightvalve	136:a843f32ced33	2524	float f4 = -x_v/tau;
Lightvalve	136:a843f32ced33	2525	float g4 = K_valve/tau;
Lightvalve	164:645207e160ca	2526
Lightvalve	137:15621998925b	2527	float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve	164:645207e160ca	2528
Lightvalve	136:a843f32ced33	2529	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	136:a843f32ced33	2530	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	136:a843f32ced33	2531	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	164:645207e160ca	2532
Lightvalve	136:a843f32ced33	2533	torq.err = torq.ref - torq.sen; //[N]
Lightvalve	136:a843f32ced33	2534	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	164:645207e160ca	2535
Lightvalve	203:ec41f1449ef9	2536	float k3 = 2000.0f; //2000 //20000
Lightvalve	140:43026242815a	2537	float k4 = 10.0f;
Lightvalve	140:43026242815a	2538	float rho3 = 3.2f;
Lightvalve	203:ec41f1449ef9	2539	float rho4 = 10000000.0f; //25000000.0f;
Lightvalve	137:15621998925b	2540	float x_4_des = (-f3 + torq_ref_dot - k3(-torq.err))/(gamma_hatg3_prime);
Lightvalve	136:a843f32ced33	2541	if (x_4_des > 1) x_4_des = 1;
Lightvalve	136:a843f32ced33	2542	else if (x_4_des < -1) x_4_des = -1;
Lightvalve	164:645207e160ca	2543
Lightvalve	137:15621998925b	2544	if (x_4_des > 0) {
Lightvalve	137:15621998925b	2545	valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve	137:15621998925b	2546	} else {
Lightvalve	137:15621998925b	2547	valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve	137:15621998925b	2548	}
Lightvalve	164:645207e160ca	2549
Lightvalve	136:a843f32ced33	2550	float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve	136:a843f32ced33	2551	x_4_des_old = x_4_des;
Lightvalve	203:ec41f1449ef9	2552	float V_input = 0.0f;
Lightvalve	137:15621998925b	2553	V_out = (-f4 + x_4_des_dot - k4(x_v-x_4_des)- rho3/rho4gamma_hatg3_prime(-torq.err))/g4;
Lightvalve	203:ec41f1449ef9	2554	// //V_out LPF
Lightvalve	203:ec41f1449ef9	2555	// float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f3.14f50.0f)); // f_cutoff : 50Hz
Lightvalve	203:ec41f1449ef9	2556	// V_out = V_out(1.0f-alpha_V_out)+V_input(alpha_V_out);
Lightvalve	203:ec41f1449ef9	2557
Lightvalve	203:ec41f1449ef9	2558	float rho_gamma = 5000.0f;//5000 for change //50000 for not change
Lightvalve	137:15621998925b	2559	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	2560	gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve	203:ec41f1449ef9	2561
Lightvalve	203:ec41f1449ef9	2562	if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
Lightvalve	203:ec41f1449ef9	2563	else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
Lightvalve	203:ec41f1449ef9	2564
Lightvalve	164:645207e160ca	2565	break;
Lightvalve	136:a843f32ced33	2566	}
Lightvalve	166:bfc1fd2629d8	2567
Lightvalve	165:42c938a40313	2568	case MODE_RL: {
Lightvalve	165:42c938a40313	2569	//t.reset();
Lightvalve	165:42c938a40313	2570	//t.start();
Lightvalve	165:42c938a40313	2571
Lightvalve	165:42c938a40313	2572	// if(LED == 0) LED = 1;
Lightvalve	165:42c938a40313	2573	// else LED = 0;
Lightvalve	165:42c938a40313	2574
Lightvalve	165:42c938a40313	2575	if (Update_Done_Flag == 1) {
Lightvalve	165:42c938a40313	2576	//Gather Data on each loop
Lightvalve	165:42c938a40313	2577	// pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	165:42c938a40313	2578	// train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve	165:42c938a40313	2579	// train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve	165:42c938a40313	2580	pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve	165:42c938a40313	2581	train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve	165:42c938a40313	2582	train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve	165:42c938a40313	2583	//train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve	165:42c938a40313	2584	//float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve	165:42c938a40313	2585	float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve	165:42c938a40313	2586	Actor_Network(temp_array);
