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2011
main.cpp@211:6fe9886cdb6e, 2020-12-23 (annotated)
- Committer:
- Lightvalve
- Date:
- Wed Dec 23 06:27:15 2020 +0000
- Revision:
- 211:6fe9886cdb6e
- Parent:
- 210:efc3a92cc6be
- Child:
- 212:ec41f1449ef9
201223-3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 211:6fe9886cdb6e | 1 | //201223_3 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 11 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 12 | #include <string> |
Lightvalve | 170:42c938a40313 | 13 | #include <iostream> |
Lightvalve | 179:d5377766d7ea | 14 | #include <cmath> |
Lightvalve | 61:bc8c8270f0ab | 15 | |
Lightvalve | 61:bc8c8270f0ab | 16 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 17 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 18 | |
Lightvalve | 31:66738bfecec5 | 19 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 20 | |
jobuuu | 7:e9086c72bb22 | 21 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 22 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 23 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 24 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 25 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 26 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 27 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 28 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 29 | |
Lightvalve | 24:ef6e1092e9e6 | 30 | |
jobuuu | 7:e9086c72bb22 | 31 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 32 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 34 | |
jobuuu | 7:e9086c72bb22 | 35 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 36 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 37 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 38 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 39 | |
jobuuu | 7:e9086c72bb22 | 40 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 41 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 42 | DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 43 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 44 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 45 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 46 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 50 | |
jobuuu | 7:e9086c72bb22 | 51 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 52 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 53 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 54 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 55 | { |
Lightvalve | 11:82d8768d7351 | 56 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 57 | } |
jobuuu | 2:a1c0a37df760 | 58 | |
jobuuu | 7:e9086c72bb22 | 59 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 60 | State pos; |
jobuuu | 7:e9086c72bb22 | 61 | State vel; |
jobuuu | 7:e9086c72bb22 | 62 | State Vout; |
jobuuu | 7:e9086c72bb22 | 63 | State torq; |
Lightvalve | 207:c70c5a9f17dd | 64 | State torq_dot; |
jobuuu | 7:e9086c72bb22 | 65 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 66 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 67 | State cur; |
Lightvalve | 14:8e7590227d22 | 68 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 69 | |
Lightvalve | 14:8e7590227d22 | 70 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 71 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 72 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 73 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 74 | |
Lightvalve | 19:23b7c1ad8683 | 75 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 77 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 78 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 79 | |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 84 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 85 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 86 | |
Lightvalve | 61:bc8c8270f0ab | 87 | |
Lightvalve | 61:bc8c8270f0ab | 88 | |
Lightvalve | 61:bc8c8270f0ab | 89 | |
jobuuu | 7:e9086c72bb22 | 90 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 91 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 92 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 93 | |
Lightvalve | 12:6f2531038ea4 | 94 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 95 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 96 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 97 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 98 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 100 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 101 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 102 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 103 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 104 | }; |
Lightvalve | 12:6f2531038ea4 | 105 | |
Lightvalve | 12:6f2531038ea4 | 106 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 107 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 108 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 109 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 110 | //control mode |
Lightvalve | 12:6f2531038ea4 | 111 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 112 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 113 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 114 | |
Lightvalve | 47:fdcb8bd86fd6 | 115 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 116 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 171:bfc1fd2629d8 | 117 | MODE_RL, //5 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 121 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 122 | |
Lightvalve | 12:6f2531038ea4 | 123 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 124 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 125 | |
Lightvalve | 14:8e7590227d22 | 126 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 127 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 128 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 171:bfc1fd2629d8 | 129 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 |
Lightvalve | 13:747daba9cf59 | 130 | |
Lightvalve | 12:6f2531038ea4 | 131 | //utility |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 135 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 138 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 139 | |
Lightvalve | 12:6f2531038ea4 | 140 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 141 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 142 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 143 | MODE_SYSTEM_ID, //33 |
Lightvalve | 169:645207e160ca | 144 | MODE_FREQ_TEST, //34 |
Lightvalve | 169:645207e160ca | 145 | MODE_SEND_BUFFER, //35 |
Lightvalve | 169:645207e160ca | 146 | MODE_SEND_OVER, //36 |
Lightvalve | 169:645207e160ca | 147 | MODE_STEP_TEST, //37 |
Lightvalve | 12:6f2531038ea4 | 148 | }; |
Lightvalve | 12:6f2531038ea4 | 149 | |
Lightvalve | 65:a2d7c63419c2 | 150 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 151 | { |
Lightvalve | 169:645207e160ca | 152 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 169:645207e160ca | 153 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 154 | |
Lightvalve | 169:645207e160ca | 155 | /** Configure the main internal regulator output voltage |
Lightvalve | 169:645207e160ca | 156 | */ |
Lightvalve | 169:645207e160ca | 157 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 169:645207e160ca | 158 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 169:645207e160ca | 159 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 160 | */ |
Lightvalve | 169:645207e160ca | 161 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 169:645207e160ca | 162 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 169:645207e160ca | 163 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 169:645207e160ca | 164 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 169:645207e160ca | 165 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 169:645207e160ca | 166 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 169:645207e160ca | 167 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 169:645207e160ca | 168 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 169:645207e160ca | 169 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 169:645207e160ca | 170 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 169:645207e160ca | 171 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 172 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 173 | } |
Lightvalve | 169:645207e160ca | 174 | /** Activate the Over-Drive mode |
Lightvalve | 169:645207e160ca | 175 | */ |
Lightvalve | 169:645207e160ca | 176 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 169:645207e160ca | 177 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 178 | } |
Lightvalve | 169:645207e160ca | 179 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 180 | */ |
Lightvalve | 169:645207e160ca | 181 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 169:645207e160ca | 182 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 169:645207e160ca | 183 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 169:645207e160ca | 184 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 169:645207e160ca | 185 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 169:645207e160ca | 186 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 169:645207e160ca | 188 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 189 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 190 | } |
Lightvalve | 65:a2d7c63419c2 | 191 | } |
Lightvalve | 65:a2d7c63419c2 | 192 | |
Lightvalve | 99:7bbcb3c0fb06 | 193 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 194 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 195 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 196 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 197 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 198 | |
Lightvalve | 73:f80dc3970c99 | 199 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 200 | |
Lightvalve | 169:645207e160ca | 201 | const float h1[num_input][16] = { |
Lightvalve | 211:6fe9886cdb6e | 202 | {-1.546078085899353f,0.361652135848999f,0.12903714179992676f,-1.0499156713485718f,-1.5020780563354492f,0.799557089805603f,-0.17472904920578003f,1.6538918018341064f,-0.33628979325294495f,-1.0321094989776611f,-0.23684848845005035f,-0.9042033553123474f,-0.25509142875671387f,-1.1200040578842163f,-0.2571594715118408f,-0.6349852085113525f}, |
Lightvalve | 211:6fe9886cdb6e | 203 | {-0.8596522808074951f,-0.3120137155056f,-0.3927857577800751f,-1.1837406158447266f,-0.7431631088256836f,0.11158730834722519f,-0.4054011106491089f,0.4331357181072235f,-0.13612186908721924f,0.5075802206993103f,-0.27370503544807434f,-0.5497169494628906f,0.24488189816474915f,-1.353187918663025f,-0.20967772603034973f,-0.2520674169063568f}, |
Lightvalve | 211:6fe9886cdb6e | 204 | {-1.027856707572937f,0.2214081585407257f,0.36391180753707886f,-1.4669344425201416f,-0.6888070702552795f,0.08477509766817093f,0.2872133255004883f,0.6314951181411743f,-0.23233523964881897f,0.12511108815670013f,-0.34768086671829224f,-0.4033336937427521f,0.006954585202038288f,-1.001330852508545f,0.05590221285820007f,-0.35799112915992737f}, |
Lightvalve | 211:6fe9886cdb6e | 205 | {-0.8887169361114502f,0.9978446364402771f,0.39742106199264526f,-0.22255514562129974f,-0.8239138722419739f,-0.41667890548706055f,-0.11584559082984924f,0.975131630897522f,-0.06620155274868011f,-0.9019508957862854f,0.09614303708076477f,0.20408129692077637f,-0.1548970490694046f,-0.6461730003356934f,-0.2961459457874298f,0.17067596316337585f}, |
Lightvalve | 211:6fe9886cdb6e | 206 | {0.6723200082778931f,1.1419994831085205f,-0.0051451027393341064f,1.0692040920257568f,0.10727441310882568f,-0.5531254410743713f,0.1294034719467163f,-0.25556430220603943f,-0.07107188552618027f,-1.0929906368255615f,0.3479995131492615f,0.2231312096118927f,-0.058105532079935074f,0.8237587809562683f,-0.3865056037902832f,0.11934724450111389f}, |
Lightvalve | 211:6fe9886cdb6e | 207 | {3.7127530574798584f,-2.5174219608306885f,0.21773302555084229f,3.0477185249328613f,3.436016082763672f,-1.961868166923523f,0.16514194011688232f,-3.4211652278900146f,-0.0615205354988575f,2.477680206298828f,-0.2475488781929016f,0.8490079045295715f,-0.2543642520904541f,3.181417226791382f,-0.4132833778858185f,0.3736213147640228f}, |
Lightvalve | 211:6fe9886cdb6e | 208 | {-0.26929038763046265f,3.1808366775512695f,-0.2501986622810364f,-4.459082126617432f,-1.539385199546814f,0.6246992349624634f,0.06014183163642883f,-1.5718029737472534f,0.06852987408638f,-1.5334218740463257f,0.15086963772773743f,-0.08829033374786377f,-0.17151489853858948f,3.3346705436706543f,-0.15618428587913513f,-0.29000696539878845f}, |
Lightvalve | 211:6fe9886cdb6e | 209 | {-1.1418464183807373f,1.525067687034607f,-0.26619744300842285f,0.19319379329681396f,-1.3049606084823608f,0.38398781418800354f,-0.17925891280174255f,0.7847610116004944f,-0.10247176140546799f,-0.9229041934013367f,0.10430599004030228f,-0.8101029396057129f,0.3782026171684265f,-0.81373530626297f,0.04303058981895447f,-0.20076002180576324f}, |
Lightvalve | 211:6fe9886cdb6e | 210 | {0.4776228070259094f,-1.9194914102554321f,0.10248100757598877f,-0.7253445386886597f,0.7790623307228088f,-0.7391023635864258f,-0.07246989011764526f,-1.3036123514175415f,-0.4540105164051056f,3.632073402404785f,-0.2983750104904175f,-0.27986952662467957f,0.23655663430690765f,-0.36471793055534363f,-0.30555272102355957f,-0.650860607624054f}, |
Lightvalve | 211:6fe9886cdb6e | 211 | {-0.27427127957344055f,-2.133636713027954f,0.18462657928466797f,-0.8196331858634949f,0.28979337215423584f,-0.3763601779937744f,-0.2990540862083435f,-0.35786694288253784f,-0.1715877801179886f,1.369327187538147f,-0.009420383721590042f,-1.114159345626831f,0.3801093101501465f,-0.5582246780395508f,0.3484981060028076f,-0.8675364851951599f}, |
Lightvalve | 211:6fe9886cdb6e | 212 | {0.17901860177516937f,-1.224602460861206f,0.37182438373565674f,-0.17586977779865265f,-0.19623121619224548f,-0.3711324632167816f,-0.20339298248291016f,0.016905533149838448f,-0.5214647054672241f,0.6325316429138184f,0.34721440076828003f,-0.8592796921730042f,-0.05839260667562485f,-0.005120187532156706f,0.26688337326049805f,-0.9529700875282288f}, |
Lightvalve | 211:6fe9886cdb6e | 213 | {-0.06906984001398087f,-1.2341407537460327f,-0.40320003032684326f,0.02483939193189144f,0.1510181427001953f,-0.5047181844711304f,0.1533789038658142f,0.14664340019226074f,-0.16939152777194977f,0.3664097189903259f,-0.4153592884540558f,-0.17172104120254517f,0.15277211368083954f,0.43496182560920715f,0.10493969917297363f,-0.41127416491508484f}, |
Lightvalve | 211:6fe9886cdb6e | 214 | {0.023423831909894943f,-0.88052898645401f,0.19847965240478516f,0.30479538440704346f,0.2847832441329956f,-0.2262878566980362f,-0.2404318004846573f,0.18100465834140778f,-0.1452060043811798f,0.01916847750544548f,-0.10988222062587738f,-0.33172914385795593f,0.09968993812799454f,0.26685139536857605f,-0.22268100082874298f,-0.4445679485797882f}, |
Lightvalve | 211:6fe9886cdb6e | 215 | {-0.09026174992322922f,-0.6224011182785034f,0.4127817749977112f,0.4731111526489258f,-0.190794438123703f,-0.5028371214866638f,-0.32001304626464844f,-0.24426521360874176f,-0.08077334612607956f,-0.007110084872692823f,-0.19549734890460968f,-0.11970767378807068f,-0.3054847717285156f,0.2603020668029785f,0.0479682981967926f,0.15816257894039154f}, |
Lightvalve | 211:6fe9886cdb6e | 216 | {0.022531412541866302f,-0.17848119139671326f,0.20282304286956787f,0.4242058992385864f,0.2516932785511017f,-0.20840142667293549f,0.04202890396118164f,0.35329484939575195f,0.3554973304271698f,0.1979427933692932f,-0.27989843487739563f,-0.3284192681312561f,0.11093859374523163f,0.19121049344539642f,0.0668090283870697f,0.2350914478302002f}, |
Lightvalve | 211:6fe9886cdb6e | 217 | {0.0005804843385703862f,-0.3353522717952728f,-0.40439701080322266f,0.6412276029586792f,-0.07361637055873871f,0.00661800242960453f,-0.15568238496780396f,-0.03549305722117424f,0.26091328263282776f,0.1284361630678177f,-0.47459378838539124f,-0.04844345897436142f,-0.2634789049625397f,0.25194695591926575f,-0.08245879411697388f,0.22769993543624878f}, |
Lightvalve | 211:6fe9886cdb6e | 218 | {-0.12284072488546371f,-0.24371252954006195f,0.16706281900405884f,1.3465361595153809f,0.027943080291152f,-0.13184677064418793f,-0.041414469480514526f,0.14739923179149628f,0.009675423614680767f,0.09683336317539215f,-0.354688823223114f,0.17883950471878052f,0.12002348899841309f,0.7905712723731995f,0.29427415132522583f,0.016808994114398956f}, |
Lightvalve | 65:a2d7c63419c2 | 219 | }; |
Lightvalve | 65:a2d7c63419c2 | 220 | |
Lightvalve | 169:645207e160ca | 221 | const float h2[16][16] = { |
Lightvalve | 211:6fe9886cdb6e | 222 | {-4.527799129486084f,0.6820409893989563f,-0.06966331601142883f,0.5540435910224915f,-0.21907491981983185f,3.1338891983032227f,-0.06048932299017906f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.606686592102051f,-0.37958794832229614f,-0.016400590538978577f,-4.008707046508789f,3.2936906814575195f,-0.4451225697994232f}, |
Lightvalve | 211:6fe9886cdb6e | 223 | {-0.025993891060352325f,-0.8604259490966797f,0.057057321071624756f,-0.5842818021774292f,-0.35503754019737244f,-0.5380035042762756f,-0.6036195158958435f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.5821780562400818f,-0.7649829387664795f,0.0743352621793747f,-0.12555116415023804f,0.844036877155304f,-0.6543750166893005f}, |
Lightvalve | 179:d5377766d7ea | 224 | {-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 | 211:6fe9886cdb6e | 225 | {-0.3417482376098633f,0.3533795177936554f,-0.2894435524940491f,0.04954472929239273f,0.08946844935417175f,-0.08458209037780762f,-0.48501384258270264f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,-0.19418053328990936f,0.020002810284495354f,-0.5509099364280701f,0.2837100028991699f,0.16813787817955017f,-0.1687486618757248f}, |
Lightvalve | 211:6fe9886cdb6e | 226 | {-1.1204174757003784f,1.8965997695922852f,-0.25313520431518555f,0.6254236698150635f,0.036378175020217896f,0.8173602819442749f,-0.6155303120613098f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.9287620782852173f,-0.91059809923172f,-0.0442003458738327f,-1.2676142454147339f,0.927952229976654f,-0.6073963046073914f}, |
Lightvalve | 211:6fe9886cdb6e | 227 | {-0.16543826460838318f,0.021899903193116188f,-0.3519742488861084f,0.09473834186792374f,-0.3015052080154419f,-0.3208472728729248f,-0.7214264273643494f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.20117740333080292f,-0.3499281406402588f,-0.3562796711921692f,-0.33363988995552063f,0.005666304845362902f,-0.934236466884613f}, |
Lightvalve | 208:408f9f15c486 | 228 | {-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 | 211:6fe9886cdb6e | 229 | {1.434049367904663f,2.2621963024139404f,0.33083590865135193f,-0.9461531043052673f,-0.14358049631118774f,-1.4297912120819092f,-0.4557732939720154f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.277005672454834f,-0.6271990537643433f,-0.3571954667568207f,2.0465574264526367f,1.4298032522201538f,-0.5386678576469421f}, |
Lightvalve | 211:6fe9886cdb6e | 230 | {-0.003402497386559844f,0.20103180408477783f,-0.11379697918891907f,0.13531987369060516f,0.041274964809417725f,-0.4882394075393677f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.24828092753887177f,-0.41271302103996277f,-0.5109040141105652f,-0.3721432685852051f,-0.2930859923362732f,-0.37981683015823364f}, |
Lightvalve | 211:6fe9886cdb6e | 231 | {-0.11852412670850754f,1.400585412979126f,-0.13502129912376404f,-0.029812220484018326f,0.12987366318702698f,0.7441322207450867f,-0.19215475022792816f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,1.7496157884597778f,-0.2276460826396942f,0.2347428798675537f,-1.5889536142349243f,-1.7217092514038086f,-0.642086923122406f}, |
Lightvalve | 211:6fe9886cdb6e | 232 | {-0.23210932314395905f,-0.04187174141407013f,0.0457797646522522f,-0.3829827308654785f,-0.03321319818496704f,-0.4536677598953247f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.2448161542415619f,0.3545852601528168f,-0.3647043704986572f,0.4557090699672699f,-0.3617521822452545f,-0.3207983374595642f}, |
Lightvalve | 211:6fe9886cdb6e | 233 | {0.5958813428878784f,-0.7483598589897156f,0.3954955041408539f,1.180490493774414f,0.0033026933670043945f,-0.33814364671707153f,-0.34186798334121704f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.09490237385034561f,-0.25271910429000854f,-0.06444605439901352f,-0.3411557078361511f,1.0280723571777344f,0.09367766976356506f}, |
Lightvalve | 211:6fe9886cdb6e | 234 | {-0.2807841897010803f,-0.20072904229164124f,-0.15798500180244446f,0.3993121385574341f,-0.37393757700920105f,0.3688228130340576f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.10335299372673035f,-0.2837170362472534f,0.41839322447776794f,-0.03184046968817711f,-0.13749822974205017f,0.12308792769908905f}, |
Lightvalve | 211:6fe9886cdb6e | 235 | {-0.7124980688095093f,-1.5801732540130615f,-0.2018718123435974f,0.5093134045600891f,0.07545611262321472f,-0.9844921827316284f,-0.5402578711509705f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,-0.9905045032501221f,-0.825104832649231f,-0.37918412685394287f,-0.08422137796878815f,-1.6365492343902588f,-0.5184823870658875f}, |
Lightvalve | 179:d5377766d7ea | 236 | {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 | 211:6fe9886cdb6e | 237 | {0.27611151337623596f,0.09705754369497299f,0.12081471085548401f,0.27666717767715454f,0.29976895451545715f,-0.11293527483940125f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,1.0978219509124756f,-0.19350941479206085f,-0.3426505923271179f,-0.2275802493095398f,0.19496259093284607f,-0.09103284776210785f}, |
Lightvalve | 65:a2d7c63419c2 | 238 | }; |
Lightvalve | 65:a2d7c63419c2 | 239 | |
Lightvalve | 169:645207e160ca | 240 | const float h3[16][16] = { |
Lightvalve | 211:6fe9886cdb6e | 241 | {-0.36079341173171997f,-0.027788789942860603f,-0.5638431906700134f,-0.3619849383831024f,0.9020170569419861f,-1.959873080253601f,0.3332441747188568f,0.3036012351512909f,-5.876060485839844f,-0.054545141756534576f,-0.5245512127876282f,0.4001283347606659f,-1.4624212980270386f,-1.581647515296936f,-1.5321080684661865f,-13.199106216430664f}, |
