Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy1

2011

Dependencies:   mbed FastPWM

main.cpp@197:50e95ba0ade2, 2020-12-19 (annotated)

Committer:
Lightvalve
Date:
Sat Dec 19 08:57:06 2020 +0000
Revision:
197:50e95ba0ade2
Parent:
196:56a7e26a4a8a
Child:
198:bc4dfecb8e32
201219_with_delay

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 197:50e95ba0ade2 1 //201219_with_delay
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;
jobuuu 7:e9086c72bb22 64 State pres_A;
jobuuu 7:e9086c72bb22 65 State pres_B;
jobuuu 7:e9086c72bb22 66 State cur;
Lightvalve 14:8e7590227d22 67 State valve_pos;
Lightvalve 14:8e7590227d22 68
Lightvalve 14:8e7590227d22 69 State INIT_Vout;
Lightvalve 14:8e7590227d22 70 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 71 State INIT_Pos;
Lightvalve 14:8e7590227d22 72 State INIT_torq;
jobuuu 5:a4319f79457b 73
Lightvalve 19:23b7c1ad8683 74 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 75 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 76 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 77 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 78
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 85
Lightvalve 61:bc8c8270f0ab 86
Lightvalve 61:bc8c8270f0ab 87
Lightvalve 61:bc8c8270f0ab 88
jobuuu 7:e9086c72bb22 89 // =============================================================================
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91 // =============================================================================
jobuuu 7:e9086c72bb22 92
Lightvalve 12:6f2531038ea4 93 /*******************************************************************************
Lightvalve 12:6f2531038ea4 94 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 95 ******************************************************************************/
Lightvalve 13:747daba9cf59 96 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 97 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 98 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 99 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 100 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 101 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 102 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 103 };
Lightvalve 12:6f2531038ea4 104
Lightvalve 12:6f2531038ea4 105 /*******************************************************************************
Lightvalve 12:6f2531038ea4 106 * CONTROL MODE
Lightvalve 12:6f2531038ea4 107 ******************************************************************************/
Lightvalve 13:747daba9cf59 108 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 109 //control mode
Lightvalve 12:6f2531038ea4 110 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 112 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 113
Lightvalve 47:fdcb8bd86fd6 114 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 115 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 116 MODE_RL, //5
Lightvalve 13:747daba9cf59 117
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 119 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 120 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 121
Lightvalve 12:6f2531038ea4 122 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 123 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 124
Lightvalve 14:8e7590227d22 125 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 126 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 127 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 171:bfc1fd2629d8 128 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 129
Lightvalve 12:6f2531038ea4 130 //utility
Lightvalve 12:6f2531038ea4 131 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 132 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 133 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 134 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 135 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 136 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 137 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 138
Lightvalve 12:6f2531038ea4 139 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 140 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 141 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 142 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 143 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 144 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 145 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 146 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 147 };
Lightvalve 12:6f2531038ea4 148
Lightvalve 65:a2d7c63419c2 149 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 150 {
Lightvalve 169:645207e160ca 151 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 152 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 153
Lightvalve 169:645207e160ca 154 /** Configure the main internal regulator output voltage
Lightvalve 169:645207e160ca 155 */
Lightvalve 169:645207e160ca 156 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 157 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 169:645207e160ca 158 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 159 */
Lightvalve 169:645207e160ca 160 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 169:645207e160ca 161 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 169:645207e160ca 162 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 163 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 169:645207e160ca 164 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 169:645207e160ca 165 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 169:645207e160ca 166 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 169:645207e160ca 167 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 168 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 169 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 170 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 171 //Error_Handler();
Lightvalve 169:645207e160ca 172 }
Lightvalve 169:645207e160ca 173 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 174 */
Lightvalve 169:645207e160ca 175 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 176 //Error_Handler();
Lightvalve 169:645207e160ca 177 }
Lightvalve 169:645207e160ca 178 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 179 */
Lightvalve 169:645207e160ca 180 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 181 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 182 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 183 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 184 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 185 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 186
Lightvalve 169:645207e160ca 187 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 169:645207e160ca 188 //Error_Handler();
Lightvalve 169:645207e160ca 189 }
Lightvalve 65:a2d7c63419c2 190 }
Lightvalve 65:a2d7c63419c2 191
Lightvalve 99:7bbcb3c0fb06 192 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 193 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 194 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 195 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 196 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 197
Lightvalve 73:f80dc3970c99 198 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 199
Lightvalve 169:645207e160ca 200 const float h1[num_input][16] = {
Lightvalve 196:56a7e26a4a8a 201 {-2.05708909034729f,3.186411142349243f,0.12903714179992676f,1.1522443294525146f,-4.77985954284668f,4.988513469696045f,-0.17472904920578003f,-0.7710135579109192f,-1.6287260055541992f,-4.90599250793457f,-0.1063576489686966f,-2.722536325454712f,-3.285773992538452f,-1.8041954040527344f,-0.2571594715118408f,-0.19243751466274261f},
Lightvalve 196:56a7e26a4a8a 202 {-0.5134673714637756f,0.850974977016449f,-0.3927857577800751f,-0.35398679971694946f,-1.7932156324386597f,2.4975759983062744f,-0.4054011106491089f,-0.1427018940448761f,-0.8026003837585449f,-1.3023022413253784f,-0.6186515688896179f,-0.6010700464248657f,-0.52750563621521f,-1.032634973526001f,-0.20967772603034973f,0.07275804877281189f},
Lightvalve 196:56a7e26a4a8a 203 {-0.066841721534729f,-0.7892441749572754f,0.36391180753707886f,-1.1049953699111938f,0.8302334547042847f,0.145523339509964f,0.2872133255004883f,-0.23196928203105927f,-0.8545001149177551f,1.5305473804473877f,-1.3627126216888428f,1.4795163869857788f,0.9375577569007874f,0.6764299273490906f,0.05590221285820007f,0.4362540543079376f},
Lightvalve 196:56a7e26a4a8a 204 {0.4236474335193634f,-1.4789464473724365f,0.39742106199264526f,-0.9245060086250305f,1.6349233388900757f,-1.8302228450775146f,-0.11584559082984924f,-1.033275842666626f,-0.2314160317182541f,2.3230981826782227f,-1.3284986019134521f,2.215522050857544f,0.9562681913375854f,1.3459151983261108f,-0.2961459457874298f,1.4592657089233398f},
Lightvalve 196:56a7e26a4a8a 205 {2.2037711143493652f,-2.3931355476379395f,-0.0051451027393341064f,-1.6210885047912598f,4.003640651702881f,-3.840949773788452f,0.1294034719467163f,-0.8414157629013062f,1.5438644886016846f,3.9199259281158447f,-0.8511825799942017f,2.865309000015259f,1.4463257789611816f,2.064455032348633f,-0.3865056037902832f,0.3730478286743164f},
Lightvalve 196:56a7e26a4a8a 206 {-0.11275540292263031f,0.9484487175941467f,0.21773302555084229f,2.8727660179138184f,-0.1065288633108139f,-1.7705634832382202f,0.16514194011688232f,3.2009992599487305f,2.407309055328369f,-1.1651065349578857f,4.242412567138672f,-3.063631534576416f,0.47985541820526123f,-1.2354117631912231f,-0.4132833778858185f,-2.181981086730957f},
Lightvalve 196:56a7e26a4a8a 207 {-0.09938614070415497f,3.5773942470550537f,-0.2501986622810364f,-0.13928787410259247f,-0.037008676677942276f,-0.03511349856853485f,0.06014183163642883f,-0.4759536683559418f,-0.06337887793779373f,0.14054207503795624f,-0.42060503363609314f,0.19486430287361145f,-4.041183948516846f,4.967502117156982f,-0.15618428587913513f,-0.5009685754776001f},
Lightvalve 196:56a7e26a4a8a 208 {-6.928924560546875f,0.6427025198936462f,-0.26619744300842285f,3.9012463092803955f,-2.184589385986328f,-3.624392509460449f,-0.17925891280174255f,-2.07382869720459f,0.13725543022155762f,-0.8136168122291565f,4.00950813293457f,-1.4740347862243652f,-1.433410406112671f,0.022372480481863022f,0.04303058981895447f,-1.781483769416809f},
Lightvalve 196:56a7e26a4a8a 209 {3.6579532623291016f,-3.307387590408325f,0.10248100757598877f,-2.6607558727264404f,0.5396132469177246f,0.6482411623001099f,-0.07246989011764526f,-7.981725215911865f,-3.1790192127227783f,1.7948887348175049f,-7.444221019744873f,3.593710422515869f,4.345944404602051f,0.9924588799476624f,-0.30555272102355957f,2.0975594520568848f},
Lightvalve 196:56a7e26a4a8a 210 {-3.400193214416504f,2.0092344284057617f,0.18462657928466797f,-6.360235214233398f,1.7909657955169678f,-0.017668945714831352f,-0.2990540862083435f,3.4985127449035645f,6.280633926391602f,-0.7703721523284912f,0.5939630270004272f,-5.173768520355225f,3.7344818115234375f,2.7632744312286377f,0.3484981060028076f,0.9411026239395142f},
Lightvalve 196:56a7e26a4a8a 211 {1.6706088781356812f,-0.5848070383071899f,0.37182438373565674f,3.818086862564087f,-0.6287387013435364f,-0.04289967194199562f,-0.20339298248291016f,2.0016133785247803f,-6.318286418914795f,0.41212618350982666f,3.4429900646209717f,-0.8561667799949646f,-0.6144111752510071f,-0.15154114365577698f,0.26688337326049805f,-7.914551734924316f},
Lightvalve 196:56a7e26a4a8a 212 {3.817580223083496f,-0.9478880167007446f,-0.40320003032684326f,1.9463788270950317f,-1.1352602243423462f,-1.0062247514724731f,0.1533789038658142f,0.31628814339637756f,1.0758967399597168f,0.20902790129184723f,0.8699947595596313f,0.035382118076086044f,0.4103728234767914f,0.7292467355728149f,0.10493969917297363f,5.7628936767578125f},
Lightvalve 196:56a7e26a4a8a 213 {-1.4826020002365112f,-0.017168715596199036f,0.19847965240478516f,0.5530301928520203f,0.8296269774436951f,1.094685673713684f,-0.2404318004846573f,0.2031107395887375f,1.0775611400604248f,-0.36457428336143494f,-0.08059465140104294f,1.811431884765625f,0.13296887278556824f,0.5637132525444031f,-0.22268100082874298f,0.9920644164085388f},
Lightvalve 196:56a7e26a4a8a 214 {0.10934057831764221f,0.29417213797569275f,0.4127817749977112f,-0.2295745611190796f,-0.06648509204387665f,-0.335322767496109f,-0.32001304626464844f,-0.08723939955234528f,-0.1633664220571518f,0.024810004979372025f,-0.3360883295536041f,-0.1956489086151123f,0.2085038125514984f,-0.11261153966188431f,0.0479682981967926f,-0.34844690561294556f},
Lightvalve 196:56a7e26a4a8a 215 {-0.4475245475769043f,-0.06329675763845444f,0.20282304286956787f,-0.29542261362075806f,-0.06878867000341415f,0.18237599730491638f,0.04202890396118164f,-0.21386225521564484f,0.18389460444450378f,0.07724341750144958f,0.59593266248703f,0.02376031130552292f,-0.23211097717285156f,-0.027928775176405907f,0.0668090283870697f,-0.1131569892168045f},
Lightvalve 196:56a7e26a4a8a 216 {-0.05932091549038887f,0.024183889850974083f,-0.40439701080322266f,0.06835188716650009f,-0.0013422847259789705f,0.07840344309806824f,-0.15568238496780396f,0.09824986755847931f,0.09857259690761566f,0.001587049220688641f,-0.2749989628791809f,0.4360615015029907f,0.08637247234582901f,0.11287035793066025f,-0.08245879411697388f,-0.26716044545173645f},
Lightvalve 196:56a7e26a4a8a 217 {0.03818594291806221f,-0.09347709268331528f,0.16706281900405884f,-0.0405823290348053f,0.07498817145824432f,-0.062178123742341995f,-0.041414469480514526f,-0.042331963777542114f,-0.3425905108451843f,-0.09295454621315002f,0.13697385787963867f,-0.357461154460907f,-0.01628359965980053f,0.0008555047679692507f,0.29427415132522583f,0.11630304902791977f},
Lightvalve 65:a2d7c63419c2 218 };
Lightvalve 65:a2d7c63419c2 219
Lightvalve 169:645207e160ca 220 const float h2[16][16] = {
Lightvalve 196:56a7e26a4a8a 221 {-0.8341764807701111f,-0.6067641377449036f,-0.06966331601142883f,1.6620731353759766f,-0.21907491981983185f,2.0616698265075684f,0.0655006542801857f,0.0446651317179203f,-0.43008196353912354f,-0.2518785297870636f,0.6948223114013672f,-2.2983310222625732f,-0.02717401273548603f,-0.07109256088733673f,0.4075045883655548f,-0.1310095340013504f},
Lightvalve 196:56a7e26a4a8a 222 {-0.13943351805210114f,-0.04559600353240967f,0.057057321071624756f,-0.44137006998062134f,-0.35503754019737244f,-0.44499722123146057f,-0.667557954788208f,-0.3348168432712555f,-0.33757925033569336f,0.13575440645217896f,-0.43612033128738403f,-1.6604005098342896f,0.17714782059192657f,0.7811383008956909f,-1.3742358684539795f,-0.14819425344467163f},
Lightvalve 179:d5377766d7ea 223 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve 196:56a7e26a4a8a 224 {0.923111617565155f,-0.3925030529499054f,-0.2894435524940491f,-4.214643478393555f,0.08946844935417175f,0.9371825456619263f,-0.5534926652908325f,0.21740393340587616f,0.26211628317832947f,0.2953031361103058f,-0.9797146916389465f,-4.698434829711914f,-0.4869251847267151f,0.023502085357904434f,0.70460444688797f,0.20284660160541534f},
Lightvalve 196:56a7e26a4a8a 225 {1.7112555503845215f,2.3695321083068848f,-0.25313520431518555f,3.203413248062134f,0.036378175020217896f,0.8077892065048218f,-0.4755769968032837f,-0.13222959637641907f,-0.024399548768997192f,-0.39465832710266113f,-1.177101492881775f,1.6098895072937012f,-0.18945904076099396f,-2.4381227493286133f,-1.0014407634735107f,1.9238423109054565f},
Lightvalve 196:56a7e26a4a8a 226 {0.02399083785712719f,2.2467095851898193f,-0.3519742488861084f,3.362551689147949f,-0.3015052080154419f,0.30396854877471924f,-0.6611042618751526f,-0.06323602795600891f,-0.23047015070915222f,0.225139781832695f,2.7001774311065674f,-4.270605564117432f,-0.39870911836624146f,3.4690911769866943f,2.8700716495513916f,-1.0183147192001343f},
Lightvalve 195:dde3bb8e0d81 227 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 196:56a7e26a4a8a 228 {0.3770306408405304f,0.7105547785758972f,0.33083590865135193f,-0.636288583278656f,-0.14358049631118774f,-1.2429746389389038f,-0.33660444617271423f,-0.3461519777774811f,0.2600560486316681f,-0.37898191809654236f,-2.322720766067505f,1.0403022766113281f,-0.44419312477111816f,0.12145557999610901f,0.8076303005218506f,0.25913602113723755f},