Lightvalve	168:68c7914679ec	2587	for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve	168:68c7914679ec	2588	hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve	168:68c7914679ec	2589	}
Lightvalve	168:68c7914679ec	2590	for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve	168:68c7914679ec	2591	hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve	168:68c7914679ec	2592	}
Lightvalve	168:68c7914679ec	2593	hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve	168:68c7914679ec	2594	hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve	165:42c938a40313	2595	mean_array[RL_timer] = mean;
Lightvalve	165:42c938a40313	2596	deviation_array[RL_timer] = deviation;
Lightvalve	165:42c938a40313	2597	action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve	165:42c938a40313	2598
Lightvalve	174:d5377766d7ea	2599	virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve	174:d5377766d7ea	2600	if (virt_pos > 70 ) {
Lightvalve	165:42c938a40313	2601	virt_pos = 70.0f;
Lightvalve	174:d5377766d7ea	2602	}else if(virt_pos < -70) {
Lightvalve	165:42c938a40313	2603	virt_pos = -70.0f;
Lightvalve	165:42c938a40313	2604	}
Lightvalve	166:bfc1fd2629d8	2605
Lightvalve	165:42c938a40313	2606	RL_timer++;
Lightvalve	165:42c938a40313	2607
Lightvalve	165:42c938a40313	2608
Lightvalve	165:42c938a40313	2609	if (RL_timer >= batch_size) {
Lightvalve	165:42c938a40313	2610	RL_timer = 0;
Lightvalve	165:42c938a40313	2611	batch++;
Lightvalve	165:42c938a40313	2612	for(int i=0; i<batch_size; i++) {
Lightvalve	165:42c938a40313	2613	state_array[i][0] = train_set_x[i];
Lightvalve	165:42c938a40313	2614	state_array[i][1] = train_set_error[i];
Lightvalve	165:42c938a40313	2615	//state_array[i][2] = train_set_count[i];
Lightvalve	165:42c938a40313	2616	}
Lightvalve	165:42c938a40313	2617	Update_Case = 1;
Lightvalve	165:42c938a40313	2618	Update_Done_Flag = 0;
Lightvalve	165:42c938a40313	2619	logging1 = virt_pos;
Lightvalve	174:d5377766d7ea	2620
Lightvalve	165:42c938a40313	2621	if(batch >= num_batch) {
Lightvalve	165:42c938a40313	2622	batch = 0;
Lightvalve	165:42c938a40313	2623	RL_timer = 0;
Lightvalve	165:42c938a40313	2624	Update_Case = 2;
Lightvalve	165:42c938a40313	2625	Update_Done_Flag = 0;
Lightvalve	165:42c938a40313	2626	virt_pos = 10.0f;
Lightvalve	165:42c938a40313	2627	}
Lightvalve	165:42c938a40313	2628	}
Lightvalve	165:42c938a40313	2629	}
Lightvalve	165:42c938a40313	2630
Lightvalve	165:42c938a40313	2631	else {
Lightvalve	165:42c938a40313	2632	pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve	165:42c938a40313	2633	float temp_array[3] = {0.0f};
Lightvalve	165:42c938a40313	2634	temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve	165:42c938a40313	2635	temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve	165:42c938a40313	2636	//temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve	165:42c938a40313	2637	Actor_Network(temp_array);
Lightvalve	165:42c938a40313	2638	action = rand_normal(mean, deviation);
Lightvalve	165:42c938a40313	2639	//logging1 = action;
Lightvalve	174:d5377766d7ea	2640	//logging2 = mean;
Lightvalve	174:d5377766d7ea	2641	//logging4 = deviation;
Lightvalve	174:d5377766d7ea	2642	virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve	174:d5377766d7ea	2643	if (virt_pos > 70) {
Lightvalve	165:42c938a40313	2644	virt_pos = 70.0f;
Lightvalve	174:d5377766d7ea	2645	}else if(virt_pos < -70) {
Lightvalve	165:42c938a40313	2646	virt_pos = -70.0f;
Lightvalve	165:42c938a40313	2647	}
Lightvalve	165:42c938a40313	2648
Lightvalve	165:42c938a40313	2649	logging3 = virt_pos;
Lightvalve	165:42c938a40313	2650	}
Lightvalve	165:42c938a40313	2651
Lightvalve	165:42c938a40313	2652	//t.stop();
Lightvalve	165:42c938a40313	2653	//logging1 = t.read()*1000.0f; //msec
Lightvalve	165:42c938a40313	2654
Lightvalve	165:42c938a40313	2655	break;
Lightvalve	165:42c938a40313	2656	}
Lightvalve	14:8e7590227d22	2657
Lightvalve	12:6f2531038ea4	2658	default:
Lightvalve	12:6f2531038ea4	2659	break;
Lightvalve	12:6f2531038ea4	2660	}
