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2011
Diff: main.cpp
- Revision:
- 30:8d561f16383b
- Parent:
- 29:69f3f5445d6d
- Child:
- 31:66738bfecec5
diff -r 69f3f5445d6d -r 8d561f16383b main.cpp --- a/main.cpp Wed Oct 02 04:41:59 2019 +0000 +++ b/main.cpp Fri Oct 04 11:58:18 2019 +0000 @@ -20,8 +20,8 @@ // PWM /////////////////////////////////////////// -double dtc_v=0.0; -double dtc_w=0.0; +float dtc_v=0.0f; +float dtc_w=0.0f; // I2C /////////////////////////////////////////// I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) @@ -62,11 +62,11 @@ State INIT_Pos; State INIT_torq; -double V_out=0.0; -double V_rem=0.0; // for anti-windup -double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV +float V_out=0.0f; +float V_rem=0.0f; // for anti-windup +float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV -double PWM_out=0.0; +float PWM_out=0.0f; int timer_while = 0; int while_index = 0; @@ -236,7 +236,7 @@ } } -int DDV_JOINT_POS_FF(double REF_JOINT_VEL) +int DDV_JOINT_POS_FF(float REF_JOINT_VEL) { int i = 0; @@ -244,9 +244,9 @@ for(i=0; i<VALVE_POS_NUM; i++) { if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) { if(i==0) { - Ref_Valve_Pos_FF = ((int) 10.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER; + Ref_Valve_Pos_FF = ((int) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER; } else { - Ref_Valve_Pos_FF = ((int) 10.0*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + 10*ID_index_array[i-1]; + Ref_Valve_Pos_FF = ((int) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + 10*ID_index_array[i-1]; } break; } @@ -257,13 +257,13 @@ Ref_Valve_Pos_FF = VALVE_MIN_POS; } - //Ref_Valve_Pos_FF = DDV_CENTER; + Ref_Valve_Pos_FF = (int) ( (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + (float) DDV_CENTER); return Ref_Valve_Pos_FF; } -void VALVE_POS_CONTROL(double REF_VALVE_POS) +void VALVE_POS_CONTROL(float REF_VALVE_POS) { int i = 0; @@ -286,26 +286,26 @@ // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0]) // { // if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) { -// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[0]); +// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]); // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) { -// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (double) ID_index_array[1]; +// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1]; // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) { -// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (double) ID_index_array[3]; +// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3]; // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) { -// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (double) ID_index_array[5]; +// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5]; // }else // VALVE_PWM_RAW_FF = 12000.0; // } // else // { // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) { -// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (double) ID_index_array[2]; +// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2]; // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) { -// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (double) ID_index_array[4]; +// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4]; // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) { -// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (double) ID_index_array[6]; +// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6]; // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) { -// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (double) ID_index_array[8]; +// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8]; // }else // VALVE_PWM_RAW_FF = -12000.0; // } @@ -313,9 +313,9 @@ for(i=0; i<24; i++) { if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { if(i==0) { - VALVE_PWM_RAW_FF = (double) 1000.0 / (double) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); + VALVE_PWM_RAW_FF = (float) 1000.0 / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); } else { - VALVE_PWM_RAW_FF = (double) 1000.0* (double) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0* (double) ID_index_array[i-1]; + VALVE_PWM_RAW_FF = (float) 1000.0* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0* (float) ID_index_array[i-1]; } break; } @@ -326,35 +326,35 @@ } #define LT_MAX_IDX 57 -double LT_PWM_duty[LT_MAX_IDX] = {-100.0, -80.0, -60.0, -50.0, -40.0, -35.0, -30.0, -25.0, -20.0, - -19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0, - -9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0, - 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0, - 11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0, - 25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0 +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, + -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, + -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, + 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, + 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, + 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f }; // duty -double LT_Voltage_Output[LT_MAX_IDX] = {-321.4, -291.3, -261.5, -246.8, -231.7, -223.9, -216.1, -207.9, -198.8, - -196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0, - -156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0, - 12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2, - 173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6, - 214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7 +float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f, + -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f, + -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f, + 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f, + 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f, + 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f }; // mV -double