Lightvalve | 211:6fe9886cdb6e | 242 | {0.047732532024383545f,-0.5910640358924866f,-8.166666030883789f,-0.5409420728683472f,-4.017717361450195f,0.39238861203193665f,-0.3198729455471039f,-0.09377332031726837f,0.43005314469337463f,-0.4782581329345703f,0.19243593513965607f,-0.37189948558807373f,-0.2667408287525177f,-0.2056405246257782f,0.30308958888053894f,-0.060796454548835754f}, |
Lightvalve | 205:f3ffa0306a53 | 243 | {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 | 211:6fe9886cdb6e | 244 | {-0.30922991037368774f,-0.9375655651092529f,1.271071434020996f,-0.39220312237739563f,0.5873679518699646f,-0.13144546747207642f,0.20021501183509827f,0.07002416253089905f,-0.2176603227853775f,-0.38262107968330383f,0.13192829489707947f,0.41021624207496643f,-2.843594551086426f,-0.36432549357414246f,1.2759990692138672f,0.3920643627643585f}, |
Lightvalve | 205:f3ffa0306a53 | 245 | {-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 | 211:6fe9886cdb6e | 246 | {-0.37449589371681213f,-0.32177311182022095f,-0.13848188519477844f,-0.19442035257816315f,0.5686139464378357f,0.40435296297073364f,-0.18732719123363495f,0.06904307007789612f,-2.3580894470214844f,-0.49854135513305664f,-0.29749685525894165f,0.04152391850948334f,0.6664230227470398f,0.778885543346405f,1.3324100971221924f,-1.2925522327423096f}, |
Lightvalve | 211:6fe9886cdb6e | 247 | {0.4110594093799591f,0.044055234640836716f,-0.08168259263038635f,0.37246426939964294f,0.23470649123191833f,-0.32751786708831787f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.31841135025024414f,-0.1037849485874176f,0.06134301796555519f,-0.06596158444881439f}, |
Lightvalve | 211:6fe9886cdb6e | 248 | {-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 | 208:408f9f15c486 | 249 | {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 | 208:408f9f15c486 | 250 | {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 | 211:6fe9886cdb6e | 251 | {0.15459725260734558f,0.06760230660438538f,-0.05053713917732239f,-0.20622020959854126f,0.10792963206768036f,2.0012118816375732f,-0.08742031455039978f,-0.08940897136926651f,1.7973898649215698f,-0.4718508720397949f,-0.017247267067432404f,-0.30447322130203247f,1.1298593282699585f,-2.2213985919952393f,1.614871621131897f,-1.5353620052337646f}, |
Lightvalve | 211:6fe9886cdb6e | 252 | {-0.408692330121994f,0.05310394987463951f,0.006142709869891405f,0.0922636091709137f,-0.06141231954097748f,-0.10681948065757751f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5435109734535217f,-0.26423168182373047f,-0.06897956132888794f,-0.005480319261550903f}, |
Lightvalve | 211:6fe9886cdb6e | 253 | {-0.2991822361946106f,0.3794580399990082f,-0.03499889746308327f,-0.05932474136352539f,0.1246454045176506f,0.18244199454784393f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.01592516526579857f,-0.17703768610954285f,0.3047117292881012f,-0.09707321226596832f}, |
Lightvalve | 211:6fe9886cdb6e | 254 | {-0.2675279378890991f,0.08392087370157242f,1.9263038635253906f,-0.196403369307518f,-0.642519474029541f,0.12846513092517853f,-0.32875844836235046f,-0.31893211603164673f,-0.7980329394340515f,-0.6586599349975586f,-0.5574883818626404f,-0.553442120552063f,1.8443384170532227f,-0.7449765801429749f,0.4301890730857849f,0.058003246784210205f}, |
Lightvalve | 211:6fe9886cdb6e | 255 | {-0.015470266342163086f,-1.6724193096160889f,-0.6594526171684265f,0.19432266056537628f,0.11945655941963196f,-1.1154193878173828f,0.05196094512939453f,-0.008358269929885864f,-0.7575642466545105f,-0.42180460691452026f,-0.10627111047506332f,-0.11511552333831787f,-0.29712188243865967f,0.42317667603492737f,-1.8194135427474976f,2.299999237060547f}, |
Lightvalve | 211:6fe9886cdb6e | 256 | {0.1863725483417511f,0.2846532464027405f,-0.18863269686698914f,-0.5003810524940491f,0.3160429000854492f,0.2056346833705902f,0.04860696196556091f,0.17769548296928406f,0.012768898159265518f,0.3378079831600189f,-0.3929237127304077f,0.19592127203941345f,0.34371641278266907f,0.2283545434474945f,-0.004608725663274527f,-0.08839904516935349f}, |
Lightvalve | 66:a8e6799dbce3 | 257 | }; |
Lightvalve | 65:a2d7c63419c2 | 258 | |
Lightvalve | 211:6fe9886cdb6e | 259 | const float hout[16] = { 0.45773375034332275f,0.20441627502441406f,-0.2907588481903076f,-0.009697429835796356f,-0.13994097709655762f,0.2031724900007248f,0.0030125975608825684f,0.07766560465097427f,-0.1913822889328003f,0.057547036558389664f,0.13517257571220398f,-0.26330289244651794f,-0.18393218517303467f,0.33344095945358276f,0.14132554829120636f,-0.19920329749584198f }; |
Lightvalve | 211:6fe9886cdb6e | 260 | |
Lightvalve | 211:6fe9886cdb6e | 261 | const float b1[16] = { 0.7073319554328918f,2.1660501956939697f,-1.7145336866378784f,1.7168519496917725f,1.199524998664856f,1.0270514488220215f,-0.058932315558195114f,1.1854357719421387f,0.5485185980796814f,-1.4036970138549805f,0.5711912512779236f,1.4113762378692627f,-0.36514076590538025f,-1.5963966846466064f,-1.087764859199524f,1.332677960395813f }; |
Lightvalve | 211:6fe9886cdb6e | 262 | |
Lightvalve | 211:6fe9886cdb6e | 263 | const float b2[16] = { 0.9642994403839111f,-1.7880347967147827f,-1.4564176797866821f,-0.6939772963523865f,-0.6939148902893066f,0.26103776693344116f,-0.01476240810006857f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.39619338512420654f,0.15750396251678467f,-0.3155595064163208f,1.7251747846603394f,0.4949413537979126f,0.4069630801677704f }; |
Lightvalve | 211:6fe9886cdb6e | 264 | |
Lightvalve | 211:6fe9886cdb6e | 265 | const float b3[16] = { -1.963319182395935f,0.8966529965400696f,-0.72108393907547f,-0.3776831030845642f,0.27197739481925964f,0.39454057812690735f,-0.45353031158447266f,-0.8078028559684753f,1.2238730192184448f,0.07242175191640854f,-0.39867648482322693f,-0.09921017289161682f,-1.0563924312591553f,0.7492903470993042f,-0.5671085715293884f,-0.5422713160514832f }; |
Lightvalve | 211:6fe9886cdb6e | 266 | |
Lightvalve | 211:6fe9886cdb6e | 267 | const float bout[1] = { -0.3978618383407593f }; |
Lightvalve | 65:a2d7c63419c2 | 268 | |
Lightvalve | 170:42c938a40313 | 269 | /////////////////////////////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 270 | float input_RL[num_input_RL] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 271 | |
Lightvalve | 170:42c938a40313 | 272 | //Critic Networks |
Lightvalve | 173:68c7914679ec | 273 | float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 274 | float bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 275 | float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 276 | float bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 277 | float hc3[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 278 | float bc3 = 0.0f; |
Lightvalve | 170:42c938a40313 | 279 | |
Lightvalve | 170:42c938a40313 | 280 | //Critic Networks Temporary |
Lightvalve | 173:68c7914679ec | 281 | float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 282 | float bc1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 283 | float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 284 | float bc2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 285 | float hc3_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 286 | float bc3_temp = 0.0f; |
Lightvalve | 170:42c938a40313 | 287 | |
Lightvalve | 170:42c938a40313 | 288 | //Actor Networks |
Lightvalve | 173:68c7914679ec | 289 | float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 290 | float ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 291 | float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 292 | float ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 293 | float ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 294 | float ba3[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 295 | |
Lightvalve | 170:42c938a40313 | 296 | //Actor Networks Temporary |
Lightvalve | 173:68c7914679ec | 297 | float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 298 | float ba1_temp[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 299 | float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 300 | float ba2_temp[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 301 | float ha3_temp[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 302 | float ba3_temp[2] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 303 | |
Lightvalve | 87:471334725012 | 304 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 305 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 306 | |
Lightvalve | 179:d5377766d7ea | 307 | /////////////////////////////////////////////RL tuning |
Lightvalve | 179:d5377766d7ea | 308 | float Gradient_Limit = 0.5f; |
Lightvalve | 179:d5377766d7ea | 309 | float gradient_rate_actor = 0.001f; |
Lightvalve | 179:d5377766d7ea | 310 | float gradient_rate_critic = 0.001f; |
Lightvalve | 179:d5377766d7ea | 311 | ////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 312 | |
Lightvalve | 170:42c938a40313 | 313 | float Critic_Network_Temp(float *arr) |
Lightvalve | 170:42c938a40313 | 314 | { |
Lightvalve | 173:68c7914679ec | 315 | float output1[num_hidden_unit1] = { 0.0f }; |
Lightvalve | 173:68c7914679ec | 316 | float output2[num_hidden_unit2] = { 0.0f }; |
Lightvalve | 170:42c938a40313 | 317 | float output = 0.0f; |
Lightvalve | 173:68c7914679ec | 318 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 319 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 320 | output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 321 | } |
Lightvalve | 173:68c7914679ec | 322 | //ReLU |
Lightvalve | 173:68c7914679ec | 323 | output1[index2] = output1[index2] + bc1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 324 | hx_c_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 325 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 326 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 327 | } |
Lightvalve | 173:68c7914679ec | 328 | //tanh |
Lightvalve | 173:68c7914679ec | 329 | //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); |
Lightvalve | 173:68c7914679ec | 330 | } |
Lightvalve | 173:68c7914679ec | 331 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 332 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 333 | output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 334 | } |
Lightvalve | 173:68c7914679ec | 335 | //ReLU |
Lightvalve | 173:68c7914679ec | 336 | output2[index2] = output2[index2] + bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 337 | hxh_c_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 338 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 339 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 340 | } |
Lightvalve | 173:68c7914679ec | 341 | //tanh |
Lightvalve | 173:68c7914679ec | 342 | //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); |
Lightvalve | 170:42c938a40313 | 343 | } |
Lightvalve | 170:42c938a40313 | 344 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 345 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 346 | output = output + hc3_temp[index1] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 347 | } |
Lightvalve | 173:68c7914679ec | 348 | output = output + bc3_temp; |
Lightvalve | 173:68c7914679ec | 349 | hxhh_c_sum = output; |
Lightvalve | 170:42c938a40313 | 350 | } |
Lightvalve | 170:42c938a40313 | 351 | return output; |
Lightvalve | 170:42c938a40313 | 352 | } |
Lightvalve | 170:42c938a40313 | 353 | |
Lightvalve | 170:42c938a40313 | 354 | |
Lightvalve | 170:42c938a40313 | 355 | void Actor_Network(float *arr) |
Lightvalve | 170:42c938a40313 | 356 | { |
Lightvalve | 173:68c7914679ec | 357 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 358 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 359 | float output[2] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 360 | |
Lightvalve | 173:68c7914679ec | 361 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 362 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 178:1074553d2f6f | 363 | output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; |
Lightvalve | 173:68c7914679ec | 364 | } |
Lightvalve | 178:1074553d2f6f | 365 | output1[index2] = output1[index2] + ba1_temp[index2]; |
Lightvalve | 173:68c7914679ec | 366 | hx_a_sum[index2] = output1[index2]; |
Lightvalve | 173:68c7914679ec | 367 | if (output1[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 368 | output1[index2] = 0; |
Lightvalve | 173:68c7914679ec | 369 | } |
Lightvalve | 173:68c7914679ec | 370 | } |
Lightvalve | 173:68c7914679ec | 371 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 372 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 178:1074553d2f6f | 373 | output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; |
Lightvalve | 173:68c7914679ec | 374 | } |
Lightvalve | 178:1074553d2f6f | 375 | output2[index2] = output2[index2] + ba2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 376 | hxh_a_sum[index2] = output2[index2]; |
Lightvalve | 173:68c7914679ec | 377 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 378 | output2[index2] = 0; |
Lightvalve | 173:68c7914679ec | 379 | } |
Lightvalve | 173:68c7914679ec | 380 | } |
Lightvalve | 173:68c7914679ec | 381 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 382 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 178:1074553d2f6f | 383 | output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; |
Lightvalve | 173:68c7914679ec | 384 | } |
Lightvalve | 178:1074553d2f6f | 385 | hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 386 | } |
Lightvalve | 178:1074553d2f6f | 387 | |
Lightvalve | 178:1074553d2f6f | 388 | mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus |
Lightvalve | 178:1074553d2f6f | 389 | deviation_before_SP = output[1] + ba3_temp[1]; |
Lightvalve | 173:68c7914679ec | 390 | //Softplus |
Lightvalve | 173:68c7914679ec | 391 | mean = log(1.0f+exp(mean_before_SP)); |
Lightvalve | 173:68c7914679ec | 392 | deviation = log(1.0f+exp(deviation_before_SP)); |
Lightvalve | 179:d5377766d7ea | 393 | logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 394 | logging4 = deviation; |
Lightvalve | 173:68c7914679ec | 395 | } |
Lightvalve | 173:68c7914679ec | 396 | |
Lightvalve | 173:68c7914679ec | 397 | |
Lightvalve | 173:68c7914679ec | 398 | void Actor_Network_Old(float *arr) |
Lightvalve | 173:68c7914679ec | 399 | { |
Lightvalve | 173:68c7914679ec | 400 | float output1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 401 | float output2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 402 | float output[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 403 | |
Lightvalve | 173:68c7914679ec | 404 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 405 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 406 | output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; |
Lightvalve | 170:42c938a40313 | 407 | } |
Lightvalve | 170:42c938a40313 | 408 | output1[index2] = output1[index2] + ba1[index2]; |
Lightvalve | 170:42c938a40313 | 409 | if (output1[index2] < 0) { |
Lightvalve | 170:42c938a40313 | 410 | output1[index2] = 0; |
Lightvalve | 170:42c938a40313 | 411 | } |
Lightvalve | 170:42c938a40313 | 412 | } |
Lightvalve | 173:68c7914679ec | 413 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 414 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 174:c828479f53f9 | 415 | output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; |
Lightvalve | 170:42c938a40313 | 416 | } |
Lightvalve | 173:68c7914679ec | 417 | output2[index2] = output2[index2] + ba2[index2]; |
Lightvalve | 173:68c7914679ec | 418 | if (output2[index2] < 0) { |
Lightvalve | 173:68c7914679ec | 419 | output2[index2] = 0; |
Lightvalve | 170:42c938a40313 | 420 | } |
Lightvalve | 170:42c938a40313 | 421 | } |
Lightvalve | 170:42c938a40313 | 422 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 423 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 424 | output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; |
Lightvalve | 170:42c938a40313 | 425 | } |
Lightvalve | 170:42c938a40313 | 426 | } |
Lightvalve | 173:68c7914679ec | 427 | mean_old = output[0] + ba3[0]; |
Lightvalve | 173:68c7914679ec | 428 | deviation_old = output[1] + ba3[1]; |
Lightvalve | 173:68c7914679ec | 429 | //Softplus |
Lightvalve | 173:68c7914679ec | 430 | mean_old = log(1.0f+exp(mean_old)); |
Lightvalve | 173:68c7914679ec | 431 | deviation_old = log(1.0f+exp(deviation_old)); |
Lightvalve | 170:42c938a40313 | 432 | } |
Lightvalve | 170:42c938a40313 | 433 | |
Lightvalve | 170:42c938a40313 | 434 | float Grad_Normal_Dist_Mean(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 435 | { |
Lightvalve | 170:42c938a40313 | 436 | float grad_mean = 0.0f; |
Lightvalve | 170:42c938a40313 | 437 | grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); |
Lightvalve | 170:42c938a40313 | 438 | return grad_mean; |
Lightvalve | 170:42c938a40313 | 439 | } |
Lightvalve | 170:42c938a40313 | 440 | |
Lightvalve | 170:42c938a40313 | 441 | float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) |
Lightvalve | 170:42c938a40313 | 442 | { |
Lightvalve | 170:42c938a40313 | 443 | float grad_dev = 0.0f; |
Lightvalve | 170:42c938a40313 | 444 | grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation)); |
Lightvalve | 170:42c938a40313 | 445 | return grad_dev; |
Lightvalve | 170:42c938a40313 | 446 | } |
Lightvalve | 170:42c938a40313 | 447 | |
Lightvalve | 173:68c7914679ec | 448 | float ReLU(float x) |
Lightvalve | 173:68c7914679ec | 449 | { |
Lightvalve | 173:68c7914679ec | 450 | if (x >= 0) { |
Lightvalve | 173:68c7914679ec | 451 | return x; |
Lightvalve | 173:68c7914679ec | 452 | } else { |
Lightvalve | 173:68c7914679ec | 453 | return 0.0f; |
Lightvalve | 173:68c7914679ec | 454 | } |
Lightvalve | 173:68c7914679ec | 455 | } |
Lightvalve | 173:68c7914679ec | 456 | |
Lightvalve | 170:42c938a40313 | 457 | void update_Critic_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 458 | { |
Lightvalve | 173:68c7914679ec | 459 | float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 177:8e9cf31d63f4 | 460 | float G_bc1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 461 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 462 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 463 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 464 | float d_V_d_hc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 465 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 466 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 467 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 468 | d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 469 | } |
Lightvalve | 173:68c7914679ec | 470 | } |
Lightvalve | 170:42c938a40313 | 471 | } |
Lightvalve | 177:8e9cf31d63f4 | 472 | G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); |
Lightvalve | 170:42c938a40313 | 473 | } |
Lightvalve | 170:42c938a40313 | 474 | G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 475 | if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 476 | else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 477 | //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 173:68c7914679ec | 478 | } |
Lightvalve | 173:68c7914679ec | 479 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 480 | float d_V_d_bc1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 481 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 482 | if (hxh_c_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 483 | if (hx_c_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 484 | d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; |
Lightvalve | 173:68c7914679ec | 485 | } |
Lightvalve | 173:68c7914679ec | 486 | } |
Lightvalve | 173:68c7914679ec | 487 | } |
Lightvalve | 177:8e9cf31d63f4 | 488 | G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); |
Lightvalve | 173:68c7914679ec | 489 | } |
Lightvalve | 173:68c7914679ec | 490 | G_bc1[index2] = G_bc1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 491 | if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 492 | else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 493 | //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 173:68c7914679ec | 494 | } |
Lightvalve | 173:68c7914679ec | 495 | |
Lightvalve | 175:2f7289dbd488 | 496 | |
Lightvalve | 173:68c7914679ec | 497 | float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 498 | float G_bc2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 499 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 500 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 501 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 502 | float d_V_d_hc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 503 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 504 | if (hx_c_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 505 | d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 506 | } |
Lightvalve | 173:68c7914679ec | 507 | } |
Lightvalve | 177:8e9cf31d63f4 | 508 | G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); |
Lightvalve | 173:68c7914679ec | 509 | } |
Lightvalve | 173:68c7914679ec | 510 | G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 511 | if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 512 | else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 513 | //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 514 | } |
Lightvalve | 173:68c7914679ec | 515 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 516 | float d_V_d_bc2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 517 | if (hxh_c_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 518 | d_V_d_bc2 = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 519 | } |
Lightvalve | 177:8e9cf31d63f4 | 520 | G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); |
Lightvalve | 173:68c7914679ec | 521 | } |
Lightvalve | 173:68c7914679ec | 522 | G_bc2[index2] = G_bc2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 523 | if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 524 | else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 525 | //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 526 | } |
Lightvalve | 173:68c7914679ec | 527 | |
Lightvalve | 173:68c7914679ec | 528 | float G_hc3[num_hidden_unit2]= {0.0f}; |
Lightvalve | 173:68c7914679ec | 529 | float G_bc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 530 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 531 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 532 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 533 | float d_V_d_hc3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 534 | if (hxh_c_sum_array[n][index1] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 535 | d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 536 | } |