Lightvalve 196:56a7e26a4a8a 229 {-0.037458524107933044f,-0.00005764234811067581f,-0.11379697918891907f,1.2222182750701904f,0.041274964809417725f,-0.853375256061554f,-0.34555327892303467f,-0.042685262858867645f,0.06103590130805969f,-0.49082013964653015f,-2.6795003414154053f,-2.669191837310791f,-0.6082977652549744f,-0.5618509650230408f,-0.38851264119148254f,0.07127705961465836f},
Lightvalve 196:56a7e26a4a8a 230 {1.8088353872299194f,2.4758870601654053f,-0.13502129912376404f,-2.3980724811553955f,0.12987366318702698f,0.9228927493095398f,-0.14360187947750092f,-0.46807795763015747f,-0.13619378209114075f,0.030893048271536827f,0.9105160236358643f,4.082805633544922f,0.015860414132475853f,-4.116757392883301f,-1.364365577697754f,0.7139280438423157f},
Lightvalve 196:56a7e26a4a8a 231 {0.2267816662788391f,0.6178197860717773f,0.0457797646522522f,-1.7537932395935059f,-0.03321319818496704f,0.36697128415107727f,-0.2756686508655548f,-0.338418185710907f,-0.050184011459350586f,0.12480869889259338f,-4.3616790771484375f,-0.2546687722206116f,-0.5792499780654907f,0.30801844596862793f,-0.24381141364574432f,0.668113112449646f},
Lightvalve 196:56a7e26a4a8a 232 {0.5040020942687988f,-0.4399375319480896f,0.3954955041408539f,-0.303181916475296f,0.0033026933670043945f,1.7964078187942505f,-0.47955650091171265f,-0.3049747347831726f,0.3487861454486847f,-0.4652571976184845f,1.8666608333587646f,1.7423850297927856f,-0.10463692247867584f,-0.3958613872528076f,1.0937652587890625f,0.6893727779388428f},
Lightvalve 196:56a7e26a4a8a 233 {-2.2706680297851562f,0.4097701609134674f,-0.15798500180244446f,-0.11182085424661636f,-0.37393757700920105f,1.0816404819488525f,-0.11615815758705139f,-0.3357280492782593f,-0.3764709532260895f,0.2424570620059967f,0.12518520653247833f,0.15340688824653625f,0.0839148759841919f,-0.24816127121448517f,0.28491315245628357f,0.39061638712882996f},
Lightvalve 196:56a7e26a4a8a 234 {0.10381098091602325f,0.08659075200557709f,-0.2018718123435974f,0.4962025582790375f,0.07545611262321472f,0.03449659049510956f,-0.41120466589927673f,-0.22413749992847443f,-0.24509364366531372f,0.03940821439027786f,-0.07110434770584106f,0.6168316602706909f,-0.43267005681991577f,-0.174577996134758f,-3.4786324501037598f,-2.2935755252838135f},
Lightvalve 179:d5377766d7ea 235 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 196:56a7e26a4a8a 236 {8.197920396924019e-05f,0.7124024629592896f,0.12081471085548401f,-0.46799951791763306f,0.29976895451545715f,-1.4291437864303589f,-0.19028231501579285f,0.1243770569562912f,-0.3893685042858124f,-0.02222958207130432f,1.0058404207229614f,3.1058104038238525f,-0.5410208106040955f,0.30741438269615173f,-0.18603327870368958f,0.11940909177064896f},
Lightvalve 65:a2d7c63419c2 237 };
Lightvalve 65:a2d7c63419c2 238
Lightvalve 169:645207e160ca 239 const float h3[16][16] = {
Lightvalve 196:56a7e26a4a8a 240 {-0.36079341173171997f,-1.6499303579330444f,0.002542307833209634f,-0.23578040301799774f,-1.5766634941101074f,-0.11096161603927612f,0.16453437507152557f,-0.034366559237241745f,-1.6530636548995972f,-0.2804417908191681f,-0.10849133133888245f,0.38340505957603455f,0.12390844523906708f,-0.49783265590667725f,-0.16274069249629974f,0.7266368269920349f},
Lightvalve 196:56a7e26a4a8a 241 {0.047732532024383545f,0.6146513819694519f,0.34708651900291443f,-0.8279889225959778f,-0.8564363121986389f,0.4933965504169464f,-0.35969480872154236f,-0.36842209100723267f,0.2886132001876831f,-0.48244181275367737f,0.15011198818683624f,-2.5714821815490723f,-0.5564642548561096f,0.4816358983516693f,-0.2723177373409271f,-0.47631514072418213f},
Lightvalve 194:b31951919b55 242 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 196:56a7e26a4a8a 243 {-0.30922991037368774f,-0.5721092224121094f,-1.021134614944458f,0.4226381480693817f,0.03926163539290428f,-0.04574847221374512f,0.027424758300185204f,-0.0738811045885086f,-0.2929641604423523f,-0.34073764085769653f,-0.16192401945590973f,-1.1975699663162231f,-0.7249908447265625f,0.4007765054702759f,-0.8367889523506165f,-0.5546543002128601f},
Lightvalve 194:b31951919b55 244 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve 196:56a7e26a4a8a 245 {-0.37449589371681213f,-0.04875117912888527f,-1.373342514038086f,0.13688907027244568f,0.1842593252658844f,0.13101889193058014f,-0.3449169099330902f,-0.13636137545108795f,-0.8318917751312256f,-0.41800570487976074f,-0.35296252369880676f,-0.35244983434677124f,-0.8379992246627808f,0.3210175633430481f,-1.8677270412445068f,-0.7538514137268066f},
Lightvalve 195:dde3bb8e0d81 246 {0.4110594093799591f,0.1920347660779953f,-0.21054792404174805f,0.23240651190280914f,0.1802571415901184f,-0.16077619791030884f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.38961368799209595f,0.008103481493890285f,0.12098627537488937f,-0.28980788588523865f},
Lightvalve 196:56a7e26a4a8a 247 {-0.40892091393470764f,0.07973587512969971f,-0.4225347340106964f,0.22082245349884033f,0.30674463510513306f,-0.1025652065873146f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2361157089471817f,-0.33052098751068115f,0.11553362011909485f,0.005298197269439697f},
Lightvalve 183:55044a4018a9 248 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 196:56a7e26a4a8a 249 {0.2847062647342682f,0.018552124500274658f,0.22391308844089508f,0.36562982201576233f,-0.047046810388565063f,0.19305849075317383f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.3348815441131592f,-0.047931961715221405f,-0.10168051719665527f,0.1066587045788765f},
Lightvalve 196:56a7e26a4a8a 250 {0.15459725260734558f,0.8057680130004883f,0.3361653685569763f,-0.7370799779891968f,-0.21177111566066742f,-0.22392824292182922f,-0.055489517748355865f,-0.3503498435020447f,1.9503908157348633f,-0.47839227318763733f,-0.03722834214568138f,-0.19185221195220947f,1.1232699155807495f,-1.1522738933563232f,1.0876578092575073f,0.7732451558113098f},
Lightvalve 196:56a7e26a4a8a 251 {-0.408692330121994f,-0.2940432131290436f,-1.9241693019866943f,-0.12760058045387268f,-1.1470470428466797f,0.5314326882362366f,0.03285527229309082f,0.18675881624221802f,-0.41728392243385315f,-0.25458940863609314f,0.0015785511350259185f,-1.9561687707901f,-0.43963104486465454f,-0.935975193977356f,-1.0056427717208862f,-0.5727514624595642f},
Lightvalve 195:dde3bb8e0d81 252 {-0.2991822361946106f,-0.009154408238828182f,0.13385441899299622f,-0.05932474136352539f,0.32624977827072144f,-0.14997488260269165f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.37819206714630127f,-0.2522141933441162f,0.1280381679534912f,0.020418301224708557f},
Lightvalve 196:56a7e26a4a8a 253 {-0.2675279378890991f,0.6203365921974182f,1.4428101778030396f,-0.3342827558517456f,0.2550843358039856f,-1.0007736682891846f,-0.5266007781028748f,-0.6508864164352417f,-0.9974082112312317f,-0.8438001871109009f,-0.6930839419364929f,-0.4682348966598511f,1.0650571584701538f,-0.4838383197784424f,0.46341273188591003f,0.5192927122116089f},
Lightvalve 196:56a7e26a4a8a 254 {-0.015470266342163086f,-1.8956760168075562f,-0.08410447835922241f,-6.254400730133057f,-1.7777941226959229f,0.2078683078289032f,0.05196094512939453f,-0.18505549430847168f,-10.860576629638672f,-0.5114141702651978f,-0.03054753504693508f,-4.667637348175049f,-0.8007304072380066f,-0.11897039413452148f,-0.8937392830848694f,-1.3230712413787842f},
Lightvalve 196:56a7e26a4a8a 255 {0.1863725483417511f,1.2183045148849487f,0.40503326058387756f,-0.4035680592060089f,1.890458345413208f,-0.33654242753982544f,0.04860696196556091f,0.12026743590831757f,-1.4774972200393677f,-0.03228182718157768f,-0.3252358138561249f,0.811850368976593f,1.4008933305740356f,-0.25755757093429565f,2.1992106437683105f,1.1227765083312988f},
Lightvalve 66:a8e6799dbce3 256 };
Lightvalve 65:a2d7c63419c2 257
Lightvalve 196:56a7e26a4a8a 258 const float hout[16] = { 0.45773375034332275f,0.10733845829963684f,-0.13171051442623138f,-0.08234205096960068f,-0.10416366159915924f,0.1268671751022339f,-0.05339581519365311f,0.08802822232246399f,-0.051159054040908813f,0.00122738815844059f,0.030993694439530373f,0.08779297769069672f,-0.08789035677909851f,-0.08475720137357712f,0.11542049050331116f,-0.1343373954296112f };
Lightvalve 196:56a7e26a4a8a 259
Lightvalve 196:56a7e26a4a8a 260 const float b1[16] = { 1.5671610832214355f,-0.6650322079658508f,-1.7145336866378784f,-0.13631387054920197f,0.809053897857666f,1.7169852256774902f,-0.058932315558195114f,2.673710584640503f,0.8016091585159302f,-0.2220122516155243f,-0.3671777844429016f,1.3159983158111572f,-0.9628874659538269f,-4.3406147956848145f,-1.087764859199524f,0.49714064598083496f };
Lightvalve 196:56a7e26a4a8a 261
Lightvalve 196:56a7e26a4a8a 262 const float b2[16] = { 0.028378725051879883f,-1.541205883026123f,-1.4564176797866821f,-0.4409101605415344f,-0.6939148902893066f,-0.4014190435409546f,0.10122966021299362f,-0.5010198950767517f,-1.20063054561615f,-2.055778741836548f,1.1678540706634521f,-0.6804684996604919f,-0.415097177028656f,2.260073184967041f,1.3790706396102905f,1.498458743095398f };
Lightvalve 196:56a7e26a4a8a 263
Lightvalve 196:56a7e26a4a8a 264 const float b3[16] = { -1.963319182395935f,-1.167460322380066f,-2.419935703277588f,1.7481459379196167f,-1.9929835796356201f,1.982991337776184f,-0.6213743686676025f,-1.0484195947647095f,-0.2641257643699646f,-0.0314469188451767f,-0.5554727911949158f,0.33601483702659607f,-2.5726656913757324f,-0.1076522171497345f,-3.430584192276001f,-1.4368791580200195f };
Lightvalve 196:56a7e26a4a8a 265
Lightvalve 196:56a7e26a4a8a 266 const float bout[1] = { -0.10351773351430893f };
Lightvalve 65:a2d7c63419c2 267
Lightvalve 197:50e95ba0ade2 268
Lightvalve 197:50e95ba0ade2 269 float valve_ref_pos_buffer[10] = {0.0f};
Lightvalve 197:50e95ba0ade2 270
Lightvalve 170:42c938a40313 271 /////////////////////////////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 272 float input_RL[num_input_RL] = { 0.0f };
Lightvalve 170:42c938a40313 273
Lightvalve 170:42c938a40313 274 //Critic Networks
Lightvalve 173:68c7914679ec 275 float hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 276 float bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 277 float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 278 float bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 279 float hc3[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 280 float bc3 = 0.0f;
Lightvalve 170:42c938a40313 281
Lightvalve 170:42c938a40313 282 //Critic Networks Temporary
Lightvalve 173:68c7914679ec 283 float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 284 float bc1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 285 float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 286 float bc2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 287 float hc3_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 288 float bc3_temp = 0.0f;
Lightvalve 170:42c938a40313 289
Lightvalve 170:42c938a40313 290 //Actor Networks
Lightvalve 173:68c7914679ec 291 float ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 292 float ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 293 float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 294 float ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 295 float ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 296 float ba3[2] = {0.0f};
Lightvalve 170:42c938a40313 297
Lightvalve 170:42c938a40313 298 //Actor Networks Temporary
Lightvalve 173:68c7914679ec 299 float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 300 float ba1_temp[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 301 float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 302 float ba2_temp[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 303 float ha3_temp[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 304 float ba3_temp[2] = {0.0f};
Lightvalve 66:a8e6799dbce3 305
Lightvalve 87:471334725012 306 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 307 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 308
Lightvalve 179:d5377766d7ea 309 /////////////////////////////////////////////RL tuning
Lightvalve 179:d5377766d7ea 310 float Gradient_Limit = 0.5f;
Lightvalve 179:d5377766d7ea 311 float gradient_rate_actor = 0.001f;
Lightvalve 179:d5377766d7ea 312 float gradient_rate_critic = 0.001f;
Lightvalve 179:d5377766d7ea 313 //////////////////////////////////////////////////////////////////////////////
Lightvalve 170:42c938a40313 314
Lightvalve 170:42c938a40313 315 float Critic_Network_Temp(float *arr)
Lightvalve 170:42c938a40313 316 {
Lightvalve 173:68c7914679ec 317 float output1[num_hidden_unit1] = { 0.0f };
Lightvalve 173:68c7914679ec 318 float output2[num_hidden_unit2] = { 0.0f };
Lightvalve 170:42c938a40313 319 float output = 0.0f;
Lightvalve 173:68c7914679ec 320 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 321 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 322 output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 323 }
Lightvalve 173:68c7914679ec 324 //ReLU
Lightvalve 173:68c7914679ec 325 output1[index2] = output1[index2] + bc1_temp[index2];
Lightvalve 173:68c7914679ec 326 hx_c_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 327 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 328 output1[index2] = 0;
Lightvalve 173:68c7914679ec 329 }
Lightvalve 173:68c7914679ec 330 //tanh
Lightvalve 173:68c7914679ec 331 //output1[index2] = tanh(output1[index2] + bc1_temp[index2]);
Lightvalve 173:68c7914679ec 332 }
Lightvalve 173:68c7914679ec 333 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 334 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 335 output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 336 }
Lightvalve 173:68c7914679ec 337 //ReLU
Lightvalve 173:68c7914679ec 338 output2[index2] = output2[index2] + bc2_temp[index2];
Lightvalve 173:68c7914679ec 339 hxh_c_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 340 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 341 output2[index2] = 0;
Lightvalve 173:68c7914679ec 342 }
Lightvalve 173:68c7914679ec 343 //tanh
Lightvalve 173:68c7914679ec 344 //output2[index2] = tanh(output2[index2] + bc2_temp[index2]);
Lightvalve 170:42c938a40313 345 }
Lightvalve 170:42c938a40313 346 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 347 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 348 output = output + hc3_temp[index1] * output2[index1];
Lightvalve 170:42c938a40313 349 }
Lightvalve 173:68c7914679ec 350 output = output + bc3_temp;
Lightvalve 173:68c7914679ec 351 hxhh_c_sum = output;
Lightvalve 170:42c938a40313 352 }
Lightvalve 170:42c938a40313 353 return output;
Lightvalve 170:42c938a40313 354 }
Lightvalve 170:42c938a40313 355
Lightvalve 170:42c938a40313 356
Lightvalve 170:42c938a40313 357 void Actor_Network(float *arr)
Lightvalve 170:42c938a40313 358 {
Lightvalve 173:68c7914679ec 359 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 360 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 170:42c938a40313 361 float output[2] = {0.0f};
Lightvalve 170:42c938a40313 362
Lightvalve 173:68c7914679ec 363 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 364 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 178:1074553d2f6f 365 output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1];
Lightvalve 173:68c7914679ec 366 }
Lightvalve 178:1074553d2f6f 367 output1[index2] = output1[index2] + ba1_temp[index2];
Lightvalve 173:68c7914679ec 368 hx_a_sum[index2] = output1[index2];
Lightvalve 173:68c7914679ec 369 if (output1[index2] < 0) {
Lightvalve 173:68c7914679ec 370 output1[index2] = 0;
Lightvalve 173:68c7914679ec 371 }
Lightvalve 173:68c7914679ec 372 }
Lightvalve 173:68c7914679ec 373 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 374 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 178:1074553d2f6f 375 output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1];
Lightvalve 173:68c7914679ec 376 }
Lightvalve 178:1074553d2f6f 377 output2[index2] = output2[index2] + ba2_temp[index2];
Lightvalve 173:68c7914679ec 378 hxh_a_sum[index2] = output2[index2];
Lightvalve 173:68c7914679ec 379 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 380 output2[index2] = 0;
Lightvalve 173:68c7914679ec 381 }
Lightvalve 173:68c7914679ec 382 }
Lightvalve 173:68c7914679ec 383 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 384 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 178:1074553d2f6f 385 output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1];
Lightvalve 173:68c7914679ec 386 }
Lightvalve 178:1074553d2f6f 387 hxhh_a_sum[index2] = output[index2] + ba3_temp[index2];