PWM_duty_byLT(double Ref_V) +float PWM_duty_byLT(float Ref_V) { - double PWM_duty = 0.0; + float PWM_duty = 0.0f; if(Ref_V<LT_Voltage_Output[0]) { - PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0]; + PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { - PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1]; + PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; } else { int idx = 0; for(idx=0; idx<LT_MAX_IDX-1; idx++) { - double ini_x = LT_Voltage_Output[idx]; - double fin_x = LT_Voltage_Output[idx+1]; - double ini_y = LT_PWM_duty[idx]; - double fin_y = LT_PWM_duty[idx+1]; + float ini_x = LT_Voltage_Output[idx]; + float fin_x = LT_Voltage_Output[idx+1]; + float ini_y = LT_PWM_duty[idx]; + float fin_y = LT_PWM_duty[idx+1]; if(Ref_V>=ini_x && Ref_V<fin_x) { PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; break; @@ -370,8 +370,8 @@ *******************************************************************************/ //unsigned long CNT_TMR4 = 0; -double FREQ_TMR4 = (double)FREQ_10k; -double DT_TMR4 = (double)DT_10k; +float FREQ_TMR4 = (float)FREQ_10k; +float DT_TMR4 = (float)DT_10k; extern "C" void TIM4_IRQHandler(void) { @@ -385,26 +385,26 @@ //Using LoadCell // ADC1->CR2 |= 0x40000000; // adc _ 12bit // //while((ADC1->SR & 0b10)); -// double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); -// double torque_new = ((double)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0; -// torq.sen = torq.sen*(1.0-alpha_update_torque)+torque_new*(alpha_update_torque); +// float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); +// float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f; +// torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque); //Pressure sensor A ADC1->CR2 |= 0x40000000; // adc _ 12bit //while((ADC1->SR & 0b10)); - double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); - double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; - pres_A.sen = pres_A.sen*(1.0-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); + float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); + float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; + pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); //Pressure sensor 1B //ADC2->CR2 |= 0x40000000; // adc _ 12bit //while((ADC2->SR & 0b10)); - double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); - double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR; - pres_B.sen = pres_B.sen*(1.0-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); - torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B; + float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); + float pres_B_new = ((float)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR; + pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); + torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; @@ -413,9 +413,9 @@ // a1=ADC2->DR; //int raw_cur = ADC3->DR; //while((ADC3->SR & 0b10)); - double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz - double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA - cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur); + float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); // f_cutoff : 500Hz + float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA + cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); //cur.sen = raw_cur; /******************************************************* @@ -429,10 +429,10 @@ int j =0; //unsigned long CNT_TMR3 = 0; -//double FREQ_TMR3 = (double)FREQ_5k; -double FREQ_TMR3 = (double)FREQ_1k; -//double DT_TMR3 = (double)DT_5k; -double DT_TMR3 = (double)DT_1k; +//float FREQ_TMR3 = (float)FREQ_5k; +float FREQ_TMR3 = (float)FREQ_1k; +//float DT_TMR3 = (float)DT_5k; +float DT_TMR3 = (float)DT_1k; extern "C" void TIM3_IRQHandler(void) { if (TIM3->SR & TIM_SR_UIF ) { @@ -442,12 +442,12 @@ switch (CONTROL_MODE) { case MODE_NO_ACT: { - V_out = 0; + V_out = 0.0f; break; } case MODE_VALVE_OPEN_LOOP: { - V_out = (double) Vout.ref; + V_out = (float) Vout.ref; break; } @@ -457,27 +457,27 @@ } case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: { - double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback - double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward - double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback + float PWM_RAW_POS_FB = 0.0f; // PWM by Position Feedback + float PWM_RAW_POS_FF = 0.0f; // PWM by Position Feedforward + float PWM_RAW_FORCE_FB = 0.0f; // PWM by Force Feedback // feedback input for position control - pos.err = pos.ref - (double) pos.sen; + pos.err = pos.ref - (float) pos.sen; pos.err_diff = pos.err - pos.err_old; pos.err_old = pos.err; pos.err_sum += pos.err; if (pos.err_sum > 1000) pos.err_sum = 1000; if (pos.err_sum<-1000) pos.err_sum = -1000; - // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff; - PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err; - PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01; + // PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff; + PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err; + PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01f; // feedforward input for position control - double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] - double K_ff = 0.9; - if(Ref_Vel_Act > 0) K_ff = 0.90; // open - if(Ref_Vel_Act > 0) K_ff = 0.75; // close - PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50; + float Ref_Vel_Act = vel.ref/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] + float K_ff = 0.9f; + if(Ref_Vel_Act > 0) K_ff = 0.90f; // open + if(Ref_Vel_Act > 0) K_ff = 0.75f; // close + PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50f; // torque feedback // torq.err = torq.ref - torq.sen; @@ -486,10 +486,10 @@ // torq.err_sum += torq.err; // if (torq.err_sum > 1000) torq.err_sum = 1000; // if (torq.err_sum<-1000) torq.err_sum = -1000; - // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff; - // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01; + // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; + // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f; - PWM_RAW_FORCE_FB = 0.0; + PWM_RAW_FORCE_FB = 0.0f; V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB; @@ -499,28 +499,28 @@ case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: { - double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback - //double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward - double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback + float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback + //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward + float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback //int DDV_JOINT_CAN = 0; // feedback input for position control - pos.err = pos.ref - (double) pos.sen; + pos.err = pos.ref - (float) pos.sen; pos.err_diff = pos.err - pos.err_old; pos.err_old = pos.err; pos.err_sum += pos.err; if (pos.err_sum > 1000) pos.err_sum = 1000; if (pos.err_sum<-1000) pos.err_sum = -1000; - VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff; - VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01; + VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff; + VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f; //Ref_Joint_Vel = Ref_Vel_Test; // feedforward input for position control - // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] - // double K_ff = 0.9; - // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open - // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close - // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50; + // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] + // float K_ff = 0.9f; + // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open + // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close + // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f; // torque feedback // torq.err = torq.ref - torq.sen; @@ -529,9 +529,9 @@ // torq.err_sum += torq.err; // if (torq.err_sum > 1000) torq.err_sum = 1000; // if (torq.err_sum<-1000) torq.err_sum = -1000; - // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff; - // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01; - VALVE_POS_RAW_FORCE_FB = 0.0; + // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; + // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f; + VALVE_POS_RAW_FORCE_FB = 0.0f; valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB; //valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER; @@ -547,13 +547,13 @@ } case MODE_JOINT_POSITION_PRES_CONTROL_PWM: { - pos.err = pos.ref - (double) pos.sen; + pos.err = pos.ref - (float) pos.sen; pos.err_diff = pos.err - pos.err_old; pos.err_old = pos.err; pos.err_sum += pos.err; if (pos.err_sum > 1000) pos.err_sum = 1000; if (pos.err_sum<-1000) pos.err_sum = -1000; - VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01; + VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f; torq.err = torq.ref - torq.sen; torq.err_diff = torq.err - torq.err_old; @@ -561,60 +561,60 @@ torq.err_sum += torq.err; if (torq.err_sum > 1000) torq.err_sum = 1000; if (torq.err_sum<-1000) torq.err_sum = -1000; - VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff; + VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; - VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01; + VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f; - V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ; + V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ; - CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587; - CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L)) + CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f; + CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L)) if (DIR_VALVE > 0) { - if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0; - else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5; + if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f; + else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5; else VALVE_FF_VOLTAGE = 0; } else { - if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0; - else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0; - else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5; + if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f; + else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5; else VALVE_FF_VOLTAGE = 0; } - // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5; + // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f; - if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.)) - else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707; + if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.)) + else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f; V_out = V_out + VALVE_FF_VOLTAGE; break; } case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: { - pos.err = pos.ref - (double) pos.sen; + pos.err = pos.ref - (float) pos.sen; pos.err_diff = pos.err - pos.err_old; pos.err_old = pos.err; pos.err_sum += pos.err; if (pos.err_sum > 1000) pos.err_sum = 1000; if (pos.err_sum<-1000) pos.err_sum = -1000; - VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01; + VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f; torq.err = torq.ref - torq.sen; torq.err_diff = torq.err - torq.err_old; @@ -622,7 +622,7 @@ torq.err_sum += torq.err; if (torq.err_sum > 1000) torq.err_sum = 1000; if (torq.err_sum<-1000) torq.err_sum = -1000; - VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff; + VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ; VALVE_POS_CONTROL(valve_pos.ref); @@ -643,16 +643,16 @@ TMR3_COUNT_IREF++; // Set Current Reference - double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0; - double I_REF_MID = 