Lightvalve | 177:8e9cf31d63f4 | 537 | G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); |
Lightvalve | 173:68c7914679ec | 538 | } |
Lightvalve | 173:68c7914679ec | 539 | G_hc3[index1] = G_hc3[index1] / batch_size; |
Lightvalve | 179:d5377766d7ea | 540 | if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 541 | else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 542 | //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 173:68c7914679ec | 543 | } |
Lightvalve | 173:68c7914679ec | 544 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 545 | float d_V_d_bc3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 546 | d_V_d_bc3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 547 | G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); |
Lightvalve | 173:68c7914679ec | 548 | } |
Lightvalve | 173:68c7914679ec | 549 | G_bc3 = G_bc3 / batch_size; |
Lightvalve | 179:d5377766d7ea | 550 | if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 551 | else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 552 | //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 173:68c7914679ec | 553 | } |
Lightvalve | 173:68c7914679ec | 554 | |
Lightvalve | 173:68c7914679ec | 555 | // Simultaneous Update |
Lightvalve | 173:68c7914679ec | 556 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 173:68c7914679ec | 557 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 558 | hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 559 | } |
Lightvalve | 179:d5377766d7ea | 560 | bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; |
Lightvalve | 170:42c938a40313 | 561 | } |
Lightvalve | 173:68c7914679ec | 562 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 563 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 564 | hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; |
Lightvalve | 173:68c7914679ec | 565 | } |
Lightvalve | 179:d5377766d7ea | 566 | bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; |
Lightvalve | 173:68c7914679ec | 567 | } |
Lightvalve | 170:42c938a40313 | 568 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 173:68c7914679ec | 569 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 570 | hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; |
Lightvalve | 170:42c938a40313 | 571 | } |
Lightvalve | 179:d5377766d7ea | 572 | bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; |
Lightvalve | 170:42c938a40313 | 573 | } |
Lightvalve | 170:42c938a40313 | 574 | } |
Lightvalve | 170:42c938a40313 | 575 | |
Lightvalve | 173:68c7914679ec | 576 | ///////////////////////////Softplus////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 577 | void update_Actor_Networks(float (*arr)[num_input_RL]) |
Lightvalve | 170:42c938a40313 | 578 | { |
Lightvalve | 179:d5377766d7ea | 579 | |
Lightvalve | 173:68c7914679ec | 580 | |
Lightvalve | 173:68c7914679ec | 581 | float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 582 | float G_ba1[num_hidden_unit1] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 583 | |
Lightvalve | 173:68c7914679ec | 584 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 585 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 173:68c7914679ec | 586 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 587 | float d_x_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 588 | float d_y_d_ha1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 589 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 590 | G_ha1[index1][index2] = G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 591 | } else { |
Lightvalve | 173:68c7914679ec | 592 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 593 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 594 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 595 | d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 596 | d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 597 | } |
Lightvalve | 171:bfc1fd2629d8 | 598 | } |
Lightvalve | 170:42c938a40313 | 599 | } |
Lightvalve | 170:42c938a40313 | 600 | float d_mean_d_ha1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 601 | float d_dev_d_ha1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 602 | d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1; |
Lightvalve | 177:8e9cf31d63f4 | 603 | d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1; |
Lightvalve | 173:68c7914679ec | 604 | |
Lightvalve | 173:68c7914679ec | 605 | G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 606 | } |
Lightvalve | 170:42c938a40313 | 607 | } |
Lightvalve | 176:589ea3edcf3c | 608 | G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 609 | if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 610 | else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 611 | //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 170:42c938a40313 | 612 | } |
Lightvalve | 173:68c7914679ec | 613 | |
Lightvalve | 173:68c7914679ec | 614 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 615 | float d_x_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 616 | float d_y_d_ba1 = 0.0f; |
Lightvalve | 173:68c7914679ec | 617 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 618 | G_ba1[index2] = G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 619 | } else { |
Lightvalve | 173:68c7914679ec | 620 | for(int k=0; k<num_hidden_unit2; k++) { |
Lightvalve | 173:68c7914679ec | 621 | if (hxh_a_sum_array[n][k] >= 0) { |
Lightvalve | 173:68c7914679ec | 622 | if (hx_a_sum_array[n][index2] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 623 | d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; |
Lightvalve | 177:8e9cf31d63f4 | 624 | d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; |
Lightvalve | 173:68c7914679ec | 625 | } |
Lightvalve | 171:bfc1fd2629d8 | 626 | } |
Lightvalve | 170:42c938a40313 | 627 | } |
Lightvalve | 170:42c938a40313 | 628 | float d_mean_d_ba1 = 0.0f; |
Lightvalve | 170:42c938a40313 | 629 | float d_dev_d_ba1 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 630 | d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1; |
Lightvalve | 177:8e9cf31d63f4 | 631 | d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1; |
Lightvalve | 173:68c7914679ec | 632 | |
Lightvalve | 173:68c7914679ec | 633 | G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 634 | } |
Lightvalve | 170:42c938a40313 | 635 | } |
Lightvalve | 176:589ea3edcf3c | 636 | G_ba1[index2] = -G_ba1[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 637 | if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 638 | else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 639 | //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 170:42c938a40313 | 640 | } |
Lightvalve | 170:42c938a40313 | 641 | |
Lightvalve | 173:68c7914679ec | 642 | float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 643 | float G_ba2[num_hidden_unit2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 644 | |
Lightvalve | 173:68c7914679ec | 645 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 646 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 647 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 648 | float d_x_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 649 | float d_y_d_ha2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 650 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 651 | G_ha2[index1][index2] = G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 652 | } else { |
Lightvalve | 173:68c7914679ec | 653 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 173:68c7914679ec | 654 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 655 | d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 656 | d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; |
Lightvalve | 171:bfc1fd2629d8 | 657 | } |
Lightvalve | 170:42c938a40313 | 658 | } |
Lightvalve | 173:68c7914679ec | 659 | |
Lightvalve | 170:42c938a40313 | 660 | float d_mean_d_ha2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 661 | float d_dev_d_ha2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 662 | d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2; |
Lightvalve | 177:8e9cf31d63f4 | 663 | d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2; |
Lightvalve | 173:68c7914679ec | 664 | |
Lightvalve | 173:68c7914679ec | 665 | G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 666 | } |
Lightvalve | 170:42c938a40313 | 667 | } |
Lightvalve | 176:589ea3edcf3c | 668 | G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 669 | if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 670 | else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 671 | //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 170:42c938a40313 | 672 | } |
Lightvalve | 173:68c7914679ec | 673 | |
Lightvalve | 173:68c7914679ec | 674 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 675 | float d_x_d_ba2 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 676 | float d_y_d_ba2 = 0.0f; |
Lightvalve | 173:68c7914679ec | 677 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 170:42c938a40313 | 678 | G_ba2[index2] = G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 679 | } else { |
Lightvalve | 170:42c938a40313 | 680 | |
Lightvalve | 173:68c7914679ec | 681 | if (hxh_a_sum_array[n][index2] >= 0) { |
Lightvalve | 177:8e9cf31d63f4 | 682 | d_x_d_ba2 = ha3_temp[index2][0]; |
Lightvalve | 177:8e9cf31d63f4 | 683 | d_y_d_ba2 = ha3_temp[index2][1]; |
Lightvalve | 173:68c7914679ec | 684 | } |
Lightvalve | 173:68c7914679ec | 685 | float d_mean_d_ba2= 0.0f; |
Lightvalve | 173:68c7914679ec | 686 | float d_dev_d_ba2= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 687 | d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2; |
Lightvalve | 177:8e9cf31d63f4 | 688 | d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2; |
Lightvalve | 173:68c7914679ec | 689 | |
Lightvalve | 173:68c7914679ec | 690 | G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 170:42c938a40313 | 691 | } |
Lightvalve | 170:42c938a40313 | 692 | } |
Lightvalve | 176:589ea3edcf3c | 693 | G_ba2[index2] = -G_ba2[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 694 | if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 695 | else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 696 | //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 170:42c938a40313 | 697 | } |
Lightvalve | 173:68c7914679ec | 698 | |
Lightvalve | 173:68c7914679ec | 699 | float G_ha3[num_hidden_unit2][2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 700 | float G_ba3[2] = {0.0f}; |
Lightvalve | 173:68c7914679ec | 701 | |
Lightvalve | 173:68c7914679ec | 702 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 703 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 704 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 705 | float d_x_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 706 | float d_y_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 707 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 708 | G_ha3[index1][index2] = G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 709 | } else { |
Lightvalve | 173:68c7914679ec | 710 | if (hxh_a_sum_array[n][index1] >= 0) { |
Lightvalve | 173:68c7914679ec | 711 | if (hx_a_sum_array[n][index1] > 0) { |
Lightvalve | 177:8e9cf31d63f4 | 712 | d_x_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 177:8e9cf31d63f4 | 713 | d_y_d_ha3 = hxh_a_sum_array[n][index1]; |
Lightvalve | 173:68c7914679ec | 714 | } |
Lightvalve | 173:68c7914679ec | 715 | } |
Lightvalve | 173:68c7914679ec | 716 | float d_mean_d_ha3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 717 | float d_dev_d_ha3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 718 | d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3; |
Lightvalve | 177:8e9cf31d63f4 | 719 | d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3; |
Lightvalve | 173:68c7914679ec | 720 | |
Lightvalve | 173:68c7914679ec | 721 | G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 173:68c7914679ec | 722 | } |
Lightvalve | 173:68c7914679ec | 723 | } |
Lightvalve | 176:589ea3edcf3c | 724 | G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 725 | if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 726 | else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 727 | //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 173:68c7914679ec | 728 | } |
Lightvalve | 173:68c7914679ec | 729 | |
Lightvalve | 173:68c7914679ec | 730 | for (int n=0; n<batch_size; n++) { |
Lightvalve | 177:8e9cf31d63f4 | 731 | float d_x_d_ba3 = 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 732 | float d_y_d_ba3 = 0.0f; |
Lightvalve | 173:68c7914679ec | 733 | if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { |
Lightvalve | 173:68c7914679ec | 734 | G_ba3[index2] = G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 735 | } else { |
Lightvalve | 173:68c7914679ec | 736 | |
Lightvalve | 177:8e9cf31d63f4 | 737 | d_x_d_ba3 = 1.0f; |
Lightvalve | 177:8e9cf31d63f4 | 738 | d_y_d_ba3 = 1.0f; |
Lightvalve | 173:68c7914679ec | 739 | |
Lightvalve | 173:68c7914679ec | 740 | float d_mean_d_ba3= 0.0f; |
Lightvalve | 173:68c7914679ec | 741 | float d_dev_d_ba3= 0.0f; |
Lightvalve | 177:8e9cf31d63f4 | 742 | d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3; |
Lightvalve | 177:8e9cf31d63f4 | 743 | d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3; |
Lightvalve | 173:68c7914679ec | 744 | |
Lightvalve | 173:68c7914679ec | 745 | G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); |
Lightvalve | 173:68c7914679ec | 746 | } |
Lightvalve | 173:68c7914679ec | 747 | } |
Lightvalve | 176:589ea3edcf3c | 748 | G_ba3[index2] = -G_ba3[index2] / batch_size; |
Lightvalve | 179:d5377766d7ea | 749 | if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 750 | else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; |
Lightvalve | 179:d5377766d7ea | 751 | //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 175:2f7289dbd488 | 752 | } |
Lightvalve | 177:8e9cf31d63f4 | 753 | |
Lightvalve | 175:2f7289dbd488 | 754 | // Simultaneous Update |
Lightvalve | 175:2f7289dbd488 | 755 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 175:2f7289dbd488 | 756 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 757 | ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 758 | } |
Lightvalve | 179:d5377766d7ea | 759 | ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; |
Lightvalve | 175:2f7289dbd488 | 760 | } |
Lightvalve | 175:2f7289dbd488 | 761 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 762 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 763 | ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 764 | } |
Lightvalve | 179:d5377766d7ea | 765 | ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; |
Lightvalve | 175:2f7289dbd488 | 766 | } |
Lightvalve | 175:2f7289dbd488 | 767 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 175:2f7289dbd488 | 768 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 769 | ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; |
Lightvalve | 175:2f7289dbd488 | 770 | } |
Lightvalve | 179:d5377766d7ea | 771 | ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; |
Lightvalve | 173:68c7914679ec | 772 | } |
Lightvalve | 170:42c938a40313 | 773 | } |
Lightvalve | 170:42c938a40313 | 774 | |
Lightvalve | 170:42c938a40313 | 775 | float rand_normal(double mean, double stddev) |
Lightvalve | 170:42c938a40313 | 776 | { |
Lightvalve | 170:42c938a40313 | 777 | //Box muller method |
Lightvalve | 170:42c938a40313 | 778 | static double n2 = 0.0f; |
Lightvalve | 170:42c938a40313 | 779 | static int n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 780 | if (!n2_cached) { |
Lightvalve | 170:42c938a40313 | 781 | double x, y, r; |
Lightvalve | 170:42c938a40313 | 782 | do { |
Lightvalve | 170:42c938a40313 | 783 | x = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 784 | y = 2.0f*rand()/RAND_MAX - 1; |
Lightvalve | 170:42c938a40313 | 785 | |
Lightvalve | 170:42c938a40313 | 786 | r = x*x + y*y; |
Lightvalve | 170:42c938a40313 | 787 | } while (r == 0.0f || r > 1.0f); |
Lightvalve | 170:42c938a40313 | 788 | { |
Lightvalve | 170:42c938a40313 | 789 | double d = sqrt(-2.0f*log(r)/r); |
Lightvalve | 170:42c938a40313 | 790 | double n1 = x*d; |
Lightvalve | 170:42c938a40313 | 791 | n2 = y*d; |
Lightvalve | 170:42c938a40313 | 792 | double result = n1*stddev + mean; |
Lightvalve | 170:42c938a40313 | 793 | n2_cached = 1; |
Lightvalve | 170:42c938a40313 | 794 | return result; |
Lightvalve | 170:42c938a40313 | 795 | } |
Lightvalve | 170:42c938a40313 | 796 | } else { |
Lightvalve | 170:42c938a40313 | 797 | n2_cached = 0; |
Lightvalve | 170:42c938a40313 | 798 | return n2*stddev + mean; |
Lightvalve | 170:42c938a40313 | 799 | } |
Lightvalve | 170:42c938a40313 | 800 | } |
Lightvalve | 170:42c938a40313 | 801 | |
Lightvalve | 179:d5377766d7ea | 802 | float mean_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 803 | { |
Lightvalve | 179:d5377766d7ea | 804 | float add = 0.0f; |
Lightvalve | 179:d5377766d7ea | 805 | float result; |
Lightvalve | 179:d5377766d7ea | 806 | |
Lightvalve | 179:d5377766d7ea | 807 | for (int i=0; i<size; i++) |
Lightvalve | 179:d5377766d7ea | 808 | { |
Lightvalve | 179:d5377766d7ea | 809 | add += x[i]; |
Lightvalve | 179:d5377766d7ea | 810 | } |
Lightvalve | 179:d5377766d7ea | 811 | result = (float) add/size; |
Lightvalve | 179:d5377766d7ea | 812 | return result; |
Lightvalve | 179:d5377766d7ea | 813 | } |
Lightvalve | 179:d5377766d7ea | 814 | float deviation_adv(float x[], int size) |
Lightvalve | 179:d5377766d7ea | 815 | { |
Lightvalve | 179:d5377766d7ea | 816 | float sigma = 0.0f; |
Lightvalve | 179:d5377766d7ea | 817 | float resultDeb = 0.0f; |
Lightvalve | 179:d5377766d7ea | 818 | |
Lightvalve | 179:d5377766d7ea | 819 | for (int k=0; k<size; k++) |
Lightvalve | 179:d5377766d7ea | 820 | { |
Lightvalve | 179:d5377766d7ea | 821 | sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1); |
Lightvalve | 179:d5377766d7ea | 822 | resultDeb += sqrt(sigma); |
Lightvalve | 179:d5377766d7ea | 823 | } |
Lightvalve | 179:d5377766d7ea | 824 | return resultDeb; |
Lightvalve | 179:d5377766d7ea | 825 | } |
Lightvalve | 179:d5377766d7ea | 826 | |
Lightvalve | 173:68c7914679ec | 827 | |
Lightvalve | 170:42c938a40313 | 828 | void Overwirte_Critic_Networks() |
Lightvalve | 170:42c938a40313 | 829 | { |
Lightvalve | 173:68c7914679ec | 830 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 831 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 832 | hc1[index1][index2] = hc1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 833 | } |
Lightvalve | 170:42c938a40313 | 834 | bc1[index2] = bc1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 835 | } |
Lightvalve | 173:68c7914679ec | 836 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 837 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 173:68c7914679ec | 838 | hc2[index1][index2] = hc2_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 839 | } |
Lightvalve | 173:68c7914679ec | 840 | bc2[index2] = bc2_temp[index2]; |
Lightvalve | 173:68c7914679ec | 841 | hc3[index2] = hc3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 842 | } |
Lightvalve | 173:68c7914679ec | 843 | bc3 = bc3_temp; |
Lightvalve | 170:42c938a40313 | 844 | } |
Lightvalve | 170:42c938a40313 | 845 | void Overwirte_Actor_Networks() |
Lightvalve | 170:42c938a40313 | 846 | { |
Lightvalve | 173:68c7914679ec | 847 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 848 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 170:42c938a40313 | 849 | ha1[index1][index2] = ha1_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 850 | } |
Lightvalve | 170:42c938a40313 | 851 | ba1[index2] = ba1_temp[index2]; |
Lightvalve | 170:42c938a40313 | 852 | } |
Lightvalve | 173:68c7914679ec | 853 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 854 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 170:42c938a40313 | 855 | ha2[index1][index2] = ha2_temp[index1][index2]; |
Lightvalve | 170:42c938a40313 | 856 | } |
Lightvalve | 170:42c938a40313 | 857 | ba2[index2] = ba2_temp[index2]; |
Lightvalve | 170:42c938a40313 | 858 | } |
Lightvalve | 173:68c7914679ec | 859 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 860 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 173:68c7914679ec | 861 | ha3[index1][index2] = ha3_temp[index1][index2]; |
Lightvalve | 173:68c7914679ec | 862 | } |
Lightvalve | 173:68c7914679ec | 863 | ba3[index2] = ba3_temp[index2]; |
Lightvalve | 173:68c7914679ec | 864 | } |
Lightvalve | 170:42c938a40313 | 865 | } |
Lightvalve | 170:42c938a40313 | 866 | |
Lightvalve | 170:42c938a40313 | 867 | |
GiJeongKim | 0:51c43836c1d7 | 868 | int main() |
GiJeongKim | 0:51c43836c1d7 | 869 | { |
Lightvalve | 66:a8e6799dbce3 | 870 | |
Lightvalve | 65:a2d7c63419c2 | 871 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 872 | SystemClock_Config(); |
Lightvalve | 169:645207e160ca | 873 | |
jobuuu | 6:df07d3491e3a | 874 | /********************************* |
jobuuu | 1:e04e563be5ce | 875 | *** Initialization |
jobuuu | 6:df07d3491e3a | 876 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 877 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 878 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 879 | |
GiJeongKim | 0:51c43836c1d7 | 880 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 881 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 882 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 883 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 884 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 885 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 886 | |
GiJeongKim | 0:51c43836c1d7 | 887 | // // spi init |
Lightvalve | 170:42c938a40313 | 888 | eeprom.format(8,3); |
Lightvalve | 170:42c938a40313 | 889 | eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 890 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 891 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 892 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 893 | |
Lightvalve | 16:903b5a4433b4 | 894 | //rom |
Lightvalve | 19:23b7c1ad8683 | 895 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 896 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 897 | |