Lightvalve	14:8e7590227d22	2661
Lightvalve	55:f4819de54e7a	2662
Lightvalve	55:f4819de54e7a	2663	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	56:2eade98630e2	2664
Lightvalve	55:f4819de54e7a	2665	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	2666	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	55:f4819de54e7a	2667	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	2668	if (CURRENT_CONTROL_MODE) {
Lightvalve	65:c2812cf26c38	2669	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	55:f4819de54e7a	2670	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	55:f4819de54e7a	2671
Lightvalve	55:f4819de54e7a	2672	I_ERR = I_REF_fil - cur.sen;
Lightvalve	65:c2812cf26c38	2673	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	55:f4819de54e7a	2674
Lightvalve	55:f4819de54e7a	2675
Lightvalve	55:f4819de54e7a	2676	// Moog Valve Current Control Gain
Lightvalve	65:c2812cf26c38	2677	double R_model = 500.0f; // ohm
Lightvalve	55:f4819de54e7a	2678	double L_model = 1.2f;
Lightvalve	55:f4819de54e7a	2679	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	55:f4819de54e7a	2680	double KP_I = 0.1f * L_model*w0;
Lightvalve	55:f4819de54e7a	2681	double KI_I = 0.1f * R_model*w0;
Lightvalve	55:f4819de54e7a	2682
Lightvalve	55:f4819de54e7a	2683	// KNR Valve Current Control Gain
Lightvalve	55:f4819de54e7a	2684	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	55:f4819de54e7a	2685	R_model = 163.0f; // ohm
Lightvalve	55:f4819de54e7a	2686	L_model = 1.0f;
Lightvalve	55:f4819de54e7a	2687	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	55:f4819de54e7a	2688	KP_I = 1.0f * L_model*w0;
Lightvalve	55:f4819de54e7a	2689	KI_I = 0.08f * R_model*w0;
Lightvalve	55:f4819de54e7a	2690	}
Lightvalve	55:f4819de54e7a	2691
Lightvalve	55:f4819de54e7a	2692	double FF_gain = 1.0f;
Lightvalve	55:f4819de54e7a	2693
Lightvalve	65:c2812cf26c38	2694	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	55:f4819de54e7a	2695	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	55:f4819de54e7a	2696	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	55:f4819de54e7a	2697	I_REF_fil_old = I_REF_fil;
Lightvalve	65:c2812cf26c38	2698	// 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	2699	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	65:c2812cf26c38	2700	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	55:f4819de54e7a	2701
Lightvalve	55:f4819de54e7a	2702	double Ka = 3.0f / KP_I;
Lightvalve	55:f4819de54e7a	2703	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	55:f4819de54e7a	2704	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	55:f4819de54e7a	2705	V_rem = Ka*V_rem;
Lightvalve	55:f4819de54e7a	2706	VALVE_PWM_RAW = V_MAX;
Lightvalve	65:c2812cf26c38	2707	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	55:f4819de54e7a	2708	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	55:f4819de54e7a	2709	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	55:f4819de54e7a	2710	V_rem = Ka*V_rem;
Lightvalve	55:f4819de54e7a	2711	VALVE_PWM_RAW = -V_MAX;
Lightvalve	65:c2812cf26c38	2712	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	55:f4819de54e7a	2713	}
Lightvalve	55:f4819de54e7a	2714	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	55:f4819de54e7a	2715	} else {
Lightvalve	55:f4819de54e7a	2716	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	55:f4819de54e7a	2717	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	55:f4819de54e7a	2718	}
Lightvalve	55:f4819de54e7a	2719
Lightvalve	55:f4819de54e7a	2720	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	2721	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	55:f4819de54e7a	2722	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	2723	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	55:f4819de54e7a	2724	if (FLAG_VALVE_DEADZONE) {
Lightvalve	55:f4819de54e7a	2725	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	55:f4819de54e7a	2726	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	55:f4819de54e7a	2727