0.0; + float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f; + float I_REF_MID = 0.0f; if (TMR3_COUNT_IREF < TMR3_CNT_MAX) { - I_REF = I_REF_MID + 1.0; + I_REF = I_REF_MID + 1.0f; } else { - I_REF = I_REF_MID - 1.0; + I_REF = I_REF_MID - 1.0f; } -// double T = 1.0; // wave period -// I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T)); -// I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))); +// float T = 1.0; // wave period +// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T)); +// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))); if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas @@ -667,8 +667,8 @@ TMR3_COUNT_IREF++; // Set PWM reference - double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0; - //double I_REF_MID = 0.0; + float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f; + //float I_REF_MID = 0.0f; if (TMR3_COUNT_IREF < TMR3_CNT_MAX) { CUR_PWM = 1000; } else { @@ -676,7 +676,7 @@ } if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { - //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas + //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas } break; } @@ -690,32 +690,32 @@ } case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: { - double I_REF_POS_FB = 0.0; // I_REF by Position Feedback - double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward - double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback - double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward + float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback + float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward + float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback + float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward // feedback input for position control pos.err = pos.ref - pos.sen; - double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz - double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k; - pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; + float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz + float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k; + pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; pos.err_old = pos.err; - I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1); + I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f); // feedforward input for position control - double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] - double K_ff = 1.3; - double K_v = 0.0; - if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA) - if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA) + float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] + float K_ff = 1.3f; + float K_v = 0.0f; + if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA) + if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA) I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; // feedback input for position control - I_REF_FORCE_FB = 0.0; + I_REF_FORCE_FB = 0.0f; // feedforward input for position control - I_REF_FORCE_FF = 0.0; + I_REF_FORCE_FF = 0.0f; cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF; @@ -725,79 +725,79 @@ } case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: { - //double T_REF = 0.0; // Torque Reference - double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback - double I_REF_VC = 0.; // I_REF for velocity compensation + //float T_REF = 0.0; // Torque Reference + float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback + float I_REF_VC = 0.; // I_REF for velocity compensation // feedback input for position control - //double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] - //double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] - //double K_spring = 0.7; - //double D_damper = 0.02; + //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] + //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] + //float K_spring = 0.7f; + //float D_damper = 0.02f; // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm // torque feedback torq.err = torq.ref - torq.sen; // torq.err_diff = torq.err - torq.err_old; // torq.err_old = torq.err; - torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k; - I_REF_FORCE_FB = 0.001*((double)P_GAIN_JOINT_TORQUE * torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum); + torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k; + I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum); // velocity compensation for torque control - double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] - double K_vc = 1.5; // Velocity comp. gain - double K_v = 0.0; // Valve gain - if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning - if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning + float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] + float K_vc = 1.5f; // Velocity comp. gain + float K_v = 0.0f; // Valve gain + if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning + if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning I_REF_VC = K_vc*K_v*Joint_Vel_Act; cur.ref = I_REF_VC + I_REF_FORCE_FB; // cur.ref = I_REF_FORCE_FB; - double I_MAX = 10.00; // Maximum Current : 10mV - double Ka = 1.0/I_GAIN_JOINT_TORQUE; + float I_MAX = 10.0f; // Maximum Current : 10mV + float Ka = 1.0f/I_GAIN_JOINT_TORQUE; if(cur.ref > I_MAX) { - double I_rem = cur.ref-I_MAX; + float I_rem = cur.ref-I_MAX; I_rem = Ka*I_rem; cur.ref = I_MAX; - torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k; + torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k; } else if(cur.ref < -I_MAX) { - double I_rem = cur.ref-(-I_MAX); + float I_rem = cur.ref-(-I_MAX); I_rem = Ka*I_rem; cur.ref = -I_MAX; - torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k; + torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k; } CurrentControl(); /* - double I_REF_POS_FB = 0.0; // I_REF by Position Feedback - double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward - double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback - double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward + float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback + float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward + float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback + float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward // feedback input for position control pos.err = pos.ref - pos.sen; - double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz - double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k; - pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; + float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz + float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k; + pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; pos.err_old = pos.err; - I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1); + I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f); // feedforward input for position control - double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] - double K_ff = 1.3; - double K_v = 0.0; - if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA) - if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA) + float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] + float K_ff = 1.3f; + float K_v = 0.0f; + if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA) + if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA) I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; // feedback input for position control - I_REF_FORCE_FB = 0.0; + I_REF_FORCE_FB = 0.0f; // feedforward input for position control - I_REF_FORCE_FF = 0.0; + I_REF_FORCE_FF = 0.0f; cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF; @@ -813,18 +813,18 @@ CUR_TORQUE_sum += torq.sen; if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { - CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0; + CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; CUR_TORQUE_sum = 0; - TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean); + TORQUE_VREF += 0.0001f * (TORQUE_NULL - CUR_TORQUE_mean); - if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3; + if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; if (TORQUE_VREF < 0) TORQUE_VREF = 0; ROM_RESET_DATA(); //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); - dac_1 = TORQUE_VREF / 3.3; + dac_1 = TORQUE_VREF / 3.3f; } } else { CONTROL_MODE = MODE_NO_ACT; @@ -837,7 +837,7 @@ //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); //pc.printf("%f\n", TORQUE_VREF); - dac_1 = TORQUE_VREF / 3.3; + dac_1 = TORQUE_VREF / 3.3f; } TMR3_COUNT_TORQUE_NULL++; @@ -850,7 +850,7 @@ else temp_time = 0; } if (need_enc_init) { - if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) { + if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { V_out = VALVE_VOLTAGE_LIMIT; pos_plus_end = pos.sen; } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { @@ -861,10 +861,10 @@ } if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { - V_out = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen); + V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; - } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) { + } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { V_out = 0; CUR_VELOCITY_sum += CUR_VELOCITY; } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { @@ -927,7 +927,7 @@ cnt_vel_findhome = 0; //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO pos.ref_home_pos = pos.sen; - vel.ref_home_pos = 0.0; + vel.ref_home_pos = 0.0f; FINDHOME_STAGE = FINDHOME_GOTOLIMIT; } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { int cnt_check_enc = (TMR_FREQ_5k/500); @@ -937,7 +937,7 @@ FINDHOME_POSITION_OLD = FINDHOME_POSITION; } cnt_findhome++; - if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0; + //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0; if (abs(FINDHOME_VELOCITY) <= 1) { cnt_vel_findhome = cnt_vel_findhome + 1; @@ -945,22 +945,22 @@ cnt_vel_findhome = 0; } - if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec + if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec //REFERENCE_MODE = MODE_REF_NO_ACT; - if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 1.0; - else pos.ref_home_pos = pos.ref_home_pos - 1.0; + if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f; + else pos.ref_home_pos = pos.ref_home_pos - 2.0f; pos.err = pos.ref_home_pos - pos.sen; - double VALVE_POS_RAW_POS_FB = 0.0; - VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err; - VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01; + float VALVE_POS_RAW_POS_FB = 0.0f; + VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err; + VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f; valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER; VALVE_POS_CONTROL(valve_pos.ref); - //double wn_Pos = 2.0*PI*5.0; // f_cut : 10Hz Position Control - //I_REF = 0.04*wn_Pos*((double)joint_pos_err/ENC_PULSE_PER_POSITION); + //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control + //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION); //// L velocity >> mA convert - //if(I_REF>5.0) I_REF = 5.0; - //if(I_REF<-5.0) I_REF = -5.0; + //if(I_REF>5.0f) I_REF = 5.0f; + //if(I_REF<-5.0f) I_REF = -5.0f; //FLAG_CURRNET_CONTROL = true; } else { ENC_SET(HOMEPOS_OFFSET); @@ -976,32 +976,32 @@ } } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { int T_move = 2*TMR_FREQ_5k; - pos.ref_home_pos = (0.0 - (double)INIT_REF_POS)*0.5*(1.0 - cos(3.14159 * (double)cnt_findhome / (double)T_move)) + (double)INIT_REF_POS; - vel.ref_home_pos = 0.0; + pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; + vel.ref_home_pos = 0.0f; // input for position control - pos.err = (pos.ref_home_pos - (double)pos.sen) / ENC_PULSE_PER_POSITION; - double VALVE_POS_RAW_POS_FB = 