GiJeongKim | 0:51c43836c1d7 | 898 | // ADC init |
jobuuu | 5:a4319f79457b | 899 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 900 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 901 | |
GiJeongKim | 0:51c43836c1d7 | 902 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 903 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 904 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 905 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 906 | |
Lightvalve | 11:82d8768d7351 | 907 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 908 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 909 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 910 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 911 | |
Lightvalve | 50:3c630b5eba9f | 912 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 913 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 914 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 915 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 916 | |
GiJeongKim | 0:51c43836c1d7 | 917 | // CAN |
jobuuu | 2:a1c0a37df760 | 918 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 919 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 920 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 921 | |
Lightvalve | 23:59218d4a256d | 922 | //Timer priority |
Lightvalve | 23:59218d4a256d | 923 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 924 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 925 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 926 | |
Lightvalve | 23:59218d4a256d | 927 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 928 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 929 | |
GiJeongKim | 0:51c43836c1d7 | 930 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 931 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 932 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 933 | |
Lightvalve | 11:82d8768d7351 | 934 | //DAC init |
Lightvalve | 58:2eade98630e2 | 935 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 936 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 937 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 938 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 939 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 940 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 941 | } |
Lightvalve | 11:82d8768d7351 | 942 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 943 | |
Lightvalve | 19:23b7c1ad8683 | 944 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 945 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 946 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 947 | else |
Lightvalve | 38:118df027d851 | 948 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 949 | } |
Lightvalve | 169:645207e160ca | 950 | |
Lightvalve | 173:68c7914679ec | 951 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 952 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 953 | hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; |
Lightvalve | 170:42c938a40313 | 954 | } |
Lightvalve | 179:d5377766d7ea | 955 | bc1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 956 | } |
Lightvalve | 173:68c7914679ec | 957 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 958 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 959 | hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 960 | } |
Lightvalve | 179:d5377766d7ea | 961 | bc2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 179:d5377766d7ea | 962 | hc3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 963 | } |
Lightvalve | 179:d5377766d7ea | 964 | bc3_temp = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 965 | |
Lightvalve | 173:68c7914679ec | 966 | for (int index2 = 0; index2 < num_hidden_unit1; index2++) { |
Lightvalve | 170:42c938a40313 | 967 | for (int index1 = 0; index1 < num_input_RL; index1++) { |
Lightvalve | 179:d5377766d7ea | 968 | ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 969 | } |
Lightvalve | 179:d5377766d7ea | 970 | ba1_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 971 | } |
Lightvalve | 173:68c7914679ec | 972 | for (int index2 = 0; index2 < num_hidden_unit2; index2++) { |
Lightvalve | 173:68c7914679ec | 973 | for (int index1 = 0; index1 < num_hidden_unit1; index1++) { |
Lightvalve | 179:d5377766d7ea | 974 | ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 173:68c7914679ec | 975 | } |
Lightvalve | 179:d5377766d7ea | 976 | ba2_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 977 | } |
Lightvalve | 170:42c938a40313 | 978 | for (int index2 = 0; index2 < 2; index2++) { |
Lightvalve | 173:68c7914679ec | 979 | for (int index1 = 0; index1 < num_hidden_unit2; index1++) { |
Lightvalve | 179:d5377766d7ea | 980 | ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 981 | } |
Lightvalve | 179:d5377766d7ea | 982 | ba3_temp[index2] = (float) (rand()%100) * 0.007f; |
Lightvalve | 170:42c938a40313 | 983 | } |
Lightvalve | 171:bfc1fd2629d8 | 984 | |
Lightvalve | 170:42c938a40313 | 985 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 986 | Overwirte_Actor_Networks(); |
Lightvalve | 61:bc8c8270f0ab | 987 | |
jobuuu | 6:df07d3491e3a | 988 | /************************************ |
jobuuu | 1:e04e563be5ce | 989 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 990 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 991 | while(1) { |
Lightvalve | 169:645207e160ca | 992 | |
Lightvalve | 171:bfc1fd2629d8 | 993 | // if(timer_while==27491) { |
Lightvalve | 171:bfc1fd2629d8 | 994 | // timer_while = 0; |
Lightvalve | 171:bfc1fd2629d8 | 995 | // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5); |
Lightvalve | 171:bfc1fd2629d8 | 996 | // //pc.printf("%f\n", virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 997 | // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); |
Lightvalve | 171:bfc1fd2629d8 | 998 | // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); |
Lightvalve | 171:bfc1fd2629d8 | 999 | // } |
Lightvalve | 169:645207e160ca | 1000 | |
Lightvalve | 171:bfc1fd2629d8 | 1001 | |
Lightvalve | 171:bfc1fd2629d8 | 1002 | //i2c |
Lightvalve | 180:02be1711ee0b | 1003 | read_field(i2c_slave_addr1); |
Lightvalve | 180:02be1711ee0b | 1004 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 171:bfc1fd2629d8 | 1005 | |
Lightvalve | 177:8e9cf31d63f4 | 1006 | //timer_while ++; |
Lightvalve | 169:645207e160ca | 1007 | |
Lightvalve | 170:42c938a40313 | 1008 | ///////////////////////////////////////////////////////Neural Network |
Lightvalve | 169:645207e160ca | 1009 | |
Lightvalve | 73:f80dc3970c99 | 1010 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 1011 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 1012 | } |
Lightvalve | 169:645207e160ca | 1013 | |
Lightvalve | 73:f80dc3970c99 | 1014 | else if(NN_Control_Flag == 1) { |
Lightvalve | 169:645207e160ca | 1015 | |
Lightvalve | 162:9dd4f35e9de8 | 1016 | int ind = 0; |
Lightvalve | 162:9dd4f35e9de8 | 1017 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1018 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 162:9dd4f35e9de8 | 1019 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1020 | } |
Lightvalve | 162:9dd4f35e9de8 | 1021 | |
Lightvalve | 162:9dd4f35e9de8 | 1022 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1023 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1024 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1025 | } |
Lightvalve | 162:9dd4f35e9de8 | 1026 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 162:9dd4f35e9de8 | 1027 | ind = ind + 1; |
Lightvalve | 169:645207e160ca | 1028 | |
Lightvalve | 162:9dd4f35e9de8 | 1029 | // for(int i=0; i<numfuture_x; i++) { |
Lightvalve | 162:9dd4f35e9de8 | 1030 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 122:dcb3ce3056a0 | 1031 | // ind = ind + 1; |
Lightvalve | 122:dcb3ce3056a0 | 1032 | // } |
Lightvalve | 162:9dd4f35e9de8 | 1033 | |
Lightvalve | 162:9dd4f35e9de8 | 1034 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1035 | // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 208:408f9f15c486 | 1036 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1037 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1038 | } |
Lightvalve | 208:408f9f15c486 | 1039 | // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; |
Lightvalve | 208:408f9f15c486 | 1040 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1041 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1042 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 208:408f9f15c486 | 1043 | // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; |
Lightvalve | 211:6fe9886cdb6e | 1044 | input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; |
Lightvalve | 206:2e4d0c287578 | 1045 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; |
Lightvalve | 211:6fe9886cdb6e | 1046 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; |
Lightvalve | 162:9dd4f35e9de8 | 1047 | ind = ind + 1; |
Lightvalve | 162:9dd4f35e9de8 | 1048 | } |
Lightvalve | 169:645207e160ca | 1049 | |
Lightvalve | 112:8dcb1600cb90 | 1050 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1051 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 1052 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 1053 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 1054 | |
Lightvalve | 112:8dcb1600cb90 | 1055 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 1056 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1057 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 1058 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1059 | } |
Lightvalve | 66:a8e6799dbce3 | 1060 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1061 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1062 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1063 | } |
Lightvalve | 66:a8e6799dbce3 | 1064 | } |
Lightvalve | 65:a2d7c63419c2 | 1065 | |
Lightvalve | 112:8dcb1600cb90 | 1066 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1067 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1068 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 1069 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1070 | } |
Lightvalve | 66:a8e6799dbce3 | 1071 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1072 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1073 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1074 | } |
Lightvalve | 66:a8e6799dbce3 | 1075 | } |
Lightvalve | 65:a2d7c63419c2 | 1076 | |
Lightvalve | 112:8dcb1600cb90 | 1077 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1078 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 1079 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 1080 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1081 | } |
Lightvalve | 66:a8e6799dbce3 | 1082 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 1083 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 1084 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 1085 | } |
Lightvalve | 65:a2d7c63419c2 | 1086 | } |
Lightvalve | 66:a8e6799dbce3 | 1087 | |
Lightvalve | 66:a8e6799dbce3 | 1088 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 1089 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 1090 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 1091 | } |
Lightvalve | 66:a8e6799dbce3 | 1092 | output = output + bout[index2]; |
Lightvalve | 169:645207e160ca | 1093 | |
Lightvalve | 66:a8e6799dbce3 | 1094 | } |
Lightvalve | 73:f80dc3970c99 | 1095 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 1096 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 1097 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 169:645207e160ca | 1098 | |
Lightvalve | 66:a8e6799dbce3 | 1099 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 1100 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 1101 | } else { |
Lightvalve | 66:a8e6799dbce3 | 1102 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 1103 | } |
Lightvalve | 87:471334725012 | 1104 | |
Lightvalve | 169:645207e160ca | 1105 | |
Lightvalve | 69:3995ffeaa786 | 1106 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 1107 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 1108 | } else |
Lightvalve | 69:3995ffeaa786 | 1109 | LED = 1; |
Lightvalve | 169:645207e160ca | 1110 | |
Lightvalve | 65:a2d7c63419c2 | 1111 | } |
Lightvalve | 171:bfc1fd2629d8 | 1112 | |
Lightvalve | 171:bfc1fd2629d8 | 1113 | |
Lightvalve | 170:42c938a40313 | 1114 | /////////////////////////////////////////////////////////////////////RL |
Lightvalve | 170:42c938a40313 | 1115 | switch (Update_Case) { |
Lightvalve | 170:42c938a40313 | 1116 | case 0: { |
Lightvalve | 170:42c938a40313 | 1117 | break; |
Lightvalve | 170:42c938a40313 | 1118 | } |
Lightvalve | 170:42c938a40313 | 1119 | case 1: { |
Lightvalve | 170:42c938a40313 | 1120 | //Network Update(just update and hold network) |
Lightvalve | 170:42c938a40313 | 1121 | for (int epoch = 0; epoch < num_epoch; epoch++) { |
Lightvalve | 170:42c938a40313 | 1122 | float loss_sum = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1123 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 170:42c938a40313 | 1124 | //Calculate Estimated V |
Lightvalve | 175:2f7289dbd488 | 1125 | //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; |
Lightvalve | 175:2f7289dbd488 | 1126 | float temp_array[2] = {state_array[n][0], state_array[n][1]}; |
Lightvalve | 175:2f7289dbd488 | 1127 | V[n] = Critic_Network_Temp(temp_array); |
Lightvalve | 173:68c7914679ec | 1128 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 175:2f7289dbd488 | 1129 | hx_c_sum_array[n][i] = hx_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1130 | } |
Lightvalve | 173:68c7914679ec | 1131 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 175:2f7289dbd488 | 1132 | hxh_c_sum_array[n][i] = hxh_c_sum[i]; |
Lightvalve | 173:68c7914679ec | 1133 | } |
Lightvalve | 175:2f7289dbd488 | 1134 | hxhh_c_sum_array[n] = hxhh_c_sum; |
Lightvalve | 177:8e9cf31d63f4 | 1135 | |
Lightvalve | 175:2f7289dbd488 | 1136 | pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]); |
Lightvalve | 170:42c938a40313 | 1137 | Actor_Network_Old(temp_array); |
Lightvalve | 175:2f7289dbd488 | 1138 | pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old); |
Lightvalve | 179:d5377766d7ea | 1139 | r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); |
Lightvalve | 175:2f7289dbd488 | 1140 | if(n == batch_size-1) return_G[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1141 | else return_G[n] = gamma * return_G[n+1] + r[n]; |
Lightvalve | 175:2f7289dbd488 | 1142 | if(n == batch_size-1) td_target[n] = r[n]; |
Lightvalve | 175:2f7289dbd488 | 1143 | else td_target[n] = r[n] + gamma * V[n+1]; |
Lightvalve | 175:2f7289dbd488 | 1144 | delta[n] = td_target[n] - V[n]; |
Lightvalve | 175:2f7289dbd488 | 1145 | if(n == batch_size-1) advantage[n] = 0.0f; |
Lightvalve | 175:2f7289dbd488 | 1146 | else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; |
Lightvalve | 179:d5377766d7ea | 1147 | // return_G[n] = advantage[n] + V[n]; |
Lightvalve | 175:2f7289dbd488 | 1148 | ratio[n] = pi[n]/pi_old[n]; |
Lightvalve | 179:d5377766d7ea | 1149 | } |
Lightvalve | 179:d5377766d7ea | 1150 | float mean_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1151 | float dev_advantage = 0.0f; |
Lightvalve | 179:d5377766d7ea | 1152 | mean_advantage = mean_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1153 | dev_advantage = deviation_adv(advantage, batch_size); |
Lightvalve | 179:d5377766d7ea | 1154 | for (int n=batch_size-1; n>=0; n--) { |
Lightvalve | 179:d5377766d7ea | 1155 | //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; |
Lightvalve | 175:2f7289dbd488 | 1156 | surr1[n] = ratio[n] * advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1157 | if (ratio[n] > 1.0f + epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1158 | surr2[n] = (1.0f + epsilon)*advantage[n]; |
Lightvalve | 175:2f7289dbd488 | 1159 | } else if( ratio[n] < 1.0f - epsilon) { |
Lightvalve | 175:2f7289dbd488 | 1160 | surr2[n] = (1.0f - epsilon)*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1161 | } else { |
Lightvalve | 175:2f7289dbd488 | 1162 | surr2[n] = ratio[n]*advantage[n]; |
Lightvalve | 170:42c938a40313 | 1163 | } |
Lightvalve | 175:2f7289dbd488 | 1164 | loss[n] = -min(surr1[n], surr2[n]); |
Lightvalve | 175:2f7289dbd488 | 1165 | loss_sum = loss_sum + loss[n]; |
Lightvalve | 170:42c938a40313 | 1166 | } |
Lightvalve | 170:42c938a40313 | 1167 | reward_sum = 0.0f; |
Lightvalve | 170:42c938a40313 | 1168 | for (int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 1169 | reward_sum = reward_sum + r[i]; |
Lightvalve | 170:42c938a40313 | 1170 | } |
Lightvalve | 170:42c938a40313 | 1171 | logging5 = reward_sum; |
Lightvalve | 171:bfc1fd2629d8 | 1172 | |
Lightvalve | 171:bfc1fd2629d8 | 1173 | |
Lightvalve | 170:42c938a40313 | 1174 | //loss_batch = loss_sum / (float) batch_size; |
Lightvalve | 170:42c938a40313 | 1175 | loss_batch = loss_sum; |
Lightvalve | 170:42c938a40313 | 1176 | //Update Networks |
Lightvalve | 170:42c938a40313 | 1177 | update_Critic_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1178 | update_Actor_Networks(state_array); |
Lightvalve | 170:42c938a40313 | 1179 | } |
Lightvalve | 170:42c938a40313 | 1180 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1181 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1182 | //logging1 = V[0]; |
Lightvalve | 171:bfc1fd2629d8 | 1183 | |
Lightvalve | 170:42c938a40313 | 1184 | break; |
Lightvalve | 170:42c938a40313 | 1185 | } |
Lightvalve | 170:42c938a40313 | 1186 | case 2: { |
Lightvalve | 170:42c938a40313 | 1187 | //Network apply to next Network |
Lightvalve | 170:42c938a40313 | 1188 | Overwirte_Critic_Networks(); |
Lightvalve | 170:42c938a40313 | 1189 | Overwirte_Actor_Networks(); |
Lightvalve | 170:42c938a40313 | 1190 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 1191 | Update_Done_Flag = 1; |
Lightvalve | 170:42c938a40313 | 1192 | Update_Case = 0; |
Lightvalve | 170:42c938a40313 | 1193 | break; |
Lightvalve | 170:42c938a40313 | 1194 | } |
Lightvalve | 169:645207e160ca | 1195 | |
Lightvalve | 170:42c938a40313 | 1196 | } |
GiJeongKim | 0:51c43836c1d7 | 1197 | } |
jobuuu | 1:e04e563be5ce | 1198 | } |
jobuuu | 1:e04e563be5ce | 1199 | |
Lightvalve | 33:91b17819ec30 | 1200 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 1201 | { |
Lightvalve | 14:8e7590227d22 | 1202 | |
Lightvalve | 13:747daba9cf59 | 1203 | int i = 0; |
Lightvalve | 48:889798ff9329 | 1204 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 1205 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 1206 | 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 | 1207 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 1208 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 1209 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1210 | } else { |
Lightvalve | 57:f4819de54e7a | 1211 | 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 | 1212 | } |
Lightvalve | 14:8e7590227d22 | 1213 | } else { |
Lightvalve | 50:3c630b5eba9f | 1214 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 1215 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1216 | } else { |
Lightvalve | 57:f4819de54e7a | 1217 | 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 | 1218 | } |
Lightvalve | 13:747daba9cf59 | 1219 | } |
Lightvalve | 13:747daba9cf59 | 1220 | break; |
Lightvalve | 13:747daba9cf59 | 1221 | } |
Lightvalve | 13:747daba9cf59 | 1222 | } |
Lightvalve | 14:8e7590227d22 | 1223 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1224 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1225 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 1226 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1227 | } |
Lightvalve | 36:a46e63505ed8 | 1228 | |
Lightvalve | 57:f4819de54e7a | 1229 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 1230 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 1231 | |
Lightvalve | 13:747daba9cf59 | 1232 | } |
jobuuu | 6:df07d3491e3a | 1233 | |
jobuuu | 6:df07d3491e3a | 1234 | |
Lightvalve | 30:8d561f16383b | 1235 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 1236 | { |
Lightvalve | 13:747daba9cf59 | 1237 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 1238 | |
Lightvalve | 38:118df027d851 | 1239 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 1240 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 1241 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 1242 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 1243 | } |
Lightvalve | 38:118df027d851 | 1244 | |
Lightvalve | 89:a7b45368ea0f | 1245 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 1246 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 1247 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 1248 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 1249 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1250 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 1251 | |
Lightvalve | 13:747daba9cf59 | 1252 | 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 | 1253 | |
Lightvalve | 18:b8adf1582ea3 | 1254 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 1255 | 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 | 1256 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 1257 | 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 | 1258 | } else { |
Lightvalve | 48:889798ff9329 | 1259 | 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 | 1260 | } |
Lightvalve | 13:747daba9cf59 | 1261 | break; |
Lightvalve | 13:747daba9cf59 | 1262 | } |
Lightvalve | 13:747daba9cf59 | 1263 | } |
Lightvalve | 59:f308b1656d9c | 1264 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 1265 | } |
Lightvalve | 13:747daba9cf59 | 1266 | |
Lightvalve | 14:8e7590227d22 | 1267 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 1268 | 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 | 1269 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1270 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1271 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1272 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 1273 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1274 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 1275 | float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, |