Lightvalve	55:f4819de54e7a	2728	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	55:f4819de54e7a	2729
Lightvalve	55:f4819de54e7a	2730	} else {
Lightvalve	55:f4819de54e7a	2731	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	55:f4819de54e7a	2732	}
Lightvalve	55:f4819de54e7a	2733
Lightvalve	55:f4819de54e7a	2734	// Output Voltage Linearization
Lightvalve	55:f4819de54e7a	2735	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	65:c2812cf26c38	2736	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	55:f4819de54e7a	2737
Lightvalve	55:f4819de54e7a	2738	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	65:c2812cf26c38	2739	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	65:c2812cf26c38	2740	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	65:c2812cf26c38	2741	else V_out = (float) (CUR_PWM_lin);
Lightvalve	164:645207e160ca	2742	} else { //////////////////////////sw valve
Lightvalve	87:a7b45368ea0f	2743	// Output Voltage Linearization
Lightvalve	133:79885a39c161	2744	// double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve	133:79885a39c161	2745	// double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	87:a7b45368ea0f	2746
Lightvalve	87:a7b45368ea0f	2747	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	133:79885a39c161	2748	// if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	133:79885a39c161	2749	// else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	133:79885a39c161	2750	// else V_out = (float) (CUR_PWM_lin);
Lightvalve	133:79885a39c161	2751
Lightvalve	133:79885a39c161	2752	if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve	133:79885a39c161	2753	else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve	133:79885a39c161	2754	else V_out = 0.0f;
Lightvalve	87:a7b45368ea0f	2755	}
Lightvalve	164:645207e160ca	2756
Lightvalve	65:c2812cf26c38	2757	// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve	65:c2812cf26c38	2758	// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve	65:c2812cf26c38	2759	// else V_out = V_out;
Lightvalve	164:645207e160ca	2760
jobuuu	7:e9086c72bb22	2761	/*******************************************************
jobuuu	7:e9086c72bb22	2762	*** PWM
jobuuu	7:e9086c72bb22	2763	********************************************************/
Lightvalve	164:645207e160ca	2764	if(DIR_VALVE<0) {
Lightvalve	65:c2812cf26c38	2765	V_out = -V_out;
Lightvalve	65:c2812cf26c38	2766	}
Lightvalve	164:645207e160ca	2767
Lightvalve	48:e7bcfc244d40	2768	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	48:e7bcfc244d40	2769	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	48:e7bcfc244d40	2770	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	48:e7bcfc244d40	2771	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	2772	}
Lightvalve	48:e7bcfc244d40	2773	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	2774
Lightvalve	19:23b7c1ad8683	2775	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	2776	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	2777	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	2778
Lightvalve	30:8d561f16383b	2779	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	2780	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	2781	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	2782	} else {
jobuuu	2:a1c0a37df760	2783	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	2784	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	2785	}
Lightvalve	13:747daba9cf59	2786
jobuuu	1:e04e563be5ce	2787	//pwm
Lightvalve	30:8d561f16383b	2788	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	2789	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	65:c2812cf26c38	2790
Lightvalve	59:bc8c8270f0ab	2791
Lightvalve	55:f4819de54e7a	2792	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	2793
Lightvalve	52:647072f5307a	2794	// Position, Velocity, and Torque (ID:1200)
Lightvalve	54:6f50d9d3bfee	2795	if (flag_data_request[0] == HIGH) {
Lightvalve	55:f4819de54e7a	2796	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	52:647072f5307a	2797	if (SENSING_MODE == 0) {