Lightvalve 173:68c7914679ec 388 }
Lightvalve 178:1074553d2f6f 389
Lightvalve 178:1074553d2f6f 390 mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus
Lightvalve 178:1074553d2f6f 391 deviation_before_SP = output[1] + ba3_temp[1];
Lightvalve 173:68c7914679ec 392 //Softplus
Lightvalve 173:68c7914679ec 393 mean = log(1.0f+exp(mean_before_SP));
Lightvalve 173:68c7914679ec 394 deviation = log(1.0f+exp(deviation_before_SP));
Lightvalve 179:d5377766d7ea 395 logging2 = mean;
Lightvalve 179:d5377766d7ea 396 logging4 = deviation;
Lightvalve 173:68c7914679ec 397 }
Lightvalve 173:68c7914679ec 398
Lightvalve 173:68c7914679ec 399
Lightvalve 173:68c7914679ec 400 void Actor_Network_Old(float *arr)
Lightvalve 173:68c7914679ec 401 {
Lightvalve 173:68c7914679ec 402 float output1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 403 float output2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 404 float output[2] = {0.0f};
Lightvalve 173:68c7914679ec 405
Lightvalve 173:68c7914679ec 406 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 407 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 408 output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1];
Lightvalve 170:42c938a40313 409 }
Lightvalve 170:42c938a40313 410 output1[index2] = output1[index2] + ba1[index2];
Lightvalve 170:42c938a40313 411 if (output1[index2] < 0) {
Lightvalve 170:42c938a40313 412 output1[index2] = 0;
Lightvalve 170:42c938a40313 413 }
Lightvalve 170:42c938a40313 414 }
Lightvalve 173:68c7914679ec 415 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 416 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 174:c828479f53f9 417 output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1];
Lightvalve 170:42c938a40313 418 }
Lightvalve 173:68c7914679ec 419 output2[index2] = output2[index2] + ba2[index2];
Lightvalve 173:68c7914679ec 420 if (output2[index2] < 0) {
Lightvalve 173:68c7914679ec 421 output2[index2] = 0;
Lightvalve 170:42c938a40313 422 }
Lightvalve 170:42c938a40313 423 }
Lightvalve 170:42c938a40313 424 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 425 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 426 output[index2] = output[index2] + ha3[index1][index2] * output2[index1];
Lightvalve 170:42c938a40313 427 }
Lightvalve 170:42c938a40313 428 }
Lightvalve 173:68c7914679ec 429 mean_old = output[0] + ba3[0];
Lightvalve 173:68c7914679ec 430 deviation_old = output[1] + ba3[1];
Lightvalve 173:68c7914679ec 431 //Softplus
Lightvalve 173:68c7914679ec 432 mean_old = log(1.0f+exp(mean_old));
Lightvalve 173:68c7914679ec 433 deviation_old = log(1.0f+exp(deviation_old));
Lightvalve 170:42c938a40313 434 }
Lightvalve 170:42c938a40313 435
Lightvalve 170:42c938a40313 436 float Grad_Normal_Dist_Mean(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 437 {
Lightvalve 170:42c938a40313 438 float grad_mean = 0.0f;
Lightvalve 170:42c938a40313 439 grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation);
Lightvalve 170:42c938a40313 440 return grad_mean;
Lightvalve 170:42c938a40313 441 }
Lightvalve 170:42c938a40313 442
Lightvalve 170:42c938a40313 443 float Grad_Normal_Dist_Deviation(float mean, float deviation, float action)
Lightvalve 170:42c938a40313 444 {
Lightvalve 170:42c938a40313 445 float grad_dev = 0.0f;
Lightvalve 170:42c938a40313 446 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 447 return grad_dev;
Lightvalve 170:42c938a40313 448 }
Lightvalve 170:42c938a40313 449
Lightvalve 173:68c7914679ec 450 float ReLU(float x)
Lightvalve 173:68c7914679ec 451 {
Lightvalve 173:68c7914679ec 452 if (x >= 0) {
Lightvalve 173:68c7914679ec 453 return x;
Lightvalve 173:68c7914679ec 454 } else {
Lightvalve 173:68c7914679ec 455 return 0.0f;
Lightvalve 173:68c7914679ec 456 }
Lightvalve 173:68c7914679ec 457 }
Lightvalve 173:68c7914679ec 458
Lightvalve 170:42c938a40313 459 void update_Critic_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 460 {
Lightvalve 173:68c7914679ec 461 float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 177:8e9cf31d63f4 462 float G_bc1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 463 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 464 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 465 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 466 float d_V_d_hc1 = 0.0f;
Lightvalve 173:68c7914679ec 467 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 468 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 469 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 470 d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 471 }
Lightvalve 173:68c7914679ec 472 }
Lightvalve 170:42c938a40313 473 }
Lightvalve 177:8e9cf31d63f4 474 G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1);
Lightvalve 170:42c938a40313 475 }
Lightvalve 170:42c938a40313 476 G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 477 if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 478 else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 479 //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 173:68c7914679ec 480 }
Lightvalve 173:68c7914679ec 481 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 482 float d_V_d_bc1 = 0.0f;
Lightvalve 173:68c7914679ec 483 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 484 if (hxh_c_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 485 if (hx_c_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 486 d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k];
Lightvalve 173:68c7914679ec 487 }
Lightvalve 173:68c7914679ec 488 }
Lightvalve 173:68c7914679ec 489 }
Lightvalve 177:8e9cf31d63f4 490 G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1);
Lightvalve 173:68c7914679ec 491 }
Lightvalve 173:68c7914679ec 492 G_bc1[index2] = G_bc1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 493 if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 494 else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 495 //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 173:68c7914679ec 496 }
Lightvalve 173:68c7914679ec 497
Lightvalve 175:2f7289dbd488 498
Lightvalve 173:68c7914679ec 499 float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 500 float G_bc2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 501 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 502 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 503 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 504 float d_V_d_hc2 = 0.0f;
Lightvalve 173:68c7914679ec 505 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 506 if (hx_c_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 507 d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2];
Lightvalve 173:68c7914679ec 508 }
Lightvalve 173:68c7914679ec 509 }
Lightvalve 177:8e9cf31d63f4 510 G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2);
Lightvalve 173:68c7914679ec 511 }
Lightvalve 173:68c7914679ec 512 G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 513 if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 514 else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 515 //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 516 }
Lightvalve 173:68c7914679ec 517 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 518 float d_V_d_bc2 = 0.0f;
Lightvalve 173:68c7914679ec 519 if (hxh_c_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 520 d_V_d_bc2 = hc3_temp[index2];
Lightvalve 173:68c7914679ec 521 }
Lightvalve 177:8e9cf31d63f4 522 G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2);
Lightvalve 173:68c7914679ec 523 }
Lightvalve 173:68c7914679ec 524 G_bc2[index2] = G_bc2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 525 if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 526 else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 527 //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 528 }
Lightvalve 173:68c7914679ec 529
Lightvalve 173:68c7914679ec 530 float G_hc3[num_hidden_unit2]= {0.0f};
Lightvalve 173:68c7914679ec 531 float G_bc3 = 0.0f;
Lightvalve 173:68c7914679ec 532 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 533 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 534 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 535 float d_V_d_hc3 = 0.0f;
Lightvalve 173:68c7914679ec 536 if (hxh_c_sum_array[n][index1] >= 0) {
Lightvalve 177:8e9cf31d63f4 537 d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1];
Lightvalve 173:68c7914679ec 538 }
Lightvalve 177:8e9cf31d63f4 539 G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3);
Lightvalve 173:68c7914679ec 540 }
Lightvalve 173:68c7914679ec 541 G_hc3[index1] = G_hc3[index1] / batch_size;
Lightvalve 179:d5377766d7ea 542 if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 543 else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 544 //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 173:68c7914679ec 545 }
Lightvalve 173:68c7914679ec 546 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 547 float d_V_d_bc3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 548 d_V_d_bc3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 549 G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3);
Lightvalve 173:68c7914679ec 550 }
Lightvalve 173:68c7914679ec 551 G_bc3 = G_bc3 / batch_size;
Lightvalve 179:d5377766d7ea 552 if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit;
Lightvalve 179:d5377766d7ea 553 else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 554 //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 173:68c7914679ec 555 }
Lightvalve 173:68c7914679ec 556
Lightvalve 173:68c7914679ec 557 // Simultaneous Update
Lightvalve 173:68c7914679ec 558 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 173:68c7914679ec 559 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 560 hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2];
Lightvalve 170:42c938a40313 561 }
Lightvalve 179:d5377766d7ea 562 bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2];
Lightvalve 170:42c938a40313 563 }
Lightvalve 173:68c7914679ec 564 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 565 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 566 hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2];
Lightvalve 173:68c7914679ec 567 }
Lightvalve 179:d5377766d7ea 568 bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2];
Lightvalve 173:68c7914679ec 569 }
Lightvalve 170:42c938a40313 570 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 173:68c7914679ec 571 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 572 hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1];
Lightvalve 170:42c938a40313 573 }
Lightvalve 179:d5377766d7ea 574 bc3_temp = bc3_temp - gradient_rate_critic * G_bc3;
Lightvalve 170:42c938a40313 575 }
Lightvalve 170:42c938a40313 576 }
Lightvalve 170:42c938a40313 577
Lightvalve 173:68c7914679ec 578 ///////////////////////////Softplus//////////////////////////////////
Lightvalve 170:42c938a40313 579 void update_Actor_Networks(float (*arr)[num_input_RL])
Lightvalve 170:42c938a40313 580 {
Lightvalve 179:d5377766d7ea 581
Lightvalve 173:68c7914679ec 582
Lightvalve 173:68c7914679ec 583 float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 584 float G_ba1[num_hidden_unit1] = {0.0f};
Lightvalve 173:68c7914679ec 585
Lightvalve 173:68c7914679ec 586 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 587 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 173:68c7914679ec 588 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 589 float d_x_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 590 float d_y_d_ha1 = 0.0f;
Lightvalve 173:68c7914679ec 591 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 592 G_ha1[index1][index2] = G_ha1[index1][index2];
Lightvalve 170:42c938a40313 593 } else {
Lightvalve 173:68c7914679ec 594 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 595 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 596 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 597 d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 598 d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 599 }
Lightvalve 171:bfc1fd2629d8 600 }
Lightvalve 170:42c938a40313 601 }
Lightvalve 170:42c938a40313 602 float d_mean_d_ha1 = 0.0f;
Lightvalve 170:42c938a40313 603 float d_dev_d_ha1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 604 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 605 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 606
Lightvalve 173:68c7914679ec 607 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 608 }
Lightvalve 170:42c938a40313 609 }
Lightvalve 176:589ea3edcf3c 610 G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 611 if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 612 else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 613 //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 170:42c938a40313 614 }
Lightvalve 173:68c7914679ec 615
Lightvalve 173:68c7914679ec 616 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 617 float d_x_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 618 float d_y_d_ba1 = 0.0f;
Lightvalve 173:68c7914679ec 619 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 620 G_ba1[index2] = G_ba1[index2];
Lightvalve 170:42c938a40313 621 } else {
Lightvalve 173:68c7914679ec 622 for(int k=0; k<num_hidden_unit2; k++) {
Lightvalve 173:68c7914679ec 623 if (hxh_a_sum_array[n][k] >= 0) {
Lightvalve 173:68c7914679ec 624 if (hx_a_sum_array[n][index2] > 0) {
Lightvalve 177:8e9cf31d63f4 625 d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0];
Lightvalve 177:8e9cf31d63f4 626 d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1];
Lightvalve 173:68c7914679ec 627 }
Lightvalve 171:bfc1fd2629d8 628 }
Lightvalve 170:42c938a40313 629 }
Lightvalve 170:42c938a40313 630 float d_mean_d_ba1 = 0.0f;
Lightvalve 170:42c938a40313 631 float d_dev_d_ba1 = 0.0f;
Lightvalve 177:8e9cf31d63f4 632 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 633 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 634
Lightvalve 173:68c7914679ec 635 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 636 }
Lightvalve 170:42c938a40313 637 }
Lightvalve 176:589ea3edcf3c 638 G_ba1[index2] = -G_ba1[index2] / batch_size;
Lightvalve 179:d5377766d7ea 639 if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 640 else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 641 //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 170:42c938a40313 642 }
Lightvalve 170:42c938a40313 643
Lightvalve 173:68c7914679ec 644 float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 645 float G_ba2[num_hidden_unit2] = {0.0f};
Lightvalve 173:68c7914679ec 646
Lightvalve 173:68c7914679ec 647 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 648 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 649 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 650 float d_x_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 651 float d_y_d_ha2 = 0.0f;
Lightvalve 173:68c7914679ec 652 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 653 G_ha2[index1][index2] = G_ha2[index1][index2];
Lightvalve 170:42c938a40313 654 } else {
Lightvalve 173:68c7914679ec 655 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 173:68c7914679ec 656 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 657 d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 658 d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
Lightvalve 171:bfc1fd2629d8 659 }
Lightvalve 170:42c938a40313 660 }
Lightvalve 173:68c7914679ec 661
Lightvalve 170:42c938a40313 662 float d_mean_d_ha2 = 0.0f;
Lightvalve 170:42c938a40313 663 float d_dev_d_ha2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 664 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 665 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 666
Lightvalve 173:68c7914679ec 667 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 668 }
Lightvalve 170:42c938a40313 669 }
Lightvalve 176:589ea3edcf3c 670 G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 671 if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 672 else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 673 //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 170:42c938a40313 674 }
Lightvalve 173:68c7914679ec 675
Lightvalve 173:68c7914679ec 676 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 677 float d_x_d_ba2 = 0.0f;
Lightvalve 177:8e9cf31d63f4 678 float d_y_d_ba2 = 0.0f;