Lightvalve | 67:c2812cf26c38 | 1276 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 1277 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 1278 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 1279 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 1280 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 1281 | }; // mV |
Lightvalve | 13:747daba9cf59 | 1282 | |
Lightvalve | 30:8d561f16383b | 1283 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 1284 | { |
Lightvalve | 30:8d561f16383b | 1285 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1286 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 1287 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 1288 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 1289 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 1290 | } else { |
Lightvalve | 13:747daba9cf59 | 1291 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 1292 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 1293 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 1294 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 1295 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 1296 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 1297 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 1298 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 1299 | break; |
Lightvalve | 13:747daba9cf59 | 1300 | } |
Lightvalve | 13:747daba9cf59 | 1301 | } |
Lightvalve | 13:747daba9cf59 | 1302 | } |
Lightvalve | 14:8e7590227d22 | 1303 | |
Lightvalve | 13:747daba9cf59 | 1304 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 1305 | } |
jobuuu | 6:df07d3491e3a | 1306 | |
Lightvalve | 57:f4819de54e7a | 1307 | |
Lightvalve | 57:f4819de54e7a | 1308 | |
Lightvalve | 57:f4819de54e7a | 1309 | |
Lightvalve | 57:f4819de54e7a | 1310 | |
jobuuu | 2:a1c0a37df760 | 1311 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 1312 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 1313 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 1314 | |
Lightvalve | 51:b46bed7fec80 | 1315 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 1316 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 1317 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 1318 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 1319 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 1320 | { |
Lightvalve | 19:23b7c1ad8683 | 1321 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 1322 | |
Lightvalve | 21:e5f1a43ea6f9 | 1323 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 1324 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 1325 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 1326 | |
Lightvalve | 57:f4819de54e7a | 1327 | //Encoder |
Lightvalve | 57:f4819de54e7a | 1328 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 1329 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 1330 | } |
Lightvalve | 61:bc8c8270f0ab | 1331 | |
Lightvalve | 61:bc8c8270f0ab | 1332 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 1333 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 1334 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1335 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 1336 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 1337 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 1338 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 1339 | |
Lightvalve | 67:c2812cf26c38 | 1340 | |
Lightvalve | 67:c2812cf26c38 | 1341 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 1342 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 1343 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 1344 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 1345 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 1346 | |
Lightvalve | 17:1865016ca2e7 | 1347 | |
Lightvalve | 58:2eade98630e2 | 1348 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1349 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 1350 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 1351 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 1352 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 1353 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 1354 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 1355 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 1356 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 1357 | |
Lightvalve | 58:2eade98630e2 | 1358 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 1359 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm |
Lightvalve | 58:2eade98630e2 | 1360 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 1361 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N |
Lightvalve | 58:2eade98630e2 | 1362 | } |
Lightvalve | 58:2eade98630e2 | 1363 | } |
Lightvalve | 61:bc8c8270f0ab | 1364 | |
Lightvalve | 58:2eade98630e2 | 1365 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 1366 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 1367 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 1368 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1369 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 1370 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 1371 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. |
Lightvalve | 58:2eade98630e2 | 1372 | // |
Lightvalve | 58:2eade98630e2 | 1373 | // |
Lightvalve | 58:2eade98630e2 | 1374 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 1375 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 1376 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 1377 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 1378 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 1379 | |
Lightvalve | 17:1865016ca2e7 | 1380 | |
Lightvalve | 21:e5f1a43ea6f9 | 1381 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 1382 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 1383 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 1384 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 1385 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 1386 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 1387 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 1388 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 1389 | |
Lightvalve | 57:f4819de54e7a | 1390 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 1391 | } |
Lightvalve | 11:82d8768d7351 | 1392 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 1393 | } |
Lightvalve | 19:23b7c1ad8683 | 1394 | |
Lightvalve | 19:23b7c1ad8683 | 1395 | |
Lightvalve | 18:b8adf1582ea3 | 1396 | int j =0; |
Lightvalve | 54:647072f5307a | 1397 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 1398 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 1399 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 1400 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1401 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 1402 | |
Lightvalve | 11:82d8768d7351 | 1403 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 1404 | { |
Lightvalve | 19:23b7c1ad8683 | 1405 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 1406 | |
Lightvalve | 57:f4819de54e7a | 1407 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 1408 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1409 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 1410 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1411 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1412 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 1413 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 1414 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 1415 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 1416 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 1417 | } |
Lightvalve | 50:3c630b5eba9f | 1418 | |
Lightvalve | 50:3c630b5eba9f | 1419 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 1420 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1421 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1422 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1423 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 1424 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 1425 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 1426 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 1427 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 1428 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 1429 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 1430 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 1431 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 1432 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 1433 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 1434 | } else { |
Lightvalve | 58:2eade98630e2 | 1435 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 1436 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 1437 | } |
Lightvalve | 45:35fa6884d0c6 | 1438 | |
Lightvalve | 50:3c630b5eba9f | 1439 | |
Lightvalve | 57:f4819de54e7a | 1440 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 1441 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 1442 | |
Lightvalve | 57:f4819de54e7a | 1443 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 1444 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1445 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1446 | } else { |
Lightvalve | 57:f4819de54e7a | 1447 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 1448 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1449 | } |
Lightvalve | 56:6f50d9d3bfee | 1450 | |
Lightvalve | 56:6f50d9d3bfee | 1451 | |
Lightvalve | 56:6f50d9d3bfee | 1452 | |
Lightvalve | 57:f4819de54e7a | 1453 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 1454 | |
Lightvalve | 57:f4819de54e7a | 1455 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 1456 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 1457 | break; |
Lightvalve | 13:747daba9cf59 | 1458 | } |
Lightvalve | 14:8e7590227d22 | 1459 | |
Lightvalve | 14:8e7590227d22 | 1460 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1461 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1462 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 1463 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 1464 | |
Lightvalve | 14:8e7590227d22 | 1465 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1466 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1467 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1468 | |
Lightvalve | 84:c355d3e52bf1 | 1469 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 1470 | |
Lightvalve | 30:8d561f16383b | 1471 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 1472 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1473 | |
Lightvalve | 16:903b5a4433b4 | 1474 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 1475 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1476 | } |
Lightvalve | 13:747daba9cf59 | 1477 | } else { |
Lightvalve | 58:2eade98630e2 | 1478 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1479 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1480 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1481 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 1482 | |
Lightvalve | 170:42c938a40313 | 1483 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1484 | spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1485 | |
Lightvalve | 30:8d561f16383b | 1486 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 1487 | |
Lightvalve | 13:747daba9cf59 | 1488 | } |
Lightvalve | 14:8e7590227d22 | 1489 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 1490 | break; |
Lightvalve | 19:23b7c1ad8683 | 1491 | } |
Lightvalve | 14:8e7590227d22 | 1492 | |
Lightvalve | 50:3c630b5eba9f | 1493 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1494 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1495 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1496 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 1497 | // } |
Lightvalve | 50:3c630b5eba9f | 1498 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1499 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1500 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1501 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1502 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1503 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1504 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1505 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1506 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1507 | // } |
Lightvalve | 50:3c630b5eba9f | 1508 | // |
Lightvalve | 50:3c630b5eba9f | 1509 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1510 | // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); |
Lightvalve | 50:3c630b5eba9f | 1511 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 1512 | // |
Lightvalve | 50:3c630b5eba9f | 1513 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 1514 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1515 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1516 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1517 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1518 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 1519 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 1520 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1521 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1522 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1523 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 1524 | // |
Lightvalve | 50:3c630b5eba9f | 1525 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 1526 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 1527 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 1528 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 1529 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 1530 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 1531 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 1532 | // |
Lightvalve | 50:3c630b5eba9f | 1533 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 1534 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 1535 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 1536 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1537 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1538 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1539 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1540 | // } |
Lightvalve | 50:3c630b5eba9f | 1541 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 1542 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1543 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 1544 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 1545 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1546 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1547 | // } |
Lightvalve | 50:3c630b5eba9f | 1548 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1549 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 1550 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 1551 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 1552 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1553 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 1554 | // } |
Lightvalve | 50:3c630b5eba9f | 1555 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1556 | // |
Lightvalve | 50:3c630b5eba9f | 1557 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1558 | // |
Lightvalve | 50:3c630b5eba9f | 1559 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 1560 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 1561 | // |
Lightvalve | 50:3c630b5eba9f | 1562 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1563 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1564 | // } |
Lightvalve | 50:3c630b5eba9f | 1565 | // } |
Lightvalve | 50:3c630b5eba9f | 1566 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 1567 | // break; |
Lightvalve | 50:3c630b5eba9f | 1568 | // } |
Lightvalve | 14:8e7590227d22 | 1569 | |
Lightvalve | 14:8e7590227d22 | 1570 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 1571 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 1572 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1573 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 1574 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 1575 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 1576 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1577 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 1578 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 1579 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 1580 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 1581 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 1582 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 1583 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 1584 | } |
Lightvalve | 29:69f3f5445d6d | 1585 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 1586 | |
Lightvalve | 29:69f3f5445d6d | 1587 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 1588 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 1589 | } else { |
Lightvalve | 29:69f3f5445d6d | 1590 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1591 | } |
Lightvalve | 19:23b7c1ad8683 | 1592 | |
Lightvalve | 57:f4819de54e7a | 1593 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 1594 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 1595 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 1596 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 1597 | |
Lightvalve | 59:f308b1656d9c | 1598 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 1599 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1600 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 1601 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1602 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1603 | |
Lightvalve | 59:f308b1656d9c | 1604 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 1605 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1606 | |
Lightvalve | 34:bb2ca2fc2a8e | 1607 | |
Lightvalve | 29:69f3f5445d6d | 1608 | } else { |
Lightvalve | 29:69f3f5445d6d | 1609 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 1610 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 1611 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 1612 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1613 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1614 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 1615 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 1616 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 1617 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1618 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 1619 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 1620 | |
Lightvalve | 67:c2812cf26c38 | 1621 | |
Lightvalve | 67:c2812cf26c38 | 1622 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 1623 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1624 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1625 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1626 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1627 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 1628 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 169:645207e160ca | 1629 | |
Lightvalve | 169:645207e160ca | 1630 | |
Lightvalve | 29:69f3f5445d6d | 1631 | } |
Lightvalve | 29:69f3f5445d6d | 1632 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 1633 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 1634 | pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1635 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1636 | vel.ref = 0.0f; |
Lightvalve | 169:645207e160ca | 1637 | |
Lightvalve | 29:69f3f5445d6d | 1638 | // input for position control |
Lightvalve | 169:645207e160ca | 1639 | |
Lightvalve | 67:c2812cf26c38 | 1640 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 1641 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 1642 | |
Lightvalve | 67:c2812cf26c38 | 1643 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1644 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1645 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 1646 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1647 | |
Lightvalve | 67:c2812cf26c38 | 1648 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1649 | |
Lightvalve | 67:c2812cf26c38 | 1650 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1651 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 1652 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 1653 | |
Lightvalve | 67:c2812cf26c38 | 1654 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1655 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1656 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 1657 | |
Lightvalve | 69:3995ffeaa786 | 1658 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 1659 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s |
Lightvalve | 67:c2812cf26c38 | 1660 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1661 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 1662 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 67:c2812cf26c38 | 1663 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 1664 | } |
Lightvalve | 67:c2812cf26c38 | 1665 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1666 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 1667 | |
Lightvalve | 67:c2812cf26c38 | 1668 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 1669 | |
Lightvalve | 67:c2812cf26c38 | 1670 | |
Lightvalve | 67:c2812cf26c38 | 1671 | |
Lightvalve | 67:c2812cf26c38 | 1672 | } else { |
Lightvalve | 67:c2812cf26c38 | 1673 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 1674 | VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 67:c2812cf26c38 | 1675 | |
Lightvalve | 67:c2812cf26c38 | 1676 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 1677 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 1678 | } else { |
Lightvalve | 67:c2812cf26c38 | 1679 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 1680 | } |
Lightvalve | 67:c2812cf26c38 | 1681 | |
Lightvalve | 67:c2812cf26c38 | 1682 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 1683 | |
Lightvalve | 67:c2812cf26c38 | 1684 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1685 | |