Lightvalve	65:c2812cf26c38	2798	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	52:647072f5307a	2799	} else if (SENSING_MODE == 1) {
Lightvalve	56:2eade98630e2	2800	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	2801	}
Lightvalve	55:f4819de54e7a	2802	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	52:647072f5307a	2803	if (SENSING_MODE == 0) {
Lightvalve	65:c2812cf26c38	2804	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	2805	} else if (SENSING_MODE == 1) {
Lightvalve	65:c2812cf26c38	2806	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	2807	}
Lightvalve	51:8ea76864368a	2808	}
Lightvalve	51:8ea76864368a	2809	}
Lightvalve	54:6f50d9d3bfee	2810	if (flag_data_request[1] == HIGH) {
Lightvalve	174:d5377766d7ea	2811	CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve	52:647072f5307a	2812	}
Lightvalve	56:2eade98630e2	2813
Lightvalve	56:2eade98630e2	2814
Lightvalve	166:bfc1fd2629d8	2815	if (flag_data_request[2] == HIGH) {
Lightvalve	164:645207e160ca	2816	double t_value = 0.0f;
Lightvalve	166:bfc1fd2629d8	2817	if(value>=(float) VALVE_CENTER) {
Lightvalve	129:d08121ac87ba	2818	t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	87:a7b45368ea0f	2819	} else {
Lightvalve	129:d08121ac87ba	2820	t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	87:a7b45368ea0f	2821	}
Lightvalve	164:645207e160ca	2822	double t_value_ref = 0.0f;
Lightvalve	164:645207e160ca	2823	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	164:645207e160ca	2824	t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	164:645207e160ca	2825	} else {
Lightvalve	164:645207e160ca	2826	t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	164:645207e160ca	2827	}
Lightvalve	164:645207e160ca	2828
Lightvalve	164:645207e160ca	2829
Lightvalve	164:645207e160ca	2830	CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve	53:b25725257569	2831	}
Lightvalve	56:2eade98630e2	2832
Lightvalve	55:f4819de54e7a	2833	//If it doesn't rest, below can can not work.
Lightvalve	55:f4819de54e7a	2834	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	55:f4819de54e7a	2835	;
Lightvalve	55:f4819de54e7a	2836	}
Lightvalve	56:2eade98630e2	2837
Lightvalve	164:645207e160ca	2838	if (flag_data_request[3] == HIGH) {
Lightvalve	52:647072f5307a	2839	//PWM
Lightvalve	200:ebc69d6ee6f1	2840	CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve	200:ebc69d6ee6f1	2841	// CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve	52:647072f5307a	2842	}
Lightvalve	174:d5377766d7ea	2843
Lightvalve	54:6f50d9d3bfee	2844	if (flag_data_request[4] == HIGH) {
Lightvalve	52:647072f5307a	2845	//valve position
Lightvalve	203:ec41f1449ef9	2846	//CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging21000.0f), (int16_t) (logging41000.0f)); //1600
Lightvalve	203:ec41f1449ef9	2847	CAN_TX_VALVE_POSITION((int16_t) gamma_hat, (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve	52:647072f5307a	2848	}
Lightvalve	20:806196fda269	2849
Lightvalve	52:647072f5307a	2850	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	51:8ea76864368a	2851	// if (flag_data_request[1] == HIGH) {
Lightvalve	51:8ea76864368a	2852	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	51:8ea76864368a	2853	// }
Lightvalve	52:647072f5307a	2854	//if (flag_delay_test == 1){
Lightvalve	56:2eade98630e2	2855	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	52:647072f5307a	2856	//}
Lightvalve	51:8ea76864368a	2857
Lightvalve	52:647072f5307a	2858	TMR2_COUNT_CAN_TX = 0;
Lightvalve	52:647072f5307a	2859	}
Lightvalve	52:647072f5307a	2860	TMR2_COUNT_CAN_TX++;
Lightvalve	51:8ea76864368a	2861
Lightvalve	20:806196fda269	2862	}
Lightvalve	51:8ea76864368a	2863	TIM3->SR = 0x0; // reset the status register
Lightvalve	51:8ea76864368a	2864
Lightvalve	56:2eade98630e2	2865	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Aug 2022
Imports:	0
Forks:	0
Commits:	245
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@207:ea3ce5d72ae3, 2020-12-24 (annotated)

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