Lightvalve 173:68c7914679ec 679 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 170:42c938a40313 680 G_ba2[index2] = G_ba2[index2];
Lightvalve 170:42c938a40313 681 } else {
Lightvalve 170:42c938a40313 682
Lightvalve 173:68c7914679ec 683 if (hxh_a_sum_array[n][index2] >= 0) {
Lightvalve 177:8e9cf31d63f4 684 d_x_d_ba2 = ha3_temp[index2][0];
Lightvalve 177:8e9cf31d63f4 685 d_y_d_ba2 = ha3_temp[index2][1];
Lightvalve 173:68c7914679ec 686 }
Lightvalve 173:68c7914679ec 687 float d_mean_d_ba2= 0.0f;
Lightvalve 173:68c7914679ec 688 float d_dev_d_ba2= 0.0f;
Lightvalve 177:8e9cf31d63f4 689 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 690 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 691
Lightvalve 173:68c7914679ec 692 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 693 }
Lightvalve 170:42c938a40313 694 }
Lightvalve 176:589ea3edcf3c 695 G_ba2[index2] = -G_ba2[index2] / batch_size;
Lightvalve 179:d5377766d7ea 696 if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 697 else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 698 //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 170:42c938a40313 699 }
Lightvalve 173:68c7914679ec 700
Lightvalve 173:68c7914679ec 701 float G_ha3[num_hidden_unit2][2] = {0.0f};
Lightvalve 173:68c7914679ec 702 float G_ba3[2] = {0.0f};
Lightvalve 173:68c7914679ec 703
Lightvalve 173:68c7914679ec 704 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 705 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 706 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 707 float d_x_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 708 float d_y_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 709 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 710 G_ha3[index1][index2] = G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 711 } else {
Lightvalve 173:68c7914679ec 712 if (hxh_a_sum_array[n][index1] >= 0) {
Lightvalve 173:68c7914679ec 713 if (hx_a_sum_array[n][index1] > 0) {
Lightvalve 177:8e9cf31d63f4 714 d_x_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 177:8e9cf31d63f4 715 d_y_d_ha3 = hxh_a_sum_array[n][index1];
Lightvalve 173:68c7914679ec 716 }
Lightvalve 173:68c7914679ec 717 }
Lightvalve 173:68c7914679ec 718 float d_mean_d_ha3 = 0.0f;
Lightvalve 173:68c7914679ec 719 float d_dev_d_ha3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 720 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 721 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 722
Lightvalve 173:68c7914679ec 723 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 724 }
Lightvalve 173:68c7914679ec 725 }
Lightvalve 176:589ea3edcf3c 726 G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
Lightvalve 179:d5377766d7ea 727 if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 728 else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 729 //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 173:68c7914679ec 730 }
Lightvalve 173:68c7914679ec 731
Lightvalve 173:68c7914679ec 732 for (int n=0; n<batch_size; n++) {
Lightvalve 177:8e9cf31d63f4 733 float d_x_d_ba3 = 0.0f;
Lightvalve 177:8e9cf31d63f4 734 float d_y_d_ba3 = 0.0f;
Lightvalve 173:68c7914679ec 735 if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
Lightvalve 173:68c7914679ec 736 G_ba3[index2] = G_ba3[index2];
Lightvalve 173:68c7914679ec 737 } else {
Lightvalve 173:68c7914679ec 738
Lightvalve 177:8e9cf31d63f4 739 d_x_d_ba3 = 1.0f;
Lightvalve 177:8e9cf31d63f4 740 d_y_d_ba3 = 1.0f;
Lightvalve 173:68c7914679ec 741
Lightvalve 173:68c7914679ec 742 float d_mean_d_ba3= 0.0f;
Lightvalve 173:68c7914679ec 743 float d_dev_d_ba3= 0.0f;
Lightvalve 177:8e9cf31d63f4 744 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 745 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 746
Lightvalve 173:68c7914679ec 747 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 748 }
Lightvalve 173:68c7914679ec 749 }
Lightvalve 176:589ea3edcf3c 750 G_ba3[index2] = -G_ba3[index2] / batch_size;
Lightvalve 179:d5377766d7ea 751 if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit;
Lightvalve 179:d5377766d7ea 752 else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit;
Lightvalve 179:d5377766d7ea 753 //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 175:2f7289dbd488 754 }
Lightvalve 177:8e9cf31d63f4 755
Lightvalve 175:2f7289dbd488 756 // Simultaneous Update
Lightvalve 175:2f7289dbd488 757 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 175:2f7289dbd488 758 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 759 ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2];
Lightvalve 175:2f7289dbd488 760 }
Lightvalve 179:d5377766d7ea 761 ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2];
Lightvalve 175:2f7289dbd488 762 }
Lightvalve 175:2f7289dbd488 763 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 175:2f7289dbd488 764 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 765 ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2];
Lightvalve 175:2f7289dbd488 766 }
Lightvalve 179:d5377766d7ea 767 ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2];
Lightvalve 175:2f7289dbd488 768 }
Lightvalve 175:2f7289dbd488 769 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 175:2f7289dbd488 770 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 771 ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2];
Lightvalve 175:2f7289dbd488 772 }
Lightvalve 179:d5377766d7ea 773 ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2];
Lightvalve 173:68c7914679ec 774 }
Lightvalve 170:42c938a40313 775 }
Lightvalve 170:42c938a40313 776
Lightvalve 170:42c938a40313 777 float rand_normal(double mean, double stddev)
Lightvalve 170:42c938a40313 778 {
Lightvalve 170:42c938a40313 779 //Box muller method
Lightvalve 170:42c938a40313 780 static double n2 = 0.0f;
Lightvalve 170:42c938a40313 781 static int n2_cached = 0;
Lightvalve 170:42c938a40313 782 if (!n2_cached) {
Lightvalve 170:42c938a40313 783 double x, y, r;
Lightvalve 170:42c938a40313 784 do {
Lightvalve 170:42c938a40313 785 x = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 786 y = 2.0f*rand()/RAND_MAX - 1;
Lightvalve 170:42c938a40313 787
Lightvalve 170:42c938a40313 788 r = x*x + y*y;
Lightvalve 170:42c938a40313 789 } while (r == 0.0f || r > 1.0f);
Lightvalve 170:42c938a40313 790 {
Lightvalve 170:42c938a40313 791 double d = sqrt(-2.0f*log(r)/r);
Lightvalve 170:42c938a40313 792 double n1 = x*d;
Lightvalve 170:42c938a40313 793 n2 = y*d;
Lightvalve 170:42c938a40313 794 double result = n1*stddev + mean;
Lightvalve 170:42c938a40313 795 n2_cached = 1;
Lightvalve 170:42c938a40313 796 return result;
Lightvalve 170:42c938a40313 797 }
Lightvalve 170:42c938a40313 798 } else {
Lightvalve 170:42c938a40313 799 n2_cached = 0;
Lightvalve 170:42c938a40313 800 return n2*stddev + mean;
Lightvalve 170:42c938a40313 801 }
Lightvalve 170:42c938a40313 802 }
Lightvalve 170:42c938a40313 803
Lightvalve 179:d5377766d7ea 804 float mean_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 805 {
Lightvalve 179:d5377766d7ea 806 float add = 0.0f;
Lightvalve 179:d5377766d7ea 807 float result;
Lightvalve 179:d5377766d7ea 808
Lightvalve 179:d5377766d7ea 809 for (int i=0; i<size; i++)
Lightvalve 179:d5377766d7ea 810 {
Lightvalve 179:d5377766d7ea 811 add += x[i];
Lightvalve 179:d5377766d7ea 812 }
Lightvalve 179:d5377766d7ea 813 result = (float) add/size;
Lightvalve 179:d5377766d7ea 814 return result;
Lightvalve 179:d5377766d7ea 815 }
Lightvalve 179:d5377766d7ea 816 float deviation_adv(float x[], int size)
Lightvalve 179:d5377766d7ea 817 {
Lightvalve 179:d5377766d7ea 818 float sigma = 0.0f;
Lightvalve 179:d5377766d7ea 819 float resultDeb = 0.0f;
Lightvalve 179:d5377766d7ea 820
Lightvalve 179:d5377766d7ea 821 for (int k=0; k<size; k++)
Lightvalve 179:d5377766d7ea 822 {
Lightvalve 179:d5377766d7ea 823 sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
Lightvalve 179:d5377766d7ea 824 resultDeb += sqrt(sigma);
Lightvalve 179:d5377766d7ea 825 }
Lightvalve 179:d5377766d7ea 826 return resultDeb;
Lightvalve 179:d5377766d7ea 827 }
Lightvalve 179:d5377766d7ea 828
Lightvalve 173:68c7914679ec 829
Lightvalve 170:42c938a40313 830 void Overwirte_Critic_Networks()
Lightvalve 170:42c938a40313 831 {
Lightvalve 173:68c7914679ec 832 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 833 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 834 hc1[index1][index2] = hc1_temp[index1][index2];
Lightvalve 170:42c938a40313 835 }
Lightvalve 170:42c938a40313 836 bc1[index2] = bc1_temp[index2];
Lightvalve 170:42c938a40313 837 }
Lightvalve 173:68c7914679ec 838 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 839 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 173:68c7914679ec 840 hc2[index1][index2] = hc2_temp[index1][index2];
Lightvalve 173:68c7914679ec 841 }
Lightvalve 173:68c7914679ec 842 bc2[index2] = bc2_temp[index2];
Lightvalve 173:68c7914679ec 843 hc3[index2] = hc3_temp[index2];
Lightvalve 173:68c7914679ec 844 }
Lightvalve 173:68c7914679ec 845 bc3 = bc3_temp;
Lightvalve 170:42c938a40313 846 }
Lightvalve 170:42c938a40313 847 void Overwirte_Actor_Networks()
Lightvalve 170:42c938a40313 848 {
Lightvalve 173:68c7914679ec 849 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 850 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 170:42c938a40313 851 ha1[index1][index2] = ha1_temp[index1][index2];
Lightvalve 170:42c938a40313 852 }
Lightvalve 170:42c938a40313 853 ba1[index2] = ba1_temp[index2];
Lightvalve 170:42c938a40313 854 }
Lightvalve 173:68c7914679ec 855 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 856 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 170:42c938a40313 857 ha2[index1][index2] = ha2_temp[index1][index2];
Lightvalve 170:42c938a40313 858 }
Lightvalve 170:42c938a40313 859 ba2[index2] = ba2_temp[index2];
Lightvalve 170:42c938a40313 860 }
Lightvalve 173:68c7914679ec 861 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 862 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 173:68c7914679ec 863 ha3[index1][index2] = ha3_temp[index1][index2];
Lightvalve 173:68c7914679ec 864 }
Lightvalve 173:68c7914679ec 865 ba3[index2] = ba3_temp[index2];
Lightvalve 173:68c7914679ec 866 }
Lightvalve 170:42c938a40313 867 }
Lightvalve 170:42c938a40313 868
Lightvalve 170:42c938a40313 869
GiJeongKim 0:51c43836c1d7 870 int main()
GiJeongKim 0:51c43836c1d7 871 {
Lightvalve 66:a8e6799dbce3 872
Lightvalve 65:a2d7c63419c2 873 HAL_Init();
Lightvalve 65:a2d7c63419c2 874 SystemClock_Config();
Lightvalve 169:645207e160ca 875
jobuuu 6:df07d3491e3a 876 /*********************************
jobuuu 1:e04e563be5ce 877 *** Initialization
jobuuu 6:df07d3491e3a 878 *********************************/
Lightvalve 69:3995ffeaa786 879 LED = 0;
Lightvalve 61:bc8c8270f0ab 880 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 881
GiJeongKim 0:51c43836c1d7 882 // i2c init
Lightvalve 8:5d2eebdad025 883 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 884 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 885 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 886 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 887 make_delay();
jobuuu 2:a1c0a37df760 888
GiJeongKim 0:51c43836c1d7 889 // // spi init
Lightvalve 170:42c938a40313 890 eeprom.format(8,3);
Lightvalve 170:42c938a40313 891 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 892 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 893 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 894 make_delay();
Lightvalve 21:e5f1a43ea6f9 895
Lightvalve 16:903b5a4433b4 896 //rom
Lightvalve 19:23b7c1ad8683 897 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 898 make_delay();
Lightvalve 13:747daba9cf59 899
GiJeongKim 0:51c43836c1d7 900 // ADC init
jobuuu 5:a4319f79457b 901 Init_ADC();
Lightvalve 11:82d8768d7351 902 make_delay();
jobuuu 2:a1c0a37df760 903
GiJeongKim 0:51c43836c1d7 904 // Pwm init
GiJeongKim 0:51c43836c1d7 905 Init_PWM();
GiJeongKim 0:51c43836c1d7 906 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 907 make_delay();
Lightvalve 13:747daba9cf59 908
Lightvalve 11:82d8768d7351 909 // TMR3 init
Lightvalve 11:82d8768d7351 910 Init_TMR3();
Lightvalve 11:82d8768d7351 911 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 912 make_delay();
Lightvalve 21:e5f1a43ea6f9 913
Lightvalve 50:3c630b5eba9f 914 // TMR2 init
Lightvalve 56:6f50d9d3bfee 915 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 916 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 917 // make_delay();
Lightvalve 21:e5f1a43ea6f9 918
GiJeongKim 0:51c43836c1d7 919 // CAN
jobuuu 2:a1c0a37df760 920 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 921 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 922 make_delay();
Lightvalve 34:bb2ca2fc2a8e 923
Lightvalve 23:59218d4a256d 924 //Timer priority
Lightvalve 23:59218d4a256d 925 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 926 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 927 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 928
Lightvalve 23:59218d4a256d 929 //can.reset();
Lightvalve 19:23b7c1ad8683 930 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 931
GiJeongKim 0:51c43836c1d7 932 // spi _ enc
GiJeongKim 0:51c43836c1d7 933 spi_enc_set_init();
Lightvalve 11:82d8768d7351 934 make_delay();
Lightvalve 13:747daba9cf59 935
Lightvalve 11:82d8768d7351 936 //DAC init
Lightvalve 58:2eade98630e2 937 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 938 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 939 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 940 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 941 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 942 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 943 }
Lightvalve 11:82d8768d7351 944 make_delay();
Lightvalve 13:747daba9cf59 945
Lightvalve 19:23b7c1ad8683 946 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 947 if(i%2==0)
Lightvalve 38:118df027d851 948 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 949 else
Lightvalve 38:118df027d851 950 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 951 }
Lightvalve 169:645207e160ca 952
Lightvalve 173:68c7914679ec 953 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 954 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 955 hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ;
Lightvalve 170:42c938a40313 956 }
Lightvalve 179:d5377766d7ea 957 bc1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 958 }
Lightvalve 173:68c7914679ec 959 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 960 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 961 hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 962 }
Lightvalve 179:d5377766d7ea 963 bc2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 179:d5377766d7ea 964 hc3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 965 }
Lightvalve 179:d5377766d7ea 966 bc3_temp = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 967
Lightvalve 173:68c7914679ec 968 for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
Lightvalve 170:42c938a40313 969 for (int index1 = 0; index1 < num_input_RL; index1++) {
Lightvalve 179:d5377766d7ea 970 ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 971 }
Lightvalve 179:d5377766d7ea 972 ba1_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 973 }
Lightvalve 173:68c7914679ec 974 for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
Lightvalve 173:68c7914679ec 975 for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
Lightvalve 179:d5377766d7ea 976 ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 173:68c7914679ec 977 }
Lightvalve 179:d5377766d7ea 978 ba2_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 979 }
Lightvalve 170:42c938a40313 980 for (int index2 = 0; index2 < 2; index2++) {
Lightvalve 173:68c7914679ec 981 for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
Lightvalve 179:d5377766d7ea 982 ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 983 }
Lightvalve 179:d5377766d7ea 984 ba3_temp[index2] = (float) (rand()%100) * 0.007f;
Lightvalve 170:42c938a40313 985 }
Lightvalve 171:bfc1fd2629d8 986
Lightvalve 170:42c938a40313 987 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 988 Overwirte_Actor_Networks();
Lightvalve 61:bc8c8270f0ab 989
jobuuu 6:df07d3491e3a 990 /************************************
jobuuu 1:e04e563be5ce 991 *** Program is operating!