Lightvalve | 67:c2812cf26c38 | 1686 | } |
Lightvalve | 67:c2812cf26c38 | 1687 | |
Lightvalve | 67:c2812cf26c38 | 1688 | |
Lightvalve | 169:645207e160ca | 1689 | |
Lightvalve | 169:645207e160ca | 1690 | |
Lightvalve | 59:f308b1656d9c | 1691 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 1692 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1693 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1694 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 1695 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 1696 | |
Lightvalve | 29:69f3f5445d6d | 1697 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1698 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1699 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1700 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1701 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1702 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1703 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1704 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1705 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1706 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1707 | } |
Lightvalve | 13:747daba9cf59 | 1708 | } |
Lightvalve | 19:23b7c1ad8683 | 1709 | |
Lightvalve | 13:747daba9cf59 | 1710 | break; |
Lightvalve | 13:747daba9cf59 | 1711 | } |
Lightvalve | 14:8e7590227d22 | 1712 | |
Lightvalve | 50:3c630b5eba9f | 1713 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1714 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1715 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1716 | // else { |
Lightvalve | 50:3c630b5eba9f | 1717 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1718 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1719 | // } |
Lightvalve | 50:3c630b5eba9f | 1720 | // } |
Lightvalve | 50:3c630b5eba9f | 1721 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1722 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1723 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1724 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1725 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1726 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1727 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1728 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1729 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1730 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1731 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1732 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1733 | // } |
Lightvalve | 50:3c630b5eba9f | 1734 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1735 | // } |
Lightvalve | 50:3c630b5eba9f | 1736 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1737 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1738 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1739 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1740 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1741 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1742 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1743 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1744 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 |
Lightvalve | 50:3c630b5eba9f | 1745 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1746 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1747 | // } |
Lightvalve | 50:3c630b5eba9f | 1748 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1749 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1750 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1751 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1752 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1753 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1754 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); |
Lightvalve | 50:3c630b5eba9f | 1755 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1756 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1757 | // } |
Lightvalve | 50:3c630b5eba9f | 1758 | // } |
Lightvalve | 50:3c630b5eba9f | 1759 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1760 | // |
Lightvalve | 50:3c630b5eba9f | 1761 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1762 | // |
Lightvalve | 50:3c630b5eba9f | 1763 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1764 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1765 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1766 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1767 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1768 | // } |
Lightvalve | 50:3c630b5eba9f | 1769 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1770 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1771 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1772 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1773 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1774 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1775 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1776 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1777 | // } |
Lightvalve | 50:3c630b5eba9f | 1778 | // |
Lightvalve | 50:3c630b5eba9f | 1779 | // } |
Lightvalve | 50:3c630b5eba9f | 1780 | // break; |
Lightvalve | 50:3c630b5eba9f | 1781 | // } |
Lightvalve | 50:3c630b5eba9f | 1782 | // |
Lightvalve | 50:3c630b5eba9f | 1783 | // } |
Lightvalve | 14:8e7590227d22 | 1784 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1785 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1786 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1787 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1788 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1789 | |
Lightvalve | 14:8e7590227d22 | 1790 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1791 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1792 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1793 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1794 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1795 | |
Lightvalve | 38:118df027d851 | 1796 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1797 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1798 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1799 | |
Lightvalve | 30:8d561f16383b | 1800 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1801 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1802 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1803 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1804 | |
Lightvalve | 30:8d561f16383b | 1805 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1806 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1807 | } |
Lightvalve | 13:747daba9cf59 | 1808 | } else { |
Lightvalve | 57:f4819de54e7a | 1809 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1810 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1811 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1812 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1813 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1814 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1815 | |
Lightvalve | 170:42c938a40313 | 1816 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1817 | spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 170:42c938a40313 | 1818 | spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 19:23b7c1ad8683 | 1819 | |
Lightvalve | 30:8d561f16383b | 1820 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1821 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1822 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1823 | } |
Lightvalve | 14:8e7590227d22 | 1824 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1825 | break; |
Lightvalve | 13:747daba9cf59 | 1826 | } |
Lightvalve | 14:8e7590227d22 | 1827 | |
Lightvalve | 50:3c630b5eba9f | 1828 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1829 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1830 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1831 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1832 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1833 | // } |
Lightvalve | 50:3c630b5eba9f | 1834 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1835 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1836 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1837 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1838 | // } |
Lightvalve | 50:3c630b5eba9f | 1839 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1840 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1841 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1842 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1843 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1844 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1845 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1846 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1847 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1848 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1849 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1850 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1851 | // |
Lightvalve | 50:3c630b5eba9f | 1852 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1853 | // |
Lightvalve | 50:3c630b5eba9f | 1854 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1855 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1856 | // } |
Lightvalve | 50:3c630b5eba9f | 1857 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1858 | // break; |
Lightvalve | 50:3c630b5eba9f | 1859 | // } |
Lightvalve | 19:23b7c1ad8683 | 1860 | |
Lightvalve | 50:3c630b5eba9f | 1861 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1862 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f); |
Lightvalve | 50:3c630b5eba9f | 1863 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1864 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1865 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1866 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1867 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1868 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1869 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1870 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1871 | // } |
Lightvalve | 50:3c630b5eba9f | 1872 | // break; |
Lightvalve | 50:3c630b5eba9f | 1873 | // } |
Lightvalve | 14:8e7590227d22 | 1874 | |
Lightvalve | 14:8e7590227d22 | 1875 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1876 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1877 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1878 | |
Lightvalve | 14:8e7590227d22 | 1879 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1880 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1881 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1882 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1883 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1884 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1885 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1886 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1887 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1888 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1889 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1890 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1891 | } else { |
Lightvalve | 13:747daba9cf59 | 1892 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1893 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1894 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1895 | } |
Lightvalve | 14:8e7590227d22 | 1896 | |
Lightvalve | 17:1865016ca2e7 | 1897 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1898 | int i; |
Lightvalve | 13:747daba9cf59 | 1899 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1900 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1901 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1902 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1903 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1904 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1905 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1906 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1907 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1908 | } |
Lightvalve | 13:747daba9cf59 | 1909 | } |
Lightvalve | 170:42c938a40313 | 1910 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 1911 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 1912 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 1913 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 1914 | spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); |
Lightvalve | 170:42c938a40313 | 1915 | } |
Lightvalve | 13:747daba9cf59 | 1916 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1917 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1918 | } |
Lightvalve | 14:8e7590227d22 | 1919 | |
Lightvalve | 14:8e7590227d22 | 1920 | |
Lightvalve | 13:747daba9cf59 | 1921 | break; |
Lightvalve | 13:747daba9cf59 | 1922 | } |
Lightvalve | 14:8e7590227d22 | 1923 | |
Lightvalve | 14:8e7590227d22 | 1924 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1925 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1926 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1927 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1928 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1929 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1930 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1931 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1932 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1933 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1934 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1935 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1936 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1937 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1938 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1939 | 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 | 1940 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1941 | 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 | 1942 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1943 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1944 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1945 | 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 | 1946 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1947 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1948 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1949 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1950 | |
Lightvalve | 30:8d561f16383b | 1951 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1952 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1953 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1954 | |
Lightvalve | 30:8d561f16383b | 1955 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1956 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1957 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1958 | |
Lightvalve | 30:8d561f16383b | 1959 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1960 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1961 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1962 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1963 | |
Lightvalve | 60:64181f1d3e60 | 1964 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1965 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1966 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1967 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1968 | } else { |
Lightvalve | 13:747daba9cf59 | 1969 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1970 | } |
Lightvalve | 61:bc8c8270f0ab | 1971 | |
Lightvalve | 60:64181f1d3e60 | 1972 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1973 | |
Lightvalve | 13:747daba9cf59 | 1974 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1975 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1976 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1977 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1978 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1979 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1980 | |
Lightvalve | 13:747daba9cf59 | 1981 | } |
Lightvalve | 19:23b7c1ad8683 | 1982 | } else { |
Lightvalve | 14:8e7590227d22 | 1983 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1984 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1985 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1986 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1987 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1988 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1989 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1990 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1991 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1992 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1993 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1994 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1995 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1996 | } |
Lightvalve | 14:8e7590227d22 | 1997 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1998 | |
Lightvalve | 30:8d561f16383b | 1999 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2000 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2001 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2002 | |
Lightvalve | 14:8e7590227d22 | 2003 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2004 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2005 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2006 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2007 | } else { |
Lightvalve | 13:747daba9cf59 | 2008 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2009 | } |
Lightvalve | 14:8e7590227d22 | 2010 | |
Lightvalve | 13:747daba9cf59 | 2011 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2012 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2013 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2014 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2015 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2016 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2017 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2018 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2019 | } |
Lightvalve | 13:747daba9cf59 | 2020 | } |
Lightvalve | 14:8e7590227d22 | 2021 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 2022 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2023 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2024 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2025 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2026 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2027 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2028 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2029 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2030 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2031 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2032 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2033 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2034 | } |
Lightvalve | 14:8e7590227d22 | 2035 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2036 | |
Lightvalve | 30:8d561f16383b | 2037 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2038 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2039 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2040 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2041 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2042 | |
Lightvalve | 14:8e7590227d22 | 2043 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 2044 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2045 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2046 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 2047 | } else { |
Lightvalve | 60:64181f1d3e60 | 2048 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 2049 | } |
Lightvalve | 14:8e7590227d22 | 2050 | |
Lightvalve | 13:747daba9cf59 | 2051 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 2052 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 2053 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2054 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2055 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2056 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2057 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2058 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 2059 | |
Lightvalve | 170:42c938a40313 | 2060 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2061 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2062 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2063 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2064 | |
Lightvalve | 60:64181f1d3e60 | 2065 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2066 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2067 | } |
Lightvalve | 13:747daba9cf59 | 2068 | } |
Lightvalve | 14:8e7590227d22 | 2069 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 2070 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2071 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2072 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2073 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2074 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2075 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2076 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2077 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2078 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2079 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2080 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2081 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 2082 | } |
Lightvalve | 14:8e7590227d22 | 2083 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2084 | |
Lightvalve | 30:8d561f16383b | 2085 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2086 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2087 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2088 | |
Lightvalve | 14:8e7590227d22 | 2089 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 2090 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 2091 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 2092 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 2093 | } else { |