0.0; - VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err; - VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01; + pos.err = (pos.ref_home_pos - (float)pos.sen) / ENC_PULSE_PER_POSITION; + float VALVE_POS_RAW_POS_FB = 0.0f; + VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err; + VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f; valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER; VALVE_POS_CONTROL(valve_pos.ref); // if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode -// double wn_Pos = 2.0*PI*5.0; // f_cut : 10Hz Position Control -// double temp_vel = ( 0.01 * (double)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0; // rad/s +// float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control +// float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s // // L when P-gain = 100, f_cut = 10Hz -// if (temp_vel > 0.0 ) I_REF = temp_vel*((double)PISTON_AREA_A*0.00006/(K_v*sqrt(2.0*alpha3/(alpha3+1.0)))); -// else I_REF = temp_vel*((double)PISTON_AREA_B*0.00006/(K_v*sqrt(2.0/(alpha3+1.0)))); +// if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f)))); +// else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f)))); // // ------------------------------------------------------------------------ // // L thetadot(rad/s) >> I_ref(mA) // } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode -// double wn_Pos = 2.0*PI*5.0; // f_cut : 10Hz Position Control -// double temp_vel = ( 0.01 * (double)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s +// float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control +// float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s // // L when P-gain = 100, f_cut = 10Hz -// if (temp_vel > 0.0 ) I_REF = temp_vel*((double)PISTON_AREA_A*0.00006/(K_v*sqrt(2.0*alpha3/(alpha3+1.0)))); -// else I_REF = temp_vel*((double)PISTON_AREA_B*0.00006/(K_v*sqrt(2.0/(alpha3+1.0)))); +// if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f)))); +// else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f)))); // // ------------------------------------------------------------------------ // // L xdot(mm/s) >> I_ref(mA) // } @@ -1010,10 +1010,10 @@ if (cnt_findhome >= T_move) { //REFERENCE_MODE = MODE_REF_DIRECT; cnt_findhome = 0; - pos.ref = 0.0; - vel.ref = 0.0; - pos.ref_home_pos = 0.0; - vel.ref_home_pos = 0.0; + pos.ref = 0.0f; + vel.ref = 0.0f; + pos.ref_home_pos = 0.0f; + vel.ref_home_pos = 0.0f; FINDHOME_STAGE = FINDHOME_INIT; CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION; } @@ -1027,11 +1027,11 @@ if (pos_plus_end == pos_minus_end) need_enc_init = true; else { V_out = -VALVE_VOLTAGE_LIMIT; - temp_time = (int) (0.5 * (double) TMR_FREQ_5k); + temp_time = (int) (0.5f * (float) TMR_FREQ_5k); } } if (need_enc_init) { - if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) { + if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { V_out = VALVE_VOLTAGE_LIMIT; pos_plus_end = pos.sen; } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { @@ -1039,8 +1039,8 @@ pos_minus_end = pos.sen; } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { need_enc_init = false; - check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end)); - check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end)); + check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); + check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; } temp_time = TMR_FREQ_5k; @@ -1048,23 +1048,23 @@ TMR3_COUNT_FLOWRATE++; if (TMR3_COUNT_FLOWRATE > temp_time) { if (flag_flowrate % 2 == 0) { // (+) - VALVE_VOLTAGE = 1000.0 * (double) (flag_flowrate / 2 + 1); + VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); V_out = VALVE_VOLTAGE; if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { fl_temp_cnt++; } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { - VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 - // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec + VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 + // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec fl_temp_cnt2++; } } else if (flag_flowrate % 2 == 1) { // (-) - VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1); + VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); V_out = VALVE_VOLTAGE; if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { fl_temp_cnt++; } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { - VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); - // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec + 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); + // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec fl_temp_cnt2++; } } @@ -1072,7 +1072,7 @@ ROM_RESET_DATA(); - //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0)); + //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); cur_vel_sum = 0; fl_temp_cnt = 0; fl_temp_cnt2 = 0; @@ -1101,22 +1101,22 @@ CUR_PRES_B_sum += pres_B.sen; if (TMR3_COUNT_PRES_NULL % 10 == 0) { - CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0; - CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0; + CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; + CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; - double VREF_NullingGain = 0.003; + float VREF_NullingGain = 0.003f; PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean); PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean); - if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3; - if (PRES_A_VREF < 0) PRES_A_VREF = 0; - if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3; - if (PRES_B_VREF < 0) PRES_B_VREF = 0; + if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; + if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; + if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; + if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; - dac_1 = PRES_A_VREF / 3.3; - dac_2 = PRES_B_VREF / 3.3; + dac_1 = PRES_A_VREF / 3.3f; + dac_2 = PRES_B_VREF / 3.3f; } } else { CONTROL_MODE = MODE_NO_ACT; @@ -1128,8 +1128,8 @@ ROM_RESET_DATA(); - dac_1 = PRES_A_VREF / 3.3; - dac_2 = PRES_B_VREF / 3.3; + dac_1 = PRES_A_VREF / 3.3f; + dac_2 = PRES_B_VREF / 3.3f; //pc.printf("nulling end"); } TMR3_COUNT_PRES_NULL++; @@ -1151,10 +1151,10 @@ CONTROL_MODE = MODE_NO_ACT; TMR3_COUNT_PRES_CALIB = 0; V_out = 0; - PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_A_NULL; - PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0); - PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_B_NULL; - PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0); + PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; + PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); + PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; + PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; CUR_PRES_A_mean = 0; @@ -1162,22 +1162,22 @@ ROM_RESET_DATA(); - //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0)); - //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0)); + //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); + //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); } TMR3_COUNT_PRES_CALIB++; break; } case MODE_ROTARY_FRICTION_TUNING: { - if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05); - V_out = PWM_out * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001); + 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); + V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT; else V_out = -VALVE_VOLTAGE_LIMIT; TMR3_COUNT_ROTARY_FRIC_TUNE++; if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { TMR3_COUNT_ROTARY_FRIC_TUNE = 0; - V_out = 0; + V_out = 0.0f; CONTROL_MODE = MODE_NO_ACT; } break; @@ -1187,9 +1187,9 @@ VALVE_ID_timer = VALVE_ID_timer + 1; if(VALVE_ID_timer < TMR_FREQ_5k*1) { - V_out = 3000.0 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100.0); + V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { - V_out = 1000.0*(ID_index_array[ID_index]); + V_out = 1000.0f*(ID_index_array[ID_index]); } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { VALVE_POS_TMP = 0; data_num = 0; @@ -1228,43 +1228,43 @@ VALVE_DZ_timer = VALVE_DZ_timer + 1; if(first_check == 0) { - if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { + if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { V_out = VALVE_VOLTAGE_LIMIT; - } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { V_out = VALVE_VOLTAGE_LIMIT; pos_plus_end = pos.sen; - } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { V_out = -VALVE_VOLTAGE_LIMIT; - } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { V_out = -VALVE_VOLTAGE_LIMIT; pos_minus_end = pos.sen; - } else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) { - V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen); - } else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) { - V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen); + } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { + V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); + } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { + V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); data_num = data_num + 1; VALVE_POS_TMP = VALVE_POS_TMP + value; - } else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) { - V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen); + } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { + V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); DDV_POS_AVG = VALVE_POS_TMP / data_num; START_POS = pos.sen; //CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num)); VALVE_POS_TMP = 0; data_num = 0; - } else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS)); - } else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); if(CUR_VELOCITY >= 0) VEL_POINT = VEL_POINT + 1; else VEL_POINT = VEL_POINT - 1; - } else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); FINAL_POS = pos.sen; @@ -1301,11 +1301,11 @@ } } else { if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { - if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { - V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen); - } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { + if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { + V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); + } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; - } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; @@ -1317,7 +1317,7 @@ VEL_POINT = VEL_POINT + 1; else VEL_POINT = VEL_POINT - 1; - } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; // if(VEL_POINT >= 0) @@ -1350,11 +1350,11 @@ //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index)); } } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { - if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { - V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen); - } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { + if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { + V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); + } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; - } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; @@ -1366,7 +1366,7 @@ VEL_POINT = VEL_POINT + 1; else VEL_POINT = VEL_POINT - 1; - } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; // if(VEL_POINT >= 0) @@ -1391,7 +1391,7 @@ DZ_index= DZ_index *2; if(DZ_index >= 128) { SECOND_DZ = valve_pos.ref; - DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ)); + DDV_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); first_check = 0; VALVE_DEADZONE_MINUS = FIRST_DZ; VALVE_DEADZONE_PLUS = SECOND_DZ; @@ -1409,11 +1409,11 @@ //CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index)); } } else if(DZ_case == 0 && DZ_NUM ==1) { - if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { - V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen); - } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { + if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { + V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); + } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; - } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; @@ -1425,7 +1425,7 @@ VEL_POINT = VEL_POINT + 1; else VEL_POINT = VEL_POINT - 1; - } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; // if(VEL_POINT >= 0) @@ -1456,11 +1456,11 @@ } } } else { - if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { - V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen); - } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { + if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { + V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); + } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; - } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; @@ -1472,7 +1472,7 @@ VEL_POINT = VEL_POINT + 1; else VEL_POINT = VEL_POINT - 1; - } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; if(VEL_POINT >= 0) @@ -1490,7 +1490,7 @@ DZ_index= DZ_index *2; if(DZ_index >= 128) { SECOND_DZ = valve_pos.ref; - DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ)); + DDV_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); first_check = 0; VALVE_DEADZONE_MINUS = FIRST_DZ; //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ); @@ -1515,16 +1515,16 @@ case MODE_DDV_POS_VS_FLOWRATE: { VALVE_FR_timer = VALVE_FR_timer + 1; if(first_check == 0) { - if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { + if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { V_out = VALVE_VOLTAGE_LIMIT; //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); - } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { V_out = VALVE_VOLTAGE_LIMIT; pos_plus_end = pos.sen; // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); - } else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { V_out = -VALVE_VOLTAGE_LIMIT; - } else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); V_out = -VALVE_VOLTAGE_LIMIT; pos_minus_end = pos.sen; @@ -1536,23 +1536,23 @@ min_check = 0; } } else { - if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { - V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen); - } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { + if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { + V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); + } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { data_num = 0; valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER; VALVE_POS_CONTROL(valve_pos.ref); START_POS = pos.sen; - } else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER; VALVE_POS_CONTROL(valve_pos.ref); data_num = data_num + 1; - if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000.0) { + if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { FINAL_POS = pos.sen; one_period_end = 1; } - } else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) { + } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { FINAL_POS = pos.sen; one_period_end = 1; } @@ -1573,7 +1573,7 @@ one_period_end = 0; ID_index= ID_index +1; // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index)); - V_out = 0.0; + V_out = 0.0f; } if(max_check == 1 && min_check == 1) { @@ -1611,8 +1611,8 @@ VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER; // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone) - double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0*1000.0; // convert PWM duty to mV - double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin); + float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV + float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin); if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143; else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138; @@ -1624,11 +1624,11 @@ /******************************************************* *** PWM ********************************************************/ - if (V_out >= 12000.0){ - V_out = 12000.0; + if (V_out >= 12000.0f){ + V_out = 12000.0f; } - else if(V_out<=-12000.0){ - V_out = -12000.0; + else if(V_out<=-12000.0f){ + V_out = -12000.0f; } PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV @@ -1637,20 +1637,20 @@ // else if (PWM_out < -0.41667) PWM_out=-0.41667; // Saturation of output voltage to 12.0V - if(PWM_out > 1.0) PWM_out=1.0; - else if (PWM_out < -1.0) PWM_out=-1.0; + if(PWM_out > 1.0f) PWM_out=1.0f; + else if (PWM_out < -1.0f) PWM_out=-1.0f; - if (PWM_out>0.0) { - dtc_v=0.0; + if (PWM_out>0.0f) { + dtc_v=0.0f; dtc_w=PWM_out; } else { dtc_v=-PWM_out; - dtc_w=0.0; + dtc_w=0.0f; } //pwm - TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v); - TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w); + TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); + TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); } TIM3->SR = 0x0; // reset the status register @@ -1660,8 +1660,8 @@ //unsigned long CNT_TMR5 = 0; -//double FREQ_TMR5 = (double)FREQ_500; -//double DT_TMR5 = (double)DT_500; +//float FREQ_TMR5 = (float)FREQ_500; +//float DT_TMR5 = (float)DT_500; extern "C" void TIM2_IRQHandler(void) { if (TIM2->SR & TIM_SR_UIF ) { @@ -1730,19 +1730,19 @@ cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4; cur.err_old = cur.err; - double R_model = 150.0; // ohm - double L_model = 0.3; - double w0 = 2.0*3.14*90.0; - double KP_I = L_model*w0; - double KI_I = R_model*w0; - double KD_I = 0.0; + float R_model = 150.0f; // ohm + float L_model = 0.3f; + float w0 = 2.0f*3.14f*90.0f; + float KP_I = L_model*w0; + float KI_I = R_model*w0; + float KD_I = 0.0f; - double FF_gain = 0.0; + float FF_gain = 0.0f; V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff); // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV - double Ka = 5.0/KP_I; + float Ka = 5.0f/KP_I; if(V_out > V_MAX) { V_rem = V_out-V_MAX; V_rem = Ka*V_rem; @@ -1757,3 +1757,4 @@ } +