jobuuu 6:df07d3491e3a 992 *************************************/
GiJeongKim 0:51c43836c1d7 993 while(1) {
Lightvalve 169:645207e160ca 994
Lightvalve 171:bfc1fd2629d8 995 // if(timer_while==27491) {
Lightvalve 171:bfc1fd2629d8 996 // timer_while = 0;
Lightvalve 171:bfc1fd2629d8 997 // 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 998 // //pc.printf("%f\n", virt_pos);
Lightvalve 171:bfc1fd2629d8 999 // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION));
Lightvalve 171:bfc1fd2629d8 1000 // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos);
Lightvalve 171:bfc1fd2629d8 1001 // }
Lightvalve 169:645207e160ca 1002
Lightvalve 171:bfc1fd2629d8 1003
Lightvalve 171:bfc1fd2629d8 1004 //i2c
Lightvalve 180:02be1711ee0b 1005 read_field(i2c_slave_addr1);
Lightvalve 180:02be1711ee0b 1006 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 171:bfc1fd2629d8 1007
Lightvalve 177:8e9cf31d63f4 1008 //timer_while ++;
Lightvalve 169:645207e160ca 1009
Lightvalve 170:42c938a40313 1010 ///////////////////////////////////////////////////////Neural Network
Lightvalve 169:645207e160ca 1011
Lightvalve 73:f80dc3970c99 1012 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 1013 LED = 0;
Lightvalve 73:f80dc3970c99 1014 }
Lightvalve 169:645207e160ca 1015
Lightvalve 73:f80dc3970c99 1016 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 1017
Lightvalve 162:9dd4f35e9de8 1018 int ind = 0;
Lightvalve 162:9dd4f35e9de8 1019 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 1020 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 1021 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1022 }
Lightvalve 162:9dd4f35e9de8 1023
Lightvalve 162:9dd4f35e9de8 1024 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 1025 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 1026 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1027 }
Lightvalve 162:9dd4f35e9de8 1028 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 1029 ind = ind + 1;
Lightvalve 169:645207e160ca 1030
Lightvalve 162:9dd4f35e9de8 1031 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 1032 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 1033 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 1034 // }
Lightvalve 162:9dd4f35e9de8 1035
Lightvalve 162:9dd4f35e9de8 1036 for(int i=0; i<numpast_f; i++) {
Lightvalve 193:4b5e617b8481 1037 input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1038 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1039 }
Lightvalve 193:4b5e617b8481 1040 input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 1041 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1042 for(int i=0; i<numfuture_f; i++) {
Lightvalve 195:dde3bb8e0d81 1043 input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
Lightvalve 195:dde3bb8e0d81 1044 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
Lightvalve 162:9dd4f35e9de8 1045 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 1046 }
Lightvalve 169:645207e160ca 1047
Lightvalve 112:8dcb1600cb90 1048 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1049 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 1050 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 1051 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 1052
Lightvalve 112:8dcb1600cb90 1053 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 1054 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 1055 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 1056 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 1057 }
Lightvalve 66:a8e6799dbce3 1058 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 1059 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1060 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 1061 }
Lightvalve 66:a8e6799dbce3 1062 }
Lightvalve 65:a2d7c63419c2 1063
Lightvalve 112:8dcb1600cb90 1064 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1065 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1066 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 1067 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 1068 }
Lightvalve 66:a8e6799dbce3 1069 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 1070 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1071 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 1072 }
Lightvalve 66:a8e6799dbce3 1073 }
Lightvalve 65:a2d7c63419c2 1074
Lightvalve 112:8dcb1600cb90 1075 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 1076 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 1077 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 1078 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 1079 }
Lightvalve 66:a8e6799dbce3 1080 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 1081 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 1082 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 1083 }
Lightvalve 65:a2d7c63419c2 1084 }
Lightvalve 66:a8e6799dbce3 1085
Lightvalve 66:a8e6799dbce3 1086 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 1087 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 1088 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 1089 }
Lightvalve 66:a8e6799dbce3 1090 output = output + bout[index2];
Lightvalve 169:645207e160ca 1091
Lightvalve 66:a8e6799dbce3 1092 }
Lightvalve 73:f80dc3970c99 1093 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 1094 output_normalized = output;
Lightvalve 68:328e1be06f5d 1095 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 1096
Lightvalve 66:a8e6799dbce3 1097 if(output>=0) {
Lightvalve 66:a8e6799dbce3 1098 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 1099 } else {
Lightvalve 66:a8e6799dbce3 1100 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 1101 }
Lightvalve 87:471334725012 1102
Lightvalve 169:645207e160ca 1103
Lightvalve 69:3995ffeaa786 1104 if(LED==1) {
Lightvalve 69:3995ffeaa786 1105 LED=0;
Lightvalve 69:3995ffeaa786 1106 } else
Lightvalve 69:3995ffeaa786 1107 LED = 1;
Lightvalve 169:645207e160ca 1108
Lightvalve 65:a2d7c63419c2 1109 }
Lightvalve 171:bfc1fd2629d8 1110
Lightvalve 171:bfc1fd2629d8 1111
Lightvalve 170:42c938a40313 1112 /////////////////////////////////////////////////////////////////////RL
Lightvalve 170:42c938a40313 1113 switch (Update_Case) {
Lightvalve 170:42c938a40313 1114 case 0: {
Lightvalve 170:42c938a40313 1115 break;
Lightvalve 170:42c938a40313 1116 }
Lightvalve 170:42c938a40313 1117 case 1: {
Lightvalve 170:42c938a40313 1118 //Network Update(just update and hold network)
Lightvalve 170:42c938a40313 1119 for (int epoch = 0; epoch < num_epoch; epoch++) {
Lightvalve 170:42c938a40313 1120 float loss_sum = 0.0f;
Lightvalve 175:2f7289dbd488 1121 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 170:42c938a40313 1122 //Calculate Estimated V
Lightvalve 175:2f7289dbd488 1123 //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]};
Lightvalve 175:2f7289dbd488 1124 float temp_array[2] = {state_array[n][0], state_array[n][1]};
Lightvalve 175:2f7289dbd488 1125 V[n] = Critic_Network_Temp(temp_array);
Lightvalve 173:68c7914679ec 1126 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 175:2f7289dbd488 1127 hx_c_sum_array[n][i] = hx_c_sum[i];
Lightvalve 173:68c7914679ec 1128 }
Lightvalve 173:68c7914679ec 1129 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 175:2f7289dbd488 1130 hxh_c_sum_array[n][i] = hxh_c_sum[i];
Lightvalve 173:68c7914679ec 1131 }
Lightvalve 175:2f7289dbd488 1132 hxhh_c_sum_array[n] = hxhh_c_sum;
Lightvalve 177:8e9cf31d63f4 1133
Lightvalve 175:2f7289dbd488 1134 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 1135 Actor_Network_Old(temp_array);
Lightvalve 175:2f7289dbd488 1136 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 1137 r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]);
Lightvalve 175:2f7289dbd488 1138 if(n == batch_size-1) return_G[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1139 else return_G[n] = gamma * return_G[n+1] + r[n];
Lightvalve 175:2f7289dbd488 1140 if(n == batch_size-1) td_target[n] = r[n];
Lightvalve 175:2f7289dbd488 1141 else td_target[n] = r[n] + gamma * V[n+1];
Lightvalve 175:2f7289dbd488 1142 delta[n] = td_target[n] - V[n];
Lightvalve 175:2f7289dbd488 1143 if(n == batch_size-1) advantage[n] = 0.0f;
Lightvalve 175:2f7289dbd488 1144 else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n];
Lightvalve 179:d5377766d7ea 1145 // return_G[n] = advantage[n] + V[n];
Lightvalve 175:2f7289dbd488 1146 ratio[n] = pi[n]/pi_old[n];
Lightvalve 179:d5377766d7ea 1147 }
Lightvalve 179:d5377766d7ea 1148 float mean_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1149 float dev_advantage = 0.0f;
Lightvalve 179:d5377766d7ea 1150 mean_advantage = mean_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1151 dev_advantage = deviation_adv(advantage, batch_size);
Lightvalve 179:d5377766d7ea 1152 for (int n=batch_size-1; n>=0; n--) {
Lightvalve 179:d5377766d7ea 1153 //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage;
Lightvalve 175:2f7289dbd488 1154 surr1[n] = ratio[n] * advantage[n];
Lightvalve 175:2f7289dbd488 1155 if (ratio[n] > 1.0f + epsilon) {
Lightvalve 175:2f7289dbd488 1156 surr2[n] = (1.0f + epsilon)*advantage[n];
Lightvalve 175:2f7289dbd488 1157 } else if( ratio[n] < 1.0f - epsilon) {
Lightvalve 175:2f7289dbd488 1158 surr2[n] = (1.0f - epsilon)*advantage[n];
Lightvalve 170:42c938a40313 1159 } else {
Lightvalve 175:2f7289dbd488 1160 surr2[n] = ratio[n]*advantage[n];
Lightvalve 170:42c938a40313 1161 }
Lightvalve 175:2f7289dbd488 1162 loss[n] = -min(surr1[n], surr2[n]);
Lightvalve 175:2f7289dbd488 1163 loss_sum = loss_sum + loss[n];
Lightvalve 170:42c938a40313 1164 }
Lightvalve 170:42c938a40313 1165 reward_sum = 0.0f;
Lightvalve 170:42c938a40313 1166 for (int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 1167 reward_sum = reward_sum + r[i];
Lightvalve 170:42c938a40313 1168 }
Lightvalve 170:42c938a40313 1169 logging5 = reward_sum;
Lightvalve 171:bfc1fd2629d8 1170
Lightvalve 171:bfc1fd2629d8 1171
Lightvalve 170:42c938a40313 1172 //loss_batch = loss_sum / (float) batch_size;
Lightvalve 170:42c938a40313 1173 loss_batch = loss_sum;
Lightvalve 170:42c938a40313 1174 //Update Networks
Lightvalve 170:42c938a40313 1175 update_Critic_Networks(state_array);
Lightvalve 170:42c938a40313 1176 update_Actor_Networks(state_array);
Lightvalve 170:42c938a40313 1177 }
Lightvalve 170:42c938a40313 1178 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1179 Update_Case = 0;
Lightvalve 170:42c938a40313 1180 //logging1 = V[0];
Lightvalve 171:bfc1fd2629d8 1181
Lightvalve 170:42c938a40313 1182 break;
Lightvalve 170:42c938a40313 1183 }
Lightvalve 170:42c938a40313 1184 case 2: {
Lightvalve 170:42c938a40313 1185 //Network apply to next Network
Lightvalve 170:42c938a40313 1186 Overwirte_Critic_Networks();
Lightvalve 170:42c938a40313 1187 Overwirte_Actor_Networks();
Lightvalve 170:42c938a40313 1188 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 1189 Update_Done_Flag = 1;
Lightvalve 170:42c938a40313 1190 Update_Case = 0;
Lightvalve 170:42c938a40313 1191 break;
Lightvalve 170:42c938a40313 1192 }
Lightvalve 169:645207e160ca 1193
Lightvalve 170:42c938a40313 1194 }
GiJeongKim 0:51c43836c1d7 1195 }
jobuuu 1:e04e563be5ce 1196 }
jobuuu 1:e04e563be5ce 1197
Lightvalve 33:91b17819ec30 1198 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 1199 {
Lightvalve 14:8e7590227d22 1200
Lightvalve 13:747daba9cf59 1201 int i = 0;
Lightvalve 48:889798ff9329 1202 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 1203 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 1204 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 1205 if(i==0) {
Lightvalve 50:3c630b5eba9f 1206 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 1207 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1208 } else {
Lightvalve 57:f4819de54e7a 1209 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 1210 }
Lightvalve 14:8e7590227d22 1211 } else {
Lightvalve 50:3c630b5eba9f 1212 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 1213 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1214 } else {
Lightvalve 57:f4819de54e7a 1215 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 1216 }
Lightvalve 13:747daba9cf59 1217 }
Lightvalve 13:747daba9cf59 1218 break;
Lightvalve 13:747daba9cf59 1219 }
Lightvalve 13:747daba9cf59 1220 }
Lightvalve 14:8e7590227d22 1221 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1222 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1223 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 1224 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1225 }
Lightvalve 36:a46e63505ed8 1226
Lightvalve 57:f4819de54e7a 1227 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 1228 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 1229
Lightvalve 13:747daba9cf59 1230 }
jobuuu 6:df07d3491e3a 1231
jobuuu 6:df07d3491e3a 1232
Lightvalve 30:8d561f16383b 1233 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 1234 {
Lightvalve 13:747daba9cf59 1235 int i = 0;
Lightvalve 13:747daba9cf59 1236
Lightvalve 38:118df027d851 1237 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 1238 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 1239 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 1240 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 1241 }
Lightvalve 38:118df027d851 1242
Lightvalve 89:a7b45368ea0f 1243 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 1244 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 1245 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 1246 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 1247 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 1248 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 1249
Lightvalve 13:747daba9cf59 1250 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 1251
Lightvalve 18:b8adf1582ea3 1252 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 1253 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 1254 if(i==0) {
Lightvalve 48:889798ff9329 1255 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 1256 } else {
Lightvalve 48:889798ff9329 1257 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 1258 }
Lightvalve 13:747daba9cf59 1259 break;
Lightvalve 13:747daba9cf59 1260 }
Lightvalve 13:747daba9cf59 1261 }
Lightvalve 59:f308b1656d9c 1262 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 1263 }
Lightvalve 13:747daba9cf59 1264
Lightvalve 14:8e7590227d22 1265 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 1266 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 1267 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 1268 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 1269 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 1270 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 1271 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 1272 }; // duty
Lightvalve 67:c2812cf26c38 1273 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 1274 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 1275 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 1276 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 1277 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 1278 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 1279 }; // mV
Lightvalve 13:747daba9cf59 1280
Lightvalve 30:8d561f16383b 1281 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 1282 {
Lightvalve 30:8d561f16383b 1283 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 1284 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 1285 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 1286 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 1287 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 1288 } else {
Lightvalve 13:747daba9cf59 1289 int idx = 0;
Lightvalve 13:747daba9cf59 1290 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 1291 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 1292 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 1293 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 1294 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 1295 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 1296 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 1297 break;
Lightvalve 13:747daba9cf59 1298 }
Lightvalve 13:747daba9cf59 1299 }
Lightvalve 13:747daba9cf59 1300 }
Lightvalve 14:8e7590227d22 1301
Lightvalve 13:747daba9cf59 1302 return PWM_duty;
Lightvalve 13:747daba9cf59 1303 }
jobuuu 6:df07d3491e3a 1304
Lightvalve 57:f4819de54e7a 1305
Lightvalve 57:f4819de54e7a 1306
Lightvalve 57:f4819de54e7a 1307
Lightvalve 57:f4819de54e7a 1308
jobuuu 2:a1c0a37df760 1309 /*******************************************************************************
jobuuu 2:a1c0a37df760 1310 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 1311 *******************************************************************************/
jobuuu 2:a1c0a37df760 1312
Lightvalve 51:b46bed7fec80 1313 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 1314 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 1315 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 1316 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 1317 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 1318 {
Lightvalve 19:23b7c1ad8683 1319 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1320
Lightvalve 21:e5f1a43ea6f9 1321 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 1322 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 1323 ********************************************************/
Lightvalve 13:747daba9cf59 1324
Lightvalve 57:f4819de54e7a 1325 //Encoder
Lightvalve 57:f4819de54e7a 1326 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 1327 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 1328 }
Lightvalve 61:bc8c8270f0ab 1329
Lightvalve 61:bc8c8270f0ab 1330 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 1331 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1332 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1333 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 1334 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 1335 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 1336 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 1337
Lightvalve 67:c2812cf26c38 1338
Lightvalve 67:c2812cf26c38 1339 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 1340 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 1341 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 1342 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 1343 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 1344
Lightvalve 17:1865016ca2e7 1345
Lightvalve 58:2eade98630e2 1346 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1347 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 1348 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 1349 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 1350 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 1351 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 1352 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 1353 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 1354 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 1355
Lightvalve 58:2eade98630e2 1356 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 1357 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 1358 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 1359 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 1360 }
Lightvalve 58:2eade98630e2 1361 }
Lightvalve 61:bc8c8270f0ab 1362
Lightvalve 58:2eade98630e2 1363 // //Pressure sensor A
Lightvalve 58:2eade98630e2 1364 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 1365 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 1366 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1367 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 1368 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 1369 // 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 1370 //
Lightvalve 58:2eade98630e2 1371 //
Lightvalve 58:2eade98630e2 1372 // //Pressure sensor B
Lightvalve 58:2eade98630e2 1373 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 1374 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 1375 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 1376 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 1377
Lightvalve 17:1865016ca2e7 1378
Lightvalve 21:e5f1a43ea6f9 1379 //Current
Lightvalve 21:e5f1a43ea6f9 1380 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 1381 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 1382 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 1383 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 1384 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 1385 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 1386 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 1387
Lightvalve 57:f4819de54e7a 1388 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 1389 }
Lightvalve 11:82d8768d7351 1390 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 1391 }
Lightvalve 19:23b7c1ad8683 1392
Lightvalve 19:23b7c1ad8683 1393
Lightvalve 18:b8adf1582ea3 1394 int j =0;
Lightvalve 54:647072f5307a 1395 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 1396 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 1397 int cnt_trans = 0;
Lightvalve 48:889798ff9329 1398 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 1399 int can_rest =0;
Lightvalve 48:889798ff9329 1400
Lightvalve 11:82d8768d7351 1401 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1402 {
Lightvalve 19:23b7c1ad8683 1403 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 1404
Lightvalve 57:f4819de54e7a 1405 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 1406 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1407 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 1408 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1409 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 1410 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 1411 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 1412 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 1413 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 1414 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 1415 }
Lightvalve 50:3c630b5eba9f 1416
Lightvalve 50:3c630b5eba9f 1417 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 1418 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1419 cnt_trans++;
Lightvalve 46:2694daea349b 1420 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1421 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 1422 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 1423 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 1424 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 1425 cnt_trans++;
Lightvalve 46:2694daea349b 1426 torq.err_sum = 0;
Lightvalve 48:889798ff9329 1427 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 1428 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 1429 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 1430 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 1431 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 1432 } else {
Lightvalve 58:2eade98630e2 1433 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 1434 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 1435 }
Lightvalve 45:35fa6884d0c6 1436
Lightvalve 50:3c630b5eba9f 1437
Lightvalve 57:f4819de54e7a 1438 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 1439 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 1440
Lightvalve 57:f4819de54e7a 1441 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 1442 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1443 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1444 } else {
Lightvalve 57:f4819de54e7a 1445 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 1446 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1447 }
Lightvalve 56:6f50d9d3bfee 1448
Lightvalve 56:6f50d9d3bfee 1449
Lightvalve 56:6f50d9d3bfee 1450
Lightvalve 57:f4819de54e7a 1451 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 1452
Lightvalve 57:f4819de54e7a 1453 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 1454 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 1455 break;
Lightvalve 13:747daba9cf59 1456 }
Lightvalve 14:8e7590227d22 1457
Lightvalve 14:8e7590227d22 1458 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1459 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1460 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1461 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1462