Lightvalve | 13:747daba9cf59 | 2094 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2095 | } |
Lightvalve | 13:747daba9cf59 | 2096 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2097 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2098 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2099 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 2100 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 2101 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 2102 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2103 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 2104 | } |
Lightvalve | 13:747daba9cf59 | 2105 | } |
Lightvalve | 14:8e7590227d22 | 2106 | } else { |
Lightvalve | 30:8d561f16383b | 2107 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 2108 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 2109 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 2110 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2111 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2112 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2113 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2114 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 2115 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 2116 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 2117 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 2118 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 2119 | } |
Lightvalve | 14:8e7590227d22 | 2120 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 2121 | |
Lightvalve | 30:8d561f16383b | 2122 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2123 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 2124 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2125 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 2126 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 2127 | |
Lightvalve | 60:64181f1d3e60 | 2128 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 2129 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2130 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 2131 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 2132 | } else { |
Lightvalve | 13:747daba9cf59 | 2133 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 2134 | } |
Lightvalve | 14:8e7590227d22 | 2135 | |
Lightvalve | 13:747daba9cf59 | 2136 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2137 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 2138 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 2139 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 2140 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 2141 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 2142 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 2143 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 2144 | |
Lightvalve | 170:42c938a40313 | 2145 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2146 | spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); |
Lightvalve | 170:42c938a40313 | 2147 | spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 2148 | spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); |
Lightvalve | 34:bb2ca2fc2a8e | 2149 | |
Lightvalve | 57:f4819de54e7a | 2150 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 2151 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 2152 | } |
Lightvalve | 13:747daba9cf59 | 2153 | } |
Lightvalve | 13:747daba9cf59 | 2154 | } |
Lightvalve | 14:8e7590227d22 | 2155 | } |
Lightvalve | 13:747daba9cf59 | 2156 | break; |
Lightvalve | 13:747daba9cf59 | 2157 | } |
Lightvalve | 14:8e7590227d22 | 2158 | |
Lightvalve | 14:8e7590227d22 | 2159 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 2160 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 2161 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 2162 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 2163 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2164 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 2165 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 2166 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2167 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2168 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2169 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 2170 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2171 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 2172 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2173 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 2174 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 2175 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2176 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 2177 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2178 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 2179 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2180 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 2181 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 2182 | } |
Lightvalve | 14:8e7590227d22 | 2183 | } else { |
Lightvalve | 30:8d561f16383b | 2184 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 2185 | //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 2186 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 2187 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 2188 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 2189 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 2190 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2191 | |
Lightvalve | 14:8e7590227d22 | 2192 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 2193 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 2194 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 2195 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 2196 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 2197 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 2198 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 2199 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 2200 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 2201 | } |
Lightvalve | 30:8d561f16383b | 2202 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 2203 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 2204 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 2205 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2206 | } |
Lightvalve | 14:8e7590227d22 | 2207 | |
Lightvalve | 14:8e7590227d22 | 2208 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 2209 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 2210 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 2211 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 2212 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 2213 | } |
Lightvalve | 13:747daba9cf59 | 2214 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 2215 | |
Lightvalve | 13:747daba9cf59 | 2216 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 2217 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 2218 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 2219 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 2220 | } |
Lightvalve | 14:8e7590227d22 | 2221 | |
Lightvalve | 14:8e7590227d22 | 2222 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 2223 | |
Lightvalve | 13:747daba9cf59 | 2224 | VALVE_POS_NUM = ID_index; |
Lightvalve | 170:42c938a40313 | 2225 | // ROM_RESET_DATA(); |
Lightvalve | 170:42c938a40313 | 2226 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 2227 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2228 | spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 170:42c938a40313 | 2229 | } |
Lightvalve | 13:747daba9cf59 | 2230 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 2231 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 2232 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 2233 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 2234 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 2235 | } |
Lightvalve | 13:747daba9cf59 | 2236 | } |
Lightvalve | 13:747daba9cf59 | 2237 | break; |
Lightvalve | 13:747daba9cf59 | 2238 | } |
Lightvalve | 58:2eade98630e2 | 2239 | |
Lightvalve | 57:f4819de54e7a | 2240 | case MODE_SYSTEM_ID: { |
Lightvalve | 169:645207e160ca | 2241 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f; |
Lightvalve | 57:f4819de54e7a | 2242 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 2243 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 2244 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 2245 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 2246 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 2247 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 2248 | } |
Lightvalve | 57:f4819de54e7a | 2249 | break; |
Lightvalve | 57:f4819de54e7a | 2250 | } |
Lightvalve | 58:2eade98630e2 | 2251 | |
Lightvalve | 169:645207e160ca | 2252 | case MODE_FREQ_TEST: { |
Lightvalve | 169:645207e160ca | 2253 | float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); |
Lightvalve | 169:645207e160ca | 2254 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2255 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2256 | } else { |
Lightvalve | 169:645207e160ca | 2257 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2258 | } |
Lightvalve | 169:645207e160ca | 2259 | ref_array[cnt_freq_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2260 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2261 | pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2262 | } else { |
Lightvalve | 169:645207e160ca | 2263 | pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2264 | } |
Lightvalve | 58:2eade98630e2 | 2265 | |
Lightvalve | 169:645207e160ca | 2266 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2267 | cnt_freq_test++; |
Lightvalve | 169:645207e160ca | 2268 | if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { |
Lightvalve | 169:645207e160ca | 2269 | buffer_data_size = cnt_freq_test; |
Lightvalve | 169:645207e160ca | 2270 | cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 2271 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2272 | freq_test_valve_ref = freq_test_valve_ref * 1.05f; |
Lightvalve | 169:645207e160ca | 2273 | if (freq_test_valve_ref >= 400) { |
Lightvalve | 169:645207e160ca | 2274 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2275 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2276 | CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2277 | } |
Lightvalve | 169:645207e160ca | 2278 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2279 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 170:42c938a40313 | 2280 | |
Lightvalve | 169:645207e160ca | 2281 | } |
Lightvalve | 169:645207e160ca | 2282 | break; |
Lightvalve | 169:645207e160ca | 2283 | } |
Lightvalve | 169:645207e160ca | 2284 | case MODE_SEND_BUFFER: { |
Lightvalve | 169:645207e160ca | 2285 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 169:645207e160ca | 2286 | // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 |
Lightvalve | 169:645207e160ca | 2287 | // if(cnt_send_buffer>=buffer_data_size) { |
Lightvalve | 169:645207e160ca | 2288 | // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; |
Lightvalve | 169:645207e160ca | 2289 | // } |
Lightvalve | 169:645207e160ca | 2290 | // cnt_send_buffer++; |
Lightvalve | 169:645207e160ca | 2291 | // } |
Lightvalve | 169:645207e160ca | 2292 | |
Lightvalve | 169:645207e160ca | 2293 | break; |
Lightvalve | 169:645207e160ca | 2294 | } |
Lightvalve | 169:645207e160ca | 2295 | case MODE_SEND_OVER: { |
Lightvalve | 169:645207e160ca | 2296 | CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 |
Lightvalve | 169:645207e160ca | 2297 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2298 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2299 | break; |
Lightvalve | 169:645207e160ca | 2300 | } |
Lightvalve | 170:42c938a40313 | 2301 | |
Lightvalve | 169:645207e160ca | 2302 | case MODE_STEP_TEST: { |
Lightvalve | 169:645207e160ca | 2303 | float valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2304 | if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2305 | valve_pos_ref = 0.0f; |
Lightvalve | 170:42c938a40313 | 2306 | } else { |
Lightvalve | 169:645207e160ca | 2307 | valve_pos_ref = 10000.0f; |
Lightvalve | 169:645207e160ca | 2308 | } |
Lightvalve | 169:645207e160ca | 2309 | if(valve_pos_ref >= 0) { |
Lightvalve | 169:645207e160ca | 2310 | valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2311 | } else { |
Lightvalve | 169:645207e160ca | 2312 | valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; |
Lightvalve | 169:645207e160ca | 2313 | } |
Lightvalve | 169:645207e160ca | 2314 | ref_array[cnt_step_test] = valve_pos_ref; |
Lightvalve | 169:645207e160ca | 2315 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2316 | pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2317 | } else { |
Lightvalve | 169:645207e160ca | 2318 | pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2319 | } |
Lightvalve | 169:645207e160ca | 2320 | |
Lightvalve | 169:645207e160ca | 2321 | CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; |
Lightvalve | 169:645207e160ca | 2322 | cnt_step_test++; |
Lightvalve | 170:42c938a40313 | 2323 | if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 169:645207e160ca | 2324 | buffer_data_size = cnt_step_test; |
Lightvalve | 169:645207e160ca | 2325 | cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 2326 | cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 2327 | CONTROL_UTILITY_MODE = MODE_SEND_OVER; |
Lightvalve | 169:645207e160ca | 2328 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2329 | } |
Lightvalve | 169:645207e160ca | 2330 | // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) |
Lightvalve | 169:645207e160ca | 2331 | // { |
Lightvalve | 169:645207e160ca | 2332 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2333 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 169:645207e160ca | 2334 | // CAN_TX_PWM((int16_t) (1)); //1300 |
Lightvalve | 169:645207e160ca | 2335 | // } |
Lightvalve | 170:42c938a40313 | 2336 | |
Lightvalve | 169:645207e160ca | 2337 | break; |
Lightvalve | 169:645207e160ca | 2338 | } |
Lightvalve | 57:f4819de54e7a | 2339 | |
Lightvalve | 57:f4819de54e7a | 2340 | default: |
Lightvalve | 57:f4819de54e7a | 2341 | break; |
Lightvalve | 57:f4819de54e7a | 2342 | } |
Lightvalve | 57:f4819de54e7a | 2343 | |
Lightvalve | 57:f4819de54e7a | 2344 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 2345 | |
Lightvalve | 57:f4819de54e7a | 2346 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 2347 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 2348 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2349 | break; |
Lightvalve | 57:f4819de54e7a | 2350 | } |
Lightvalve | 57:f4819de54e7a | 2351 | |
Lightvalve | 57:f4819de54e7a | 2352 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 2353 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 2354 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 2355 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 2356 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 2357 | V_out = valve_pos.ref; |
Lightvalve | 169:645207e160ca | 2358 | } else { |
Lightvalve | 67:c2812cf26c38 | 2359 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 2360 | } |
Lightvalve | 57:f4819de54e7a | 2361 | break; |
Lightvalve | 57:f4819de54e7a | 2362 | } |
Lightvalve | 57:f4819de54e7a | 2363 | |
Lightvalve | 57:f4819de54e7a | 2364 | case MODE_JOINT_CONTROL: { |
Lightvalve | 169:645207e160ca | 2365 | |
Lightvalve | 57:f4819de54e7a | 2366 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2367 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 2368 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 2369 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2370 | |
Lightvalve | 67:c2812cf26c38 | 2371 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 2372 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 2373 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 2374 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 169:645207e160ca | 2375 | |
Lightvalve | 139:15621998925b | 2376 | // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 139:15621998925b | 2377 | torq_ref = torq.ref; |
Lightvalve | 57:f4819de54e7a | 2378 | |
Lightvalve | 57:f4819de54e7a | 2379 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 2380 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 2381 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 2382 | |
Lightvalve | 57:f4819de54e7a | 2383 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 2384 | |
Lightvalve | 57:f4819de54e7a | 2385 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2386 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 2387 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 2388 | |
Lightvalve | 57:f4819de54e7a | 2389 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2390 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 2391 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 2392 | |
Lightvalve | 69:3995ffeaa786 | 2393 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2394 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2395 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2396 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2397 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2398 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2399 | } |
Lightvalve | 57:f4819de54e7a | 2400 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2401 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2402 | |
Lightvalve | 57:f4819de54e7a | 2403 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 2404 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 2405 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 2406 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s |
Lightvalve | 57:f4819de54e7a | 2407 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 2408 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 2409 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 2410 | I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive. |
Lightvalve | 57:f4819de54e7a | 2411 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2412 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 2413 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 2414 | } |
Lightvalve | 57:f4819de54e7a | 2415 | if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2416 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 2417 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 2418 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 2419 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 2420 | |
Lightvalve | 57:f4819de54e7a | 2421 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 169:645207e160ca | 2422 | |
Lightvalve | 67:c2812cf26c38 | 2423 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 2424 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 2425 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 2426 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 2427 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2428 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2429 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2430 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2431 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2432 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 2433 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 2434 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 2435 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 2436 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 2437 | } |
Lightvalve | 67:c2812cf26c38 | 2438 | } |
Lightvalve | 57:f4819de54e7a | 2439 | |
Lightvalve | 57:f4819de54e7a | 2440 | } else { |
Lightvalve | 57:f4819de54e7a | 2441 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2442 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 2443 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 169:645207e160ca | 2444 | |
Lightvalve | 209:ebc69d6ee6f1 | 2445 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 57:f4819de54e7a | 2446 | |
Lightvalve | 72:3436ce769b1e | 2447 | VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; |
Lightvalve | 169:645207e160ca | 2448 | |
Lightvalve | 72:3436ce769b1e | 2449 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 169:645207e160ca | 2450 | |
Lightvalve | 169:645207e160ca | 2451 | |
Lightvalve | 72:3436ce769b1e | 2452 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 2453 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 2454 | } else { |
Lightvalve | 72:3436ce769b1e | 2455 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 2456 | } |
Lightvalve | 57:f4819de54e7a | 2457 | |
Lightvalve | 57:f4819de54e7a | 2458 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 139:15621998925b | 2459 | double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 2460 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 2461 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2462 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2463 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 2464 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2465 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 2466 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2467 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 2468 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 2469 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 2470 | } |
Lightvalve | 57:f4819de54e7a | 2471 | } |
Lightvalve | 61:bc8c8270f0ab | 2472 | |
Lightvalve | 57:f4819de54e7a | 2473 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 2474 | |
Lightvalve | 67:c2812cf26c38 | 2475 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 2476 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2477 | |
Lightvalve | 57:f4819de54e7a | 2478 | } |
Lightvalve | 169:645207e160ca | 2479 | |
Lightvalve | 72:3436ce769b1e | 2480 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 2481 | |
Lightvalve | 133:22ab22818e01 | 2482 | |
Lightvalve | 57:f4819de54e7a | 2483 | break; |
Lightvalve | 57:f4819de54e7a | 2484 | } |