Lightvalve 14:8e7590227d22 1463 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1464 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 1465 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1466
Lightvalve 84:c355d3e52bf1 1467 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1468
Lightvalve 30:8d561f16383b 1469 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 1470 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 1471
Lightvalve 16:903b5a4433b4 1472 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 1473 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1474 }
Lightvalve 13:747daba9cf59 1475 } else {
Lightvalve 58:2eade98630e2 1476 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1477 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1478 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1479 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1480
Lightvalve 170:42c938a40313 1481 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1482 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1483
Lightvalve 30:8d561f16383b 1484 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 1485
Lightvalve 13:747daba9cf59 1486 }
Lightvalve 14:8e7590227d22 1487 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1488 break;
Lightvalve 19:23b7c1ad8683 1489 }
Lightvalve 14:8e7590227d22 1490
Lightvalve 50:3c630b5eba9f 1491 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 1492 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 1493 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1494 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 1495 // }
Lightvalve 50:3c630b5eba9f 1496 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1497 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1498 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1499 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1500 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1501 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1502 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1503 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1504 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1505 // }
Lightvalve 50:3c630b5eba9f 1506 //
Lightvalve 50:3c630b5eba9f 1507 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1508 // 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 1509 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 1510 //
Lightvalve 50:3c630b5eba9f 1511 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 1512 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1513 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1514 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1515 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1516 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 1517 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 1518 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1519 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1520 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1521 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 1522 //
Lightvalve 50:3c630b5eba9f 1523 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 1524 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 1525 // // | / | / |/
Lightvalve 50:3c630b5eba9f 1526 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 1527 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 1528 // // /| / | / |
Lightvalve 50:3c630b5eba9f 1529 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 1530 //
Lightvalve 50:3c630b5eba9f 1531 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 1532 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 1533 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 1534 // } else {
Lightvalve 50:3c630b5eba9f 1535 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 1536 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1537 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 1538 // }
Lightvalve 50:3c630b5eba9f 1539 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 1540 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1541 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 1542 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 1543 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1544 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1545 // }
Lightvalve 50:3c630b5eba9f 1546 // } else {
Lightvalve 50:3c630b5eba9f 1547 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 1548 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 1549 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 1550 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1551 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1552 // }
Lightvalve 50:3c630b5eba9f 1553 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1554 //
Lightvalve 50:3c630b5eba9f 1555 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1556 //
Lightvalve 50:3c630b5eba9f 1557 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 1558 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 1559 //
Lightvalve 50:3c630b5eba9f 1560 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1561 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1562 // }
Lightvalve 50:3c630b5eba9f 1563 // }
Lightvalve 50:3c630b5eba9f 1564 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 1565 // break;
Lightvalve 50:3c630b5eba9f 1566 // }
Lightvalve 14:8e7590227d22 1567
Lightvalve 14:8e7590227d22 1568 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1569 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1570 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1571 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1572 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 1573 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 1574 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 1575 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 1576 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 1577 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 1578 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1579 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1580 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1581 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1582 }
Lightvalve 29:69f3f5445d6d 1583 cnt_findhome++;
Lightvalve 14:8e7590227d22 1584
Lightvalve 29:69f3f5445d6d 1585 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1586 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1587 } else {
Lightvalve 29:69f3f5445d6d 1588 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1589 }
Lightvalve 19:23b7c1ad8683 1590
Lightvalve 57:f4819de54e7a 1591 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1592 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 1593 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 1594 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 1595
Lightvalve 59:f308b1656d9c 1596 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 1597 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1598 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 1599 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1600 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1601
Lightvalve 59:f308b1656d9c 1602 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 1603 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1604
Lightvalve 34:bb2ca2fc2a8e 1605
Lightvalve 29:69f3f5445d6d 1606 } else {
Lightvalve 29:69f3f5445d6d 1607 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 1608 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 1609 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1610 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1611 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1612 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1613 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1614 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1615 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1616 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1617 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 1618
Lightvalve 67:c2812cf26c38 1619
Lightvalve 67:c2812cf26c38 1620 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 1621 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1622 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 1623 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1624 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1625 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 1626 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 1627
Lightvalve 169:645207e160ca 1628
Lightvalve 29:69f3f5445d6d 1629 }
Lightvalve 29:69f3f5445d6d 1630 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1631 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 1632 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 1633 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1634 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 1635
Lightvalve 29:69f3f5445d6d 1636 // input for position control
Lightvalve 169:645207e160ca 1637
Lightvalve 67:c2812cf26c38 1638 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 1639 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 1640
Lightvalve 67:c2812cf26c38 1641 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 1642 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1643 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 1644 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1645
Lightvalve 67:c2812cf26c38 1646 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 1647
Lightvalve 67:c2812cf26c38 1648 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 1649 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 1650 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 1651
Lightvalve 67:c2812cf26c38 1652 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 1653 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 1654 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 1655
Lightvalve 69:3995ffeaa786 1656 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 1657 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 1658 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1659 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 1660 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 1661 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 1662 }
Lightvalve 67:c2812cf26c38 1663 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 1664 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 1665
Lightvalve 67:c2812cf26c38 1666 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 1667
Lightvalve 67:c2812cf26c38 1668
Lightvalve 67:c2812cf26c38 1669
Lightvalve 67:c2812cf26c38 1670 } else {
Lightvalve 67:c2812cf26c38 1671 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 1672 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 1673
Lightvalve 67:c2812cf26c38 1674 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 1675 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 1676 } else {
Lightvalve 67:c2812cf26c38 1677 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 1678 }
Lightvalve 67:c2812cf26c38 1679
Lightvalve 67:c2812cf26c38 1680 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 1681
Lightvalve 67:c2812cf26c38 1682 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 1683
Lightvalve 67:c2812cf26c38 1684 }
Lightvalve 67:c2812cf26c38 1685
Lightvalve 67:c2812cf26c38 1686
Lightvalve 169:645207e160ca 1687
Lightvalve 169:645207e160ca 1688
Lightvalve 59:f308b1656d9c 1689 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1690 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1691 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1692 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1693 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1694
Lightvalve 29:69f3f5445d6d 1695 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1696 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1697 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1698 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1699 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1700 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1701 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1702 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1703 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1704 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1705 }
Lightvalve 13:747daba9cf59 1706 }
Lightvalve 19:23b7c1ad8683 1707
Lightvalve 13:747daba9cf59 1708 break;
Lightvalve 13:747daba9cf59 1709 }
Lightvalve 14:8e7590227d22 1710
Lightvalve 50:3c630b5eba9f 1711 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1712 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1713 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1714 // else {
Lightvalve 50:3c630b5eba9f 1715 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1716 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1717 // }
Lightvalve 50:3c630b5eba9f 1718 // }
Lightvalve 50:3c630b5eba9f 1719 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1720 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1721 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1722 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1723 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1724 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1725 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1726 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1727 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1728 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1729 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1730 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1731 // }
Lightvalve 50:3c630b5eba9f 1732 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1733 // }
Lightvalve 50:3c630b5eba9f 1734 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1735 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1736 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1737 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1738 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1739 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1740 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1741 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1742 // 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 1743 // // 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 1744 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1745 // }
Lightvalve 50:3c630b5eba9f 1746 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1747 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1748 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1749 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1750 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1751 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1752 // 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 1753 // // 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 1754 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1755 // }
Lightvalve 50:3c630b5eba9f 1756 // }
Lightvalve 50:3c630b5eba9f 1757 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1758 //
Lightvalve 50:3c630b5eba9f 1759 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1760 //
Lightvalve 50:3c630b5eba9f 1761 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1762 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1763 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1764 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1765 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1766 // }
Lightvalve 50:3c630b5eba9f 1767 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1768 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1769 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1770 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1771 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1772 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1773 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1774 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1775 // }
Lightvalve 50:3c630b5eba9f 1776 //
Lightvalve 50:3c630b5eba9f 1777 // }
Lightvalve 50:3c630b5eba9f 1778 // break;
Lightvalve 50:3c630b5eba9f 1779 // }
Lightvalve 50:3c630b5eba9f 1780 //
Lightvalve 50:3c630b5eba9f 1781 // }
Lightvalve 14:8e7590227d22 1782 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1783 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1784 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1785 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1786 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1787
Lightvalve 14:8e7590227d22 1788 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1789 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1790 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1791 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1792 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1793
Lightvalve 38:118df027d851 1794 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1795 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1796 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1797
Lightvalve 30:8d561f16383b 1798 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1799 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1800 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1801 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1802
Lightvalve 30:8d561f16383b 1803 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1804 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1805 }
Lightvalve 13:747daba9cf59 1806 } else {
Lightvalve 57:f4819de54e7a 1807 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1808 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1809 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1810 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1811 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1812 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1813
Lightvalve 170:42c938a40313 1814 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1815 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 1816 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 1817
Lightvalve 30:8d561f16383b 1818 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1819 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1820 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1821 }
Lightvalve 14:8e7590227d22 1822 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1823 break;
Lightvalve 13:747daba9cf59 1824 }
Lightvalve 14:8e7590227d22 1825
Lightvalve 50:3c630b5eba9f 1826 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1827 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1828 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1829 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1830 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1831 // }
Lightvalve 50:3c630b5eba9f 1832 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1833 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1834 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1835 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1836 // }
Lightvalve 50:3c630b5eba9f 1837 // } else {
Lightvalve 50:3c630b5eba9f 1838 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1839 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1840 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1841 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1842 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1843 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1844 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1845 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1846 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1847 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1848 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1849 //
Lightvalve 50:3c630b5eba9f 1850 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1851 //
Lightvalve 50:3c630b5eba9f 1852 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1853 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1854 // }
Lightvalve 50:3c630b5eba9f 1855 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1856 // break;
Lightvalve 50:3c630b5eba9f 1857 // }
Lightvalve 19:23b7c1ad8683 1858
Lightvalve 50:3c630b5eba9f 1859 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1860 // 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 1861 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1862 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1863 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1864 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1865 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1866 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1867 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1868 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1869 // }
Lightvalve 50:3c630b5eba9f 1870 // break;
Lightvalve 50:3c630b5eba9f 1871 // }
Lightvalve 14:8e7590227d22 1872
Lightvalve 14:8e7590227d22 1873 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1874 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1875 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1876
Lightvalve 14:8e7590227d22 1877 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1878 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1879 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1880 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1881 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1882 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1883 data_num = 0;
Lightvalve 14:8e7590227d22 1884 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1885 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1886 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1887 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1888 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1889 } else {
Lightvalve 13:747daba9cf59 1890 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1891 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1892 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1893 }
Lightvalve 14:8e7590227d22 1894
Lightvalve 17:1865016ca2e7 1895 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1896 int i;
Lightvalve 13:747daba9cf59 1897 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1898 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1899 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1900 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1901 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1902 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1903 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1904 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1905 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1906 }
Lightvalve 13:747daba9cf59 1907 }
Lightvalve 170:42c938a40313 1908 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 1909 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 1910 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 170:42c938a40313 1911 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 1912 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 170:42c938a40313 1913 }
Lightvalve 13:747daba9cf59 1914 ID_index = 0;
Lightvalve 57:f4819de54e7a 1915 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1916 }
Lightvalve 14:8e7590227d22 1917
Lightvalve 14:8e7590227d22 1918
Lightvalve 13:747daba9cf59 1919 break;
Lightvalve 13:747daba9cf59 1920 }
Lightvalve 14:8e7590227d22 1921
Lightvalve 14:8e7590227d22 1922 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1923 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1924 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1925 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1926 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1927 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1928 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1929 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1930 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1931 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1932 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
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 14:8e7590227d22 1935 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1936 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1937 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 1938 } else if(VALVE_DZ_timer < (int) (4.0f * (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 13:747daba9cf59 1940 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1941 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1942 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1943 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 1944 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1945 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1946 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1947 data_num = 0;
Lightvalve 14:8e7590227d22 1948
Lightvalve 30:8d561f16383b 1949 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1950 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1951 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1952
Lightvalve 30:8d561f16383b 1953 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1954 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1955 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1956
Lightvalve 30:8d561f16383b 1957 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1958 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1959 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1960 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1961
Lightvalve 60:64181f1d3e60 1962 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1963 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1964 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1965 DZ_case = -1;
Lightvalve 14:8e7590227d22 1966 } else {
Lightvalve 13:747daba9cf59 1967 DZ_case = 0;
Lightvalve 13:747daba9cf59 1968 }
Lightvalve 61:bc8c8270f0ab 1969
Lightvalve 60:64181f1d3e60 1970 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1971
Lightvalve 13:747daba9cf59 1972 first_check = 1;
Lightvalve 13:747daba9cf59 1973 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1974 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1975 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1976 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1977 DZ_index = 1;
Lightvalve 14:8e7590227d22 1978
Lightvalve 13:747daba9cf59 1979 }
Lightvalve 19:23b7c1ad8683 1980 } else {
Lightvalve 14:8e7590227d22 1981 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1982 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1983 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 1984 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1985 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1986 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1987 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1988 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1989 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1990 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1991 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1992 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1993 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1994 }
Lightvalve 14:8e7590227d22 1995 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1996
Lightvalve 30:8d561f16383b 1997 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1998 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1999 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2000
Lightvalve 14:8e7590227d22 2001 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2002 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2003 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2004 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2005 } else {
Lightvalve 13:747daba9cf59 2006 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 2007 }
Lightvalve 14:8e7590227d22 2008
Lightvalve 13:747daba9cf59 2009 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2010 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2011 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2012 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2013 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2014 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2015 DZ_index = 1;
Lightvalve 13:747daba9cf59 2016 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2017 }
Lightvalve 13:747daba9cf59 2018 }
Lightvalve 14:8e7590227d22 2019 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 2020 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2021 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 2022 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2023 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2024 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2025 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2026 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2027 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2028 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2029 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2030 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2031 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2032 }
Lightvalve 14:8e7590227d22 2033 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2034
Lightvalve 30:8d561f16383b 2035 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2036 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2037 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2038 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2039 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2040
Lightvalve 14:8e7590227d22 2041 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 2042 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 2043 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2044 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 2045 } else {
Lightvalve 60:64181f1d3e60 2046 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 2047 }
Lightvalve 14:8e7590227d22 2048
Lightvalve 13:747daba9cf59 2049 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 2050 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 2051 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2052 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2053 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2054 first_check = 0;
Lightvalve 33:91b17819ec30 2055 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2056 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 2057
Lightvalve 170:42c938a40313 2058 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2059 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2060 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2061 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2062
Lightvalve 60:64181f1d3e60 2063 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2064 DZ_index = 1;
Lightvalve 13:747daba9cf59 2065 }
Lightvalve 13:747daba9cf59 2066 }
Lightvalve 14:8e7590227d22 2067 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 2068 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2069 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 2070 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2071 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2072 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2073 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2074 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2075 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2076 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2077 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2078 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2079 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 2080 }
Lightvalve 14:8e7590227d22 2081 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 2082
Lightvalve 30:8d561f16383b 2083 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2084 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2085 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2086
Lightvalve 14:8e7590227d22 2087 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 2088 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 2089 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 2090 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 2091 } else {
Lightvalve 13:747daba9cf59 2092 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2093 }
Lightvalve 13:747daba9cf59 2094 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2095 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2096 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2097 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 2098 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 2099 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 2100 DZ_index = 1;
Lightvalve 13:747daba9cf59 2101 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 2102 }
Lightvalve 13:747daba9cf59 2103 }
Lightvalve 14:8e7590227d22 2104 } else {
Lightvalve 30:8d561f16383b 2105 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 2106 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 2107 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 2108 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2109 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2110 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2111 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2112 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 2113 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 2114 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 2115 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 2116 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 2117 }
Lightvalve 14:8e7590227d22 2118 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 2119
Lightvalve 30:8d561f16383b 2120 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2121 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 2122 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2123 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 2124 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 2125
Lightvalve 60:64181f1d3e60 2126 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 2127 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2128 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 2129 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 2130 } else {
Lightvalve 13:747daba9cf59 2131 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 2132 }
Lightvalve 14:8e7590227d22 2133
Lightvalve 13:747daba9cf59 2134 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 2135 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 2136 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 2137 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 2138 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 2139 first_check = 0;
Lightvalve 33:91b17819ec30 2140 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 2141 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 2142
Lightvalve 170:42c938a40313 2143 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2144 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 2145 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 2146 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 34:bb2ca2fc2a8e 2147
Lightvalve 57:f4819de54e7a 2148 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 2149 DZ_index = 1;
Lightvalve 13:747daba9cf59 2150 }
Lightvalve 13:747daba9cf59 2151 }
Lightvalve 13:747daba9cf59 2152 }
Lightvalve 14:8e7590227d22 2153 }
Lightvalve 13:747daba9cf59 2154 break;
Lightvalve 13:747daba9cf59 2155 }
Lightvalve 14:8e7590227d22 2156
Lightvalve 14:8e7590227d22 2157 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 2158 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 2159 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 2160 if(first_check == 0) {
Lightvalve 30:8d561f16383b 2161 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2162 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 2163 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 2164 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2165 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2166 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 2167 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 2168 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2169 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 2170 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2171 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 2172 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 2173 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 2174 first_check = 1;
Lightvalve 13:747daba9cf59 2175 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2176 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 2177 ID_index = 0;
Lightvalve 13:747daba9cf59 2178 max_check = 0;
Lightvalve 13:747daba9cf59 2179 min_check = 0;
Lightvalve 13:747daba9cf59 2180 }
Lightvalve 14:8e7590227d22 2181 } else {
Lightvalve 30:8d561f16383b 2182 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 2183 //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 2184 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 2185 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 2186 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 2187 data_num = 0;
Lightvalve 57:f4819de54e7a 2188 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2189
Lightvalve 14:8e7590227d22 2190 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 2191 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 2192 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 2193 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 2194 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 2195 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 2196 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 2197 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 2198 one_period_end = 1;
Lightvalve 13:747daba9cf59 2199 }
Lightvalve 30:8d561f16383b 2200 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 2201 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 2202 one_period_end = 1;
Lightvalve 59:f308b1656d9c 2203 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2204 }
Lightvalve 14:8e7590227d22 2205
Lightvalve 14:8e7590227d22 2206 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 2207 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 2208 max_check = 1;
Lightvalve 14:8e7590227d22 2209 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 2210 min_check = 1;
Lightvalve 13:747daba9cf59 2211 }
Lightvalve 13:747daba9cf59 2212 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 2213
Lightvalve 13:747daba9cf59 2214 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 2215 one_period_end = 0;
Lightvalve 13:747daba9cf59 2216 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 2217 V_out = 0.0f;
Lightvalve 13:747daba9cf59 2218 }
Lightvalve 14:8e7590227d22 2219
Lightvalve 14:8e7590227d22 2220 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 2221
Lightvalve 13:747daba9cf59 2222 VALVE_POS_NUM = ID_index;
Lightvalve 170:42c938a40313 2223 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 2224 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 2225 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 170:42c938a40313 2226 spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 170:42c938a40313 2227 }
Lightvalve 13:747daba9cf59 2228 ID_index = 0;
Lightvalve 13:747daba9cf59 2229 first_check = 0;
Lightvalve 13:747daba9cf59 2230 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 2231 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 2232 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 2233 }
Lightvalve 13:747daba9cf59 2234 }
Lightvalve 13:747daba9cf59 2235 break;
Lightvalve 13:747daba9cf59 2236 }
Lightvalve 58:2eade98630e2 2237
Lightvalve 57:f4819de54e7a 2238 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 2239 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 2240 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 2241 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 2242 cnt_sysid++;
Lightvalve 57:f4819de54e7a 2243 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 2244 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 2245 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 2246 }
Lightvalve 57:f4819de54e7a 2247 break;
Lightvalve 57:f4819de54e7a 2248 }
Lightvalve 58:2eade98630e2 2249
Lightvalve 169:645207e160ca 2250 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 2251 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 2252 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2253 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2254 } else {
Lightvalve 169:645207e160ca 2255 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2256 }
Lightvalve 169:645207e160ca 2257 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2258 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2259 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2260 } else {
Lightvalve 169:645207e160ca 2261 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2262 }
Lightvalve 58:2eade98630e2 2263
Lightvalve 169:645207e160ca 2264 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2265 cnt_freq_test++;
Lightvalve 169:645207e160ca 2266 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 2267 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 2268 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 2269 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2270 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 2271 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 2272 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2273 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2274 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2275 }
Lightvalve 169:645207e160ca 2276 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2277 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 2278
Lightvalve 169:645207e160ca 2279 }
Lightvalve 169:645207e160ca 2280 break;
Lightvalve 169:645207e160ca 2281 }
Lightvalve 169:645207e160ca 2282 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 2283 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 2284 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 2285 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 2286 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 2287 // }
Lightvalve 169:645207e160ca 2288 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 2289 // }
Lightvalve 169:645207e160ca 2290
Lightvalve 169:645207e160ca 2291 break;
Lightvalve 169:645207e160ca 2292 }
Lightvalve 169:645207e160ca 2293 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 2294 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 2295 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2296 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2297 break;
Lightvalve 169:645207e160ca 2298 }
Lightvalve 170:42c938a40313 2299
Lightvalve 169:645207e160ca 2300 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 2301 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2302 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2303 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 2304 } else {
Lightvalve 169:645207e160ca 2305 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 2306 }
Lightvalve 169:645207e160ca 2307 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 2308 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2309 } else {
Lightvalve 169:645207e160ca 2310 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 2311 }
Lightvalve 169:645207e160ca 2312 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 2313 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2314 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2315 } else {
Lightvalve 169:645207e160ca 2316 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2317 }
Lightvalve 169:645207e160ca 2318
Lightvalve 169:645207e160ca 2319 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 2320 cnt_step_test++;
Lightvalve 170:42c938a40313 2321 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 2322 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 2323 cnt_step_test = 0;
Lightvalve 169:645207e160ca 2324 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 2325 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 2326 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2327 }
Lightvalve 169:645207e160ca 2328 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 2329 // {
Lightvalve 169:645207e160ca 2330 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2331 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 2332 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 2333 // }
Lightvalve 170:42c938a40313 2334
Lightvalve 169:645207e160ca 2335 break;
Lightvalve 169:645207e160ca 2336 }
Lightvalve 57:f4819de54e7a 2337
Lightvalve 57:f4819de54e7a 2338 default:
Lightvalve 57:f4819de54e7a 2339 break;
Lightvalve 57:f4819de54e7a 2340 }
Lightvalve 57:f4819de54e7a 2341
Lightvalve 57:f4819de54e7a 2342 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 2343
Lightvalve 57:f4819de54e7a 2344 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 2345 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 2346 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 2347 break;
Lightvalve 57:f4819de54e7a 2348 }
Lightvalve 57:f4819de54e7a 2349
Lightvalve 57:f4819de54e7a 2350 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 2351 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 2352 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 2353 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 2354 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 2355 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 2356 } else {
Lightvalve 67:c2812cf26c38 2357 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 2358 }
Lightvalve 57:f4819de54e7a 2359 break;
Lightvalve 57:f4819de54e7a 2360 }
Lightvalve 57:f4819de54e7a 2361
Lightvalve 57:f4819de54e7a 2362 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 2363
Lightvalve 57:f4819de54e7a 2364 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 2365 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 2366 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 2367 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2368
Lightvalve 67:c2812cf26c38 2369 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 2370 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 2371 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 2372 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 2373
Lightvalve 139:15621998925b 2374 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 2375 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 2376
Lightvalve 57:f4819de54e7a 2377 // torque feedback
Lightvalve 67:c2812cf26c38 2378 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 2379 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 2380
Lightvalve 57:f4819de54e7a 2381 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 2382
Lightvalve 57:f4819de54e7a 2383 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 2384 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 2385 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 2386
Lightvalve 57:f4819de54e7a 2387 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 2388 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 2389 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 2390
Lightvalve 69:3995ffeaa786 2391 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2392 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 2393 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 2394 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2395 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 2396 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 2397 }
Lightvalve 57:f4819de54e7a 2398 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 2399 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2400
Lightvalve 57:f4819de54e7a 2401 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 2402 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 2403 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 2404 // 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 2405 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 2406 // L feedforward velocity