Lightvalve | 58:2eade98630e2 | 2485 | |
Lightvalve | 57:f4819de54e7a | 2486 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 2487 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 2488 | break; |
Lightvalve | 57:f4819de54e7a | 2489 | } |
Lightvalve | 169:645207e160ca | 2490 | |
Lightvalve | 138:a843f32ced33 | 2491 | case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { |
Lightvalve | 169:645207e160ca | 2492 | |
Lightvalve | 169:645207e160ca | 2493 | |
Lightvalve | 139:15621998925b | 2494 | float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 |
Lightvalve | 139:15621998925b | 2495 | 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 | 210:efc3a92cc6be | 2496 | |
Lightvalve | 170:42c938a40313 | 2497 | V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f |
Lightvalve | 169:645207e160ca | 2498 | |
Lightvalve | 169:645207e160ca | 2499 | |
Lightvalve | 170:42c938a40313 | 2500 | float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 |
Lightvalve | 169:645207e160ca | 2501 | |
Lightvalve | 138:a843f32ced33 | 2502 | float g3_prime = 0.0f; |
Lightvalve | 169:645207e160ca | 2503 | if (torq.sen > Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2504 | g3_prime = 1.0f; |
Lightvalve | 138:a843f32ced33 | 2505 | } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { |
Lightvalve | 138:a843f32ced33 | 2506 | g3_prime = -1.0f; |
Lightvalve | 138:a843f32ced33 | 2507 | } else { |
Lightvalve | 138:a843f32ced33 | 2508 | if ((value-VALVE_CENTER) > 0) { |
Lightvalve | 169:645207e160ca | 2509 | g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); |
Lightvalve | 169:645207e160ca | 2510 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2511 | } else { |
Lightvalve | 138:a843f32ced33 | 2512 | g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); |
Lightvalve | 139:15621998925b | 2513 | // g3_prime = sqrt(Ps-Pt); |
Lightvalve | 138:a843f32ced33 | 2514 | } |
Lightvalve | 138:a843f32ced33 | 2515 | } |
Lightvalve | 138:a843f32ced33 | 2516 | float tau = 0.01f; |
Lightvalve | 142:43026242815a | 2517 | float K_valve = 0.0004f; |
Lightvalve | 169:645207e160ca | 2518 | |
Lightvalve | 138:a843f32ced33 | 2519 | float x_v = 0.0f; //x_v : -1~1 |
Lightvalve | 138:a843f32ced33 | 2520 | if(value>=VALVE_CENTER) { |
Lightvalve | 138:a843f32ced33 | 2521 | x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2522 | } else { |
Lightvalve | 138:a843f32ced33 | 2523 | x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 138:a843f32ced33 | 2524 | } |
Lightvalve | 138:a843f32ced33 | 2525 | float f4 = -x_v/tau; |
Lightvalve | 138:a843f32ced33 | 2526 | float g4 = K_valve/tau; |
Lightvalve | 169:645207e160ca | 2527 | |
Lightvalve | 139:15621998925b | 2528 | float torq_ref_dot = torq.ref_diff * 500.0f; |
Lightvalve | 169:645207e160ca | 2529 | |
Lightvalve | 138:a843f32ced33 | 2530 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 138:a843f32ced33 | 2531 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 138:a843f32ced33 | 2532 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 169:645207e160ca | 2533 | |
Lightvalve | 138:a843f32ced33 | 2534 | torq.err = torq.ref - torq.sen; //[N] |
Lightvalve | 138:a843f32ced33 | 2535 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 169:645207e160ca | 2536 | |
Lightvalve | 142:43026242815a | 2537 | float k3 = 20000.0f; //2000 |
Lightvalve | 142:43026242815a | 2538 | float k4 = 10.0f; |
Lightvalve | 142:43026242815a | 2539 | float rho3 = 3.2f; |
Lightvalve | 142:43026242815a | 2540 | float rho4 = 25000000.0f; |
Lightvalve | 139:15621998925b | 2541 | float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); |
Lightvalve | 138:a843f32ced33 | 2542 | if (x_4_des > 1) x_4_des = 1; |
Lightvalve | 138:a843f32ced33 | 2543 | else if (x_4_des < -1) x_4_des = -1; |
Lightvalve | 169:645207e160ca | 2544 | |
Lightvalve | 139:15621998925b | 2545 | if (x_4_des > 0) { |
Lightvalve | 139:15621998925b | 2546 | valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2547 | } else { |
Lightvalve | 139:15621998925b | 2548 | valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; |
Lightvalve | 139:15621998925b | 2549 | } |
Lightvalve | 169:645207e160ca | 2550 | |
Lightvalve | 169:645207e160ca | 2551 | |
Lightvalve | 138:a843f32ced33 | 2552 | float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; |
Lightvalve | 138:a843f32ced33 | 2553 | x_4_des_old = x_4_des; |
Lightvalve | 169:645207e160ca | 2554 | |
Lightvalve | 139:15621998925b | 2555 | V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; |
Lightvalve | 169:645207e160ca | 2556 | |
Lightvalve | 142:43026242815a | 2557 | float rho_gamma = 50000.0f;//5000 |
Lightvalve | 139:15621998925b | 2558 | 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 | 138:a843f32ced33 | 2559 | gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; |
Lightvalve | 169:645207e160ca | 2560 | break; |
Lightvalve | 138:a843f32ced33 | 2561 | } |
Lightvalve | 171:bfc1fd2629d8 | 2562 | |
Lightvalve | 170:42c938a40313 | 2563 | case MODE_RL: { |
Lightvalve | 170:42c938a40313 | 2564 | //t.reset(); |
Lightvalve | 170:42c938a40313 | 2565 | //t.start(); |
Lightvalve | 170:42c938a40313 | 2566 | |
Lightvalve | 170:42c938a40313 | 2567 | // if(LED == 0) LED = 1; |
Lightvalve | 170:42c938a40313 | 2568 | // else LED = 0; |
Lightvalve | 170:42c938a40313 | 2569 | |
Lightvalve | 170:42c938a40313 | 2570 | if (Update_Done_Flag == 1) { |
Lightvalve | 170:42c938a40313 | 2571 | //Gather Data on each loop |
Lightvalve | 170:42c938a40313 | 2572 | // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 170:42c938a40313 | 2573 | // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2574 | // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2575 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2576 | train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2577 | train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2578 | //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2579 | //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2580 | float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; |
Lightvalve | 170:42c938a40313 | 2581 | Actor_Network(temp_array); |
Lightvalve | 173:68c7914679ec | 2582 | for (int i=0; i<num_hidden_unit1; i++) { |
Lightvalve | 173:68c7914679ec | 2583 | hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2584 | } |
Lightvalve | 173:68c7914679ec | 2585 | for (int i=0; i<num_hidden_unit2; i++) { |
Lightvalve | 173:68c7914679ec | 2586 | hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; |
Lightvalve | 173:68c7914679ec | 2587 | } |
Lightvalve | 173:68c7914679ec | 2588 | hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; |
Lightvalve | 173:68c7914679ec | 2589 | hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; |
Lightvalve | 170:42c938a40313 | 2590 | mean_array[RL_timer] = mean; |
Lightvalve | 170:42c938a40313 | 2591 | deviation_array[RL_timer] = deviation; |
Lightvalve | 170:42c938a40313 | 2592 | action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); |
Lightvalve | 170:42c938a40313 | 2593 | |
Lightvalve | 179:d5377766d7ea | 2594 | virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2595 | if (virt_pos > 70 ) { |
Lightvalve | 170:42c938a40313 | 2596 | virt_pos = 70.0f; |
Lightvalve | 179:d5377766d7ea | 2597 | }else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2598 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2599 | } |
Lightvalve | 171:bfc1fd2629d8 | 2600 | |
Lightvalve | 170:42c938a40313 | 2601 | RL_timer++; |
Lightvalve | 170:42c938a40313 | 2602 | |
Lightvalve | 170:42c938a40313 | 2603 | |
Lightvalve | 170:42c938a40313 | 2604 | if (RL_timer >= batch_size) { |
Lightvalve | 170:42c938a40313 | 2605 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2606 | batch++; |
Lightvalve | 170:42c938a40313 | 2607 | for(int i=0; i<batch_size; i++) { |
Lightvalve | 170:42c938a40313 | 2608 | state_array[i][0] = train_set_x[i]; |
Lightvalve | 170:42c938a40313 | 2609 | state_array[i][1] = train_set_error[i]; |
Lightvalve | 170:42c938a40313 | 2610 | //state_array[i][2] = train_set_count[i]; |
Lightvalve | 170:42c938a40313 | 2611 | } |
Lightvalve | 170:42c938a40313 | 2612 | Update_Case = 1; |
Lightvalve | 170:42c938a40313 | 2613 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2614 | logging1 = virt_pos; |
Lightvalve | 179:d5377766d7ea | 2615 | |
Lightvalve | 170:42c938a40313 | 2616 | if(batch >= num_batch) { |
Lightvalve | 170:42c938a40313 | 2617 | batch = 0; |
Lightvalve | 170:42c938a40313 | 2618 | RL_timer = 0; |
Lightvalve | 170:42c938a40313 | 2619 | Update_Case = 2; |
Lightvalve | 170:42c938a40313 | 2620 | Update_Done_Flag = 0; |
Lightvalve | 170:42c938a40313 | 2621 | virt_pos = 10.0f; |
Lightvalve | 170:42c938a40313 | 2622 | } |
Lightvalve | 170:42c938a40313 | 2623 | } |
Lightvalve | 170:42c938a40313 | 2624 | } |
Lightvalve | 170:42c938a40313 | 2625 | |
Lightvalve | 170:42c938a40313 | 2626 | else { |
Lightvalve | 170:42c938a40313 | 2627 | pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] |
Lightvalve | 170:42c938a40313 | 2628 | float temp_array[3] = {0.0f}; |
Lightvalve | 170:42c938a40313 | 2629 | temp_array[0] = virt_pos/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2630 | temp_array[1] = pos.err/70.0f; //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2631 | //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 |
Lightvalve | 170:42c938a40313 | 2632 | Actor_Network(temp_array); |
Lightvalve | 170:42c938a40313 | 2633 | action = rand_normal(mean, deviation); |
Lightvalve | 170:42c938a40313 | 2634 | //logging1 = action; |
Lightvalve | 179:d5377766d7ea | 2635 | //logging2 = mean; |
Lightvalve | 179:d5377766d7ea | 2636 | //logging4 = deviation; |
Lightvalve | 179:d5377766d7ea | 2637 | virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; |
Lightvalve | 179:d5377766d7ea | 2638 | if (virt_pos > 70) { |
Lightvalve | 170:42c938a40313 | 2639 | virt_pos = 70.0f; |
Lightvalve | 179:d5377766d7ea | 2640 | }else if(virt_pos < -70) { |
Lightvalve | 170:42c938a40313 | 2641 | virt_pos = -70.0f; |
Lightvalve | 170:42c938a40313 | 2642 | } |
Lightvalve | 170:42c938a40313 | 2643 | |
Lightvalve | 170:42c938a40313 | 2644 | logging3 = virt_pos; |
Lightvalve | 170:42c938a40313 | 2645 | } |
Lightvalve | 170:42c938a40313 | 2646 | |
Lightvalve | 170:42c938a40313 | 2647 | //t.stop(); |
Lightvalve | 170:42c938a40313 | 2648 | //logging1 = t.read()*1000.0f; //msec |
Lightvalve | 170:42c938a40313 | 2649 | |
Lightvalve | 170:42c938a40313 | 2650 | break; |
Lightvalve | 170:42c938a40313 | 2651 | } |
Lightvalve | 14:8e7590227d22 | 2652 | |
Lightvalve | 12:6f2531038ea4 | 2653 | default: |
Lightvalve | 12:6f2531038ea4 | 2654 | break; |
Lightvalve | 12:6f2531038ea4 | 2655 | } |
Lightvalve | 14:8e7590227d22 | 2656 | |
Lightvalve | 57:f4819de54e7a | 2657 | |
Lightvalve | 57:f4819de54e7a | 2658 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 2659 | |
Lightvalve | 57:f4819de54e7a | 2660 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2661 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2662 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2663 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 2664 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 2665 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 2666 | |
Lightvalve | 57:f4819de54e7a | 2667 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 2668 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2669 | |
Lightvalve | 57:f4819de54e7a | 2670 | |
Lightvalve | 57:f4819de54e7a | 2671 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 2672 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2673 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 2674 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 2675 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2676 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2677 | |
Lightvalve | 57:f4819de54e7a | 2678 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 2679 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 2680 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 2681 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2682 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 2683 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 2684 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 2685 | } |
Lightvalve | 57:f4819de54e7a | 2686 | |
Lightvalve | 57:f4819de54e7a | 2687 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 2688 | |
Lightvalve | 67:c2812cf26c38 | 2689 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 2690 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 2691 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 2692 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 2693 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2694 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2695 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 2696 | |
Lightvalve | 57:f4819de54e7a | 2697 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 2698 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2699 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 2700 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2701 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2702 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2703 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 2704 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 2705 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 2706 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 2707 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 2708 | } |
Lightvalve | 57:f4819de54e7a | 2709 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2710 | } else { |
Lightvalve | 57:f4819de54e7a | 2711 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 2712 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 2713 | } |
Lightvalve | 57:f4819de54e7a | 2714 | |
Lightvalve | 57:f4819de54e7a | 2715 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2716 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 2717 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 2718 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 2719 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 2720 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2721 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2722 | |
Lightvalve | 57:f4819de54e7a | 2723 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 2724 | |
Lightvalve | 57:f4819de54e7a | 2725 | } else { |
Lightvalve | 57:f4819de54e7a | 2726 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 2727 | } |
Lightvalve | 57:f4819de54e7a | 2728 | |
Lightvalve | 57:f4819de54e7a | 2729 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 2730 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 2731 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 2732 | |
Lightvalve | 57:f4819de54e7a | 2733 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 2734 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2735 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2736 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 169:645207e160ca | 2737 | } else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 2738 | // Output Voltage Linearization |
Lightvalve | 135:79885a39c161 | 2739 | // double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 135:79885a39c161 | 2740 | // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 2741 | |
Lightvalve | 89:a7b45368ea0f | 2742 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 135:79885a39c161 | 2743 | // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 135:79885a39c161 | 2744 | // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 135:79885a39c161 | 2745 | // else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 135:79885a39c161 | 2746 | |
Lightvalve | 135:79885a39c161 | 2747 | if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 135:79885a39c161 | 2748 | else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 135:79885a39c161 | 2749 | else V_out = 0.0f; |
Lightvalve | 89:a7b45368ea0f | 2750 | } |
Lightvalve | 169:645207e160ca | 2751 | |
Lightvalve | 67:c2812cf26c38 | 2752 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 2753 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 2754 | // else V_out = V_out; |
Lightvalve | 169:645207e160ca | 2755 | |
jobuuu | 7:e9086c72bb22 | 2756 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 2757 | *** PWM |
jobuuu | 7:e9086c72bb22 | 2758 | ********************************************************/ |
Lightvalve | 169:645207e160ca | 2759 | if(DIR_VALVE<0) { |
Lightvalve | 67:c2812cf26c38 | 2760 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 2761 | } |
Lightvalve | 169:645207e160ca | 2762 | |
Lightvalve | 49:e7bcfc244d40 | 2763 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2764 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 2765 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 2766 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 2767 | } |
Lightvalve | 49:e7bcfc244d40 | 2768 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 2769 | |
Lightvalve | 19:23b7c1ad8683 | 2770 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 2771 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 2772 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 2773 | |
Lightvalve | 30:8d561f16383b | 2774 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 2775 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 2776 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 2777 | } else { |
jobuuu | 2:a1c0a37df760 | 2778 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 2779 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 2780 | } |
Lightvalve | 13:747daba9cf59 | 2781 | |
jobuuu | 1:e04e563be5ce | 2782 | //pwm |
Lightvalve | 30:8d561f16383b | 2783 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 2784 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 2785 | |
Lightvalve | 61:bc8c8270f0ab | 2786 | |
Lightvalve | 57:f4819de54e7a | 2787 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 2788 | |
Lightvalve | 54:647072f5307a | 2789 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 2790 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 2791 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 2792 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2793 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 2794 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 2795 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 2796 | } |
Lightvalve | 57:f4819de54e7a | 2797 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 2798 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 2799 | CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); |
Lightvalve | 54:647072f5307a | 2800 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 2801 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 2802 | } |
Lightvalve | 52:8ea76864368a | 2803 | } |
Lightvalve | 52:8ea76864368a | 2804 | } |
Lightvalve | 56:6f50d9d3bfee | 2805 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 179:d5377766d7ea | 2806 | CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 |
Lightvalve | 54:647072f5307a | 2807 | } |
Lightvalve | 58:2eade98630e2 | 2808 | |
Lightvalve | 58:2eade98630e2 | 2809 | |
Lightvalve | 171:bfc1fd2629d8 | 2810 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 169:645207e160ca | 2811 | double t_value = 0.0f; |
Lightvalve | 171:bfc1fd2629d8 | 2812 | if(value>=(float) VALVE_CENTER) { |
Lightvalve | 131:d08121ac87ba | 2813 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2814 | } else { |
Lightvalve | 131:d08121ac87ba | 2815 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 2816 | } |
Lightvalve | 169:645207e160ca | 2817 | double t_value_ref = 0.0f; |
Lightvalve | 169:645207e160ca | 2818 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 169:645207e160ca | 2819 | t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2820 | } else { |
Lightvalve | 169:645207e160ca | 2821 | t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 169:645207e160ca | 2822 | } |
Lightvalve | 169:645207e160ca | 2823 | |
Lightvalve | 169:645207e160ca | 2824 | |
Lightvalve | 169:645207e160ca | 2825 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 |
Lightvalve | 55:b25725257569 | 2826 | } |
Lightvalve | 58:2eade98630e2 | 2827 | |
Lightvalve | 57:f4819de54e7a | 2828 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 2829 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 2830 | ; |
Lightvalve | 57:f4819de54e7a | 2831 | } |
Lightvalve | 58:2eade98630e2 | 2832 | |
Lightvalve | 169:645207e160ca | 2833 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 2834 | //PWM |
Lightvalve | 209:ebc69d6ee6f1 | 2835 | CAN_TX_PWM((int16_t) (torq.ref)); //1500 |
Lightvalve | 209:ebc69d6ee6f1 | 2836 | // CAN_TX_PWM((int16_t) (f_future[1])); //1500 |
Lightvalve | 54:647072f5307a | 2837 | } |
Lightvalve | 179:d5377766d7ea | 2838 | |
Lightvalve | 56:6f50d9d3bfee | 2839 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 2840 | //valve position |
Lightvalve | 179:d5377766d7ea | 2841 | CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600 |
Lightvalve | 179:d5377766d7ea | 2842 | //CAN_TX_VALVE_POSITION((int16_t) action_array[20], (int16_t) virt_pos, (int16_t) Update_Case*1000, (int16_t) (logging4*1000.0f)); //1600 |
Lightvalve | 54:647072f5307a | 2843 | } |
Lightvalve | 20:806196fda269 | 2844 | |
Lightvalve | 54:647072f5307a | 2845 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 2846 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 2847 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 2848 | // } |
Lightvalve | 54:647072f5307a | 2849 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 2850 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 2851 | //} |
Lightvalve | 52:8ea76864368a | 2852 | |
Lightvalve | 54:647072f5307a | 2853 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 2854 | } |
Lightvalve | 54:647072f5307a | 2855 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 2856 | |
Lightvalve | 20:806196fda269 | 2857 | } |
Lightvalve | 52:8ea76864368a | 2858 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 2859 | |
Lightvalve | 58:2eade98630e2 | 2860 | } |