Lightvalve 69:3995ffeaa786 2407 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 2408 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 2409 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2410 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 2411 // L feedforward velocity
Lightvalve 57:f4819de54e7a 2412 }
Lightvalve 57:f4819de54e7a 2413 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 2414 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 2415 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 2416 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 2417 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 2418
Lightvalve 57:f4819de54e7a 2419 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 2420
Lightvalve 67:c2812cf26c38 2421 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 2422 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 2423 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 2424 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 2425 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 2426 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 2427 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2428 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 2429 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2430 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 2431 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 2432 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 2433 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 2434 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 2435 }
Lightvalve 67:c2812cf26c38 2436 }
Lightvalve 57:f4819de54e7a 2437
Lightvalve 57:f4819de54e7a 2438 } else {
Lightvalve 57:f4819de54e7a 2439 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 2440 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 2441 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 2442
Lightvalve 57:f4819de54e7a 2443 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 2444 + 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 2445
Lightvalve 72:3436ce769b1e 2446 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 169:645207e160ca 2447
Lightvalve 72:3436ce769b1e 2448 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 2449
Lightvalve 169:645207e160ca 2450
Lightvalve 72:3436ce769b1e 2451 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 2452 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 2453 } else {
Lightvalve 72:3436ce769b1e 2454 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 2455 }
Lightvalve 57:f4819de54e7a 2456
Lightvalve 57:f4819de54e7a 2457 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 2458 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 2459 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 2460 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2461 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2462 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 2463 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2464 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 2465 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2466 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 2467 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 2468 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 2469 }
Lightvalve 57:f4819de54e7a 2470 }
Lightvalve 197:50e95ba0ade2 2471
Lightvalve 197:50e95ba0ade2 2472 ///////////For Test LIMC///////////////////////////////////////////////////////////////////////////////////////////////////
Lightvalve 197:50e95ba0ade2 2473 for(int i=0; i<9; i++) {
Lightvalve 197:50e95ba0ade2 2474 valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
Lightvalve 197:50e95ba0ade2 2475 }
Lightvalve 197:50e95ba0ade2 2476 valve_ref_pos_buffer[9] = valve_pos.ref;
Lightvalve 197:50e95ba0ade2 2477 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Lightvalve 197:50e95ba0ade2 2478
Lightvalve 197:50e95ba0ade2 2479 ///////////For Test LIMC///////////////////////////////////////////////////////////////////////////////////////////////////
Lightvalve 197:50e95ba0ade2 2480 //VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 197:50e95ba0ade2 2481 VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
Lightvalve 197:50e95ba0ade2 2482 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Lightvalve 61:bc8c8270f0ab 2483
Lightvalve 67:c2812cf26c38 2484 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 2485 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2486
Lightvalve 57:f4819de54e7a 2487 }
Lightvalve 169:645207e160ca 2488
Lightvalve 72:3436ce769b1e 2489 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 2490
Lightvalve 133:22ab22818e01 2491
Lightvalve 57:f4819de54e7a 2492 break;
Lightvalve 57:f4819de54e7a 2493 }
Lightvalve 58:2eade98630e2 2494
Lightvalve 57:f4819de54e7a 2495 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 2496 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 2497 break;
Lightvalve 57:f4819de54e7a 2498 }
Lightvalve 169:645207e160ca 2499
Lightvalve 138:a843f32ced33 2500 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 2501
Lightvalve 169:645207e160ca 2502
Lightvalve 139:15621998925b 2503 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 2504 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 169:645207e160ca 2505
Lightvalve 139:15621998925b 2506 // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 2507 // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 170:42c938a40313 2508 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 2509
Lightvalve 169:645207e160ca 2510
Lightvalve 170:42c938a40313 2511 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 2512
Lightvalve 138:a843f32ced33 2513 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 2514 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2515 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 2516 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 2517 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 2518 } else {
Lightvalve 138:a843f32ced33 2519 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 2520 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 2521 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2522 } else {
Lightvalve 138:a843f32ced33 2523 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 2524 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 2525 }
Lightvalve 138:a843f32ced33 2526 }
Lightvalve 138:a843f32ced33 2527 float tau = 0.01f;
Lightvalve 142:43026242815a 2528 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 2529
Lightvalve 138:a843f32ced33 2530 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 2531 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 2532 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2533 } else {
Lightvalve 138:a843f32ced33 2534 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 2535 }
Lightvalve 138:a843f32ced33 2536 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 2537 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 2538
Lightvalve 139:15621998925b 2539 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 2540
Lightvalve 138:a843f32ced33 2541 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 2542 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 2543 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 2544
Lightvalve 138:a843f32ced33 2545 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 2546 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 2547
Lightvalve 142:43026242815a 2548 float k3 = 20000.0f; //2000
Lightvalve 142:43026242815a 2549 float k4 = 10.0f;
Lightvalve 142:43026242815a 2550 float rho3 = 3.2f;
Lightvalve 142:43026242815a 2551 float rho4 = 25000000.0f;
Lightvalve 139:15621998925b 2552 float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 2553 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 2554 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 2555
Lightvalve 139:15621998925b 2556 if (x_4_des > 0) {
Lightvalve 139:15621998925b 2557 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2558 } else {
Lightvalve 139:15621998925b 2559 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 2560 }
Lightvalve 169:645207e160ca 2561
Lightvalve 169:645207e160ca 2562
Lightvalve 138:a843f32ced33 2563 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 2564 x_4_des_old = x_4_des;
Lightvalve 169:645207e160ca 2565
Lightvalve 139:15621998925b 2566 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 2567
Lightvalve 142:43026242815a 2568 float rho_gamma = 50000.0f;//5000
Lightvalve 139:15621998925b 2569 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 2570 gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 169:645207e160ca 2571 break;
Lightvalve 138:a843f32ced33 2572 }
Lightvalve 171:bfc1fd2629d8 2573
Lightvalve 170:42c938a40313 2574 case MODE_RL: {
Lightvalve 170:42c938a40313 2575 //t.reset();
Lightvalve 170:42c938a40313 2576 //t.start();
Lightvalve 170:42c938a40313 2577
Lightvalve 170:42c938a40313 2578 // if(LED == 0) LED = 1;
Lightvalve 170:42c938a40313 2579 // else LED = 0;
Lightvalve 170:42c938a40313 2580
Lightvalve 170:42c938a40313 2581 if (Update_Done_Flag == 1) {
Lightvalve 170:42c938a40313 2582 //Gather Data on each loop
Lightvalve 170:42c938a40313 2583 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 170:42c938a40313 2584 // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2585 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2586 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2587 train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2588 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2589 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2590 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]};
Lightvalve 170:42c938a40313 2591 float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]};
Lightvalve 170:42c938a40313 2592 Actor_Network(temp_array);
Lightvalve 173:68c7914679ec 2593 for (int i=0; i<num_hidden_unit1; i++) {
Lightvalve 173:68c7914679ec 2594 hx_a_sum_array[RL_timer][i] = hx_a_sum[i];
Lightvalve 173:68c7914679ec 2595 }
Lightvalve 173:68c7914679ec 2596 for (int i=0; i<num_hidden_unit2; i++) {
Lightvalve 173:68c7914679ec 2597 hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i];
Lightvalve 173:68c7914679ec 2598 }
Lightvalve 173:68c7914679ec 2599 hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0];
Lightvalve 173:68c7914679ec 2600 hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1];
Lightvalve 170:42c938a40313 2601 mean_array[RL_timer] = mean;
Lightvalve 170:42c938a40313 2602 deviation_array[RL_timer] = deviation;
Lightvalve 170:42c938a40313 2603 action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]);
Lightvalve 170:42c938a40313 2604
Lightvalve 179:d5377766d7ea 2605 virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2606 if (virt_pos > 70 ) {
Lightvalve 170:42c938a40313 2607 virt_pos = 70.0f;
Lightvalve 179:d5377766d7ea 2608 }else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2609 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2610 }
Lightvalve 171:bfc1fd2629d8 2611
Lightvalve 170:42c938a40313 2612 RL_timer++;
Lightvalve 170:42c938a40313 2613
Lightvalve 170:42c938a40313 2614
Lightvalve 170:42c938a40313 2615 if (RL_timer >= batch_size) {
Lightvalve 170:42c938a40313 2616 RL_timer = 0;
Lightvalve 170:42c938a40313 2617 batch++;
Lightvalve 170:42c938a40313 2618 for(int i=0; i<batch_size; i++) {
Lightvalve 170:42c938a40313 2619 state_array[i][0] = train_set_x[i];
Lightvalve 170:42c938a40313 2620 state_array[i][1] = train_set_error[i];
Lightvalve 170:42c938a40313 2621 //state_array[i][2] = train_set_count[i];
Lightvalve 170:42c938a40313 2622 }
Lightvalve 170:42c938a40313 2623 Update_Case = 1;
Lightvalve 170:42c938a40313 2624 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2625 logging1 = virt_pos;
Lightvalve 179:d5377766d7ea 2626
Lightvalve 170:42c938a40313 2627 if(batch >= num_batch) {
Lightvalve 170:42c938a40313 2628 batch = 0;
Lightvalve 170:42c938a40313 2629 RL_timer = 0;
Lightvalve 170:42c938a40313 2630 Update_Case = 2;
Lightvalve 170:42c938a40313 2631 Update_Done_Flag = 0;
Lightvalve 170:42c938a40313 2632 virt_pos = 10.0f;
Lightvalve 170:42c938a40313 2633 }
Lightvalve 170:42c938a40313 2634 }
Lightvalve 170:42c938a40313 2635 }
Lightvalve 170:42c938a40313 2636
Lightvalve 170:42c938a40313 2637 else {
Lightvalve 170:42c938a40313 2638 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm]
Lightvalve 170:42c938a40313 2639 float temp_array[3] = {0.0f};
Lightvalve 170:42c938a40313 2640 temp_array[0] = virt_pos/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2641 temp_array[1] = pos.err/70.0f; //-1.0~1.0
Lightvalve 170:42c938a40313 2642 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0
Lightvalve 170:42c938a40313 2643 Actor_Network(temp_array);
Lightvalve 170:42c938a40313 2644 action = rand_normal(mean, deviation);
Lightvalve 170:42c938a40313 2645 //logging1 = action;
Lightvalve 179:d5377766d7ea 2646 //logging2 = mean;
Lightvalve 179:d5377766d7ea 2647 //logging4 = deviation;
Lightvalve 179:d5377766d7ea 2648 virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
Lightvalve 179:d5377766d7ea 2649 if (virt_pos > 70) {
Lightvalve 170:42c938a40313 2650 virt_pos = 70.0f;
Lightvalve 179:d5377766d7ea 2651 }else if(virt_pos < -70) {
Lightvalve 170:42c938a40313 2652 virt_pos = -70.0f;
Lightvalve 170:42c938a40313 2653 }
Lightvalve 170:42c938a40313 2654
Lightvalve 170:42c938a40313 2655 logging3 = virt_pos;
Lightvalve 170:42c938a40313 2656 }
Lightvalve 170:42c938a40313 2657
Lightvalve 170:42c938a40313 2658 //t.stop();
Lightvalve 170:42c938a40313 2659 //logging1 = t.read()*1000.0f; //msec
Lightvalve 170:42c938a40313 2660
Lightvalve 170:42c938a40313 2661 break;
Lightvalve 170:42c938a40313 2662 }
Lightvalve 14:8e7590227d22 2663
Lightvalve 12:6f2531038ea4 2664 default:
Lightvalve 12:6f2531038ea4 2665 break;
Lightvalve 12:6f2531038ea4 2666 }
Lightvalve 14:8e7590227d22 2667
Lightvalve 57:f4819de54e7a 2668
Lightvalve 57:f4819de54e7a 2669 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 2670
Lightvalve 57:f4819de54e7a 2671 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2672 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 2673 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2674 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 2675 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 2676 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 2677
Lightvalve 57:f4819de54e7a 2678 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 2679 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 2680
Lightvalve 57:f4819de54e7a 2681
Lightvalve 57:f4819de54e7a 2682 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 2683 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 2684 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 2685 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 2686 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 2687 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 2688
Lightvalve 57:f4819de54e7a 2689 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 2690 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 2691 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 2692 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 2693 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 2694 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 2695 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 2696 }
Lightvalve 57:f4819de54e7a 2697
Lightvalve 57:f4819de54e7a 2698 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 2699
Lightvalve 67:c2812cf26c38 2700 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 2701 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 2702 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 2703 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 2704 // 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 2705 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 2706 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 2707
Lightvalve 57:f4819de54e7a 2708 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 2709 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 2710 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 2711 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2712 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 2713 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2714 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 2715 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 2716 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 2717 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 2718 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 2719 }
Lightvalve 57:f4819de54e7a 2720 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2721 } else {
Lightvalve 57:f4819de54e7a 2722 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 2723 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 2724 }
Lightvalve 57:f4819de54e7a 2725
Lightvalve 57:f4819de54e7a 2726 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2727 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 2728 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 2729 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 2730 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 2731 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2732 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2733
Lightvalve 57:f4819de54e7a 2734 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 2735
Lightvalve 57:f4819de54e7a 2736 } else {
Lightvalve 57:f4819de54e7a 2737 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 2738 }
Lightvalve 57:f4819de54e7a 2739
Lightvalve 57:f4819de54e7a 2740 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 2741 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 2742 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 2743
Lightvalve 57:f4819de54e7a 2744 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 2745 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 2746 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 2747 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 2748 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 2749 // Output Voltage Linearization
Lightvalve 135:79885a39c161 2750 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 2751 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 2752
Lightvalve 89:a7b45368ea0f 2753 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 2754 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 2755 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 2756 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 2757
Lightvalve 135:79885a39c161 2758 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 2759 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 2760 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 2761 }
Lightvalve 169:645207e160ca 2762
Lightvalve 67:c2812cf26c38 2763 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 2764 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 2765 // else V_out = V_out;
Lightvalve 169:645207e160ca 2766
jobuuu 7:e9086c72bb22 2767 /*******************************************************
jobuuu 7:e9086c72bb22 2768 *** PWM
jobuuu 7:e9086c72bb22 2769 ********************************************************/
Lightvalve 169:645207e160ca 2770 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 2771 V_out = -V_out;
Lightvalve 67:c2812cf26c38 2772 }
Lightvalve 169:645207e160ca 2773
Lightvalve 49:e7bcfc244d40 2774 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2775 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 2776 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 2777 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 2778 }
Lightvalve 49:e7bcfc244d40 2779 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 2780
Lightvalve 19:23b7c1ad8683 2781 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 2782 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 2783 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 2784
Lightvalve 30:8d561f16383b 2785 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 2786 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 2787 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 2788 } else {
jobuuu 2:a1c0a37df760 2789 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 2790 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 2791 }
Lightvalve 13:747daba9cf59 2792
jobuuu 1:e04e563be5ce 2793 //pwm
Lightvalve 30:8d561f16383b 2794 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 2795 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 2796
Lightvalve 61:bc8c8270f0ab 2797
Lightvalve 57:f4819de54e7a 2798 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 2799
Lightvalve 54:647072f5307a 2800 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 2801 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 2802 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 2803 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2804 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 2805 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 2806 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 2807 }
Lightvalve 57:f4819de54e7a 2808 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 2809 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 2810 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 2811 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2812 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 2813 }
Lightvalve 52:8ea76864368a 2814 }
Lightvalve 52:8ea76864368a 2815 }
Lightvalve 56:6f50d9d3bfee 2816 if (flag_data_request[1] == HIGH) {
Lightvalve 179:d5377766d7ea 2817 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 54:647072f5307a 2818 }
Lightvalve 58:2eade98630e2 2819
Lightvalve 58:2eade98630e2 2820
Lightvalve 171:bfc1fd2629d8 2821 if (flag_data_request[2] == HIGH) {
Lightvalve 169:645207e160ca 2822 double t_value = 0.0f;
Lightvalve 171:bfc1fd2629d8 2823 if(value>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2824 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2825 } else {
Lightvalve 131:d08121ac87ba 2826 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2827 }
Lightvalve 169:645207e160ca 2828 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2829 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2830 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2831 } else {
Lightvalve 169:645207e160ca 2832 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2833 }
Lightvalve 169:645207e160ca 2834
Lightvalve 169:645207e160ca 2835
Lightvalve 169:645207e160ca 2836 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2837 }
Lightvalve 58:2eade98630e2 2838
Lightvalve 57:f4819de54e7a 2839 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 2840 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2841 ;
Lightvalve 57:f4819de54e7a 2842 }
Lightvalve 58:2eade98630e2 2843
Lightvalve 169:645207e160ca 2844 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2845 //PWM
Lightvalve 180:02be1711ee0b 2846 //CAN_TX_PWM((int16_t) (V[0]*100.0f)); //1500
Lightvalve 192:637092202815 2847 CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 54:647072f5307a 2848 }
Lightvalve 179:d5377766d7ea 2849
Lightvalve 56:6f50d9d3bfee 2850 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2851 //valve position
Lightvalve 179:d5377766d7ea 2852 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 2853 //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 2854 }
Lightvalve 20:806196fda269 2855
Lightvalve 54:647072f5307a 2856 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 2857 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 2858 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 2859 // }
Lightvalve 54:647072f5307a 2860 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 2861 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 2862 //}
Lightvalve 52:8ea76864368a 2863
Lightvalve 54:647072f5307a 2864 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2865 }
Lightvalve 54:647072f5307a 2866 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 2867
Lightvalve 20:806196fda269 2868 }
Lightvalve 52:8ea76864368a 2869 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2870
Lightvalve 58:2eade98630e2 2871 }