![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
2011
Diff: main.cpp
- Revision:
- 87:471334725012
- Parent:
- 86:b8ed7abddeb2
- Child:
- 88:d6e591bece22
diff -r b8ed7abddeb2 -r 471334725012 main.cpp --- a/main.cpp Mon Jul 13 00:43:25 2020 +0000 +++ b/main.cpp Thu Jul 16 03:37:10 2020 +0000 @@ -1,4 +1,4 @@ -//200713-1 +//200716-1 #include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" @@ -192,106 +192,77 @@ float input_NN[num_input] = { 0.0f }; -const float h1[num_input][32] = { - {-1.7173271179199219f,1.9272761344909668f,0.10589459538459778f,-1.9551751613616943f,-3.8357114791870117f,-0.29917842149734497f,-0.48302900791168213f,-0.6505731344223022f,0.29983001947402954f,0.15260091423988342f,-0.22155041992664337f,1.0087947845458984f,-0.19318288564682007f,0.2118169665336609f,-0.21103838086128235f,-0.09650886058807373f,0.3179604113101959f,0.24935457110404968f,1.4815877676010132f,1.0487595796585083f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,-0.7916494011878967f,0.18374285101890564f,-0.1767144799232483f,-0.4138437807559967f,-0.15036900341510773f,-0.18794111907482147f,-2.7250051498413086f,0.5172664523124695f}, -{-1.2524315118789673f,0.941848635673523f,0.29864487051963806f,-1.584148645401001f,-2.2177202701568604f,-0.17978821694850922f,-0.012527896091341972f,-0.144596666097641f,0.14071500301361084f,0.6399505138397217f,-0.31240519881248474f,0.5600001215934753f,0.021212786436080933f,0.13825878500938416f,0.045876264572143555f,-0.09028167277574539f,0.07870176434516907f,0.06295260787010193f,1.1944940090179443f,0.7594378590583801f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,-0.9661630988121033f,0.2936786115169525f,0.12686115503311157f,0.03534860163927078f,-0.3554855287075043f,0.09809011220932007f,-1.8105827569961548f,0.32793962955474854f}, -{-0.48733365535736084f,0.6765395998954773f,-0.0042223334312438965f,-1.1163684129714966f,-1.3729448318481445f,-0.19619950652122498f,-0.05927915871143341f,-0.2911379635334015f,0.16023236513137817f,0.408161997795105f,0.2585596740245819f,0.5770053267478943f,-0.03282937407493591f,0.1537180244922638f,-0.31718650460243225f,-0.10159887373447418f,0.5034856796264648f,-0.2658354640007019f,0.9114205837249756f,0.5554563403129578f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,-0.7723011374473572f,0.14537742733955383f,-0.15514154732227325f,0.12487674504518509f,-0.3350704610347748f,0.302763432264328f,-1.7596312761306763f,-0.12863287329673767f}, -{-0.2709197998046875f,0.6088866591453552f,-0.20532599091529846f,-2.105774402618408f,-1.0578839778900146f,0.036226771771907806f,-0.03222697228193283f,-1.6291370391845703f,0.26261192560195923f,0.01654042862355709f,0.09624053537845612f,0.6282867789268494f,-0.11809042096138f,0.2912616729736328f,-0.12817290425300598f,0.07094799727201462f,0.020156018435955048f,-0.23756909370422363f,0.5113418102264404f,0.16509424149990082f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,-0.4696958363056183f,0.14159366488456726f,0.13380053639411926f,0.02932538464665413f,0.295910120010376f,0.1323157548904419f,-1.4720128774642944f,0.07230854779481888f}, 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-{2.7038960456848145f,-4.2455902099609375f,0.30513831973075867f,3.0863757133483887f,4.677725791931152f,0.2606070041656494f,-0.03161865100264549f,-0.08901429921388626f,-1.4746451377868652f,2.4349827766418457f,0.25819647312164307f,-3.1457977294921875f,-0.03144201636314392f,-0.005527359899133444f,0.21901831030845642f,-0.11974890530109406f,-1.0750433206558228f,-0.3195672333240509f,-4.672972202301025f,-2.3165717124938965f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-2.980839729309082f,0.20814630389213562f,-0.2925715744495392f,0.6946446895599365f,0.4552701413631439f,-0.0013132691383361816f,3.4617044925689697f,-0.7443327307701111f}, -{0.053353261202573776f,-0.3158263862133026f,0.16288265585899353f,2.1040215492248535f,1.4133939743041992f,-0.0392598994076252f,-0.240433007478714f,-0.22583630681037903f,-0.2659626007080078f,-0.04336997866630554f,-0.11595829576253891f,-2.774592876434326f,0.098605215549469f,-0.08670175075531006f,-0.18274356424808502f,-0.46412888169288635f,-0.509023904800415f,-0.08166468143463135f,1.4031105041503906f,0.0587632991373539f,-0.16223669052124023f,-0.1771286129951477f,-0.2626192569732666f,-0.24521145224571228f,0.28011003136634827f,-0.15535086393356323f,-0.1126367449760437f,-0.2817431688308716f,-0.3592621684074402f,-0.03486502170562744f,1.4289454221725464f,-0.017852041870355606f}, -{0.6210769414901733f,-0.5490168929100037f,0.16644713282585144f,2.281311511993408f,1.210886836051941f,-0.20248198509216309f,0.03943008556962013f,-0.1206393837928772f,0.2586970925331116f,-0.4114479124546051f,-0.25573021173477173f,1.7027860879898071f,0.10806858539581299f,-0.12328503280878067f,0.054826945066452026f,0.09183579683303833f,0.05191424489021301f,-0.28619682788848877f,-0.21711719036102295f,0.02729770913720131f,-0.07430306077003479f,0.022674113512039185f,-0.12776102125644684f,-0.02844339609146118f,1.5868158340454102f,0.0177537202835083f,-0.341458797454834f,-0.21236279606819153f,-0.32845446467399597f,0.004316955804824829f,0.9823347926139832f,0.12272779643535614f}, -{0.271375834941864f,-1.2845408916473389f,0.13710039854049683f,2.082298517227173f,0.7812165021896362f,-0.2580096125602722f,-0.01317352894693613f,0.24639229476451874f,-0.05428266525268555f,0.04761303961277008f,-0.31649941205978394f,2.5336315631866455f,0.11499327421188354f,0.22336190938949585f,0.24149659276008606f,0.07626258581876755f,0.07528708130121231f,0.06021764874458313f,-0.29721686244010925f,-0.2243511974811554f,-0.30298954248428345f,-0.022329479455947876f,-0.2963099479675293f,0.08446213603019714f,0.6825646162033081f,-0.08218517899513245f,-0.08906334638595581f,0.1621612310409546f,0.15761741995811462f,-0.11924156546592712f,0.8460053205490112f,-0.025991566479206085f}, -{-0.5082711577415466f,-0.48148369789123535f,-0.24446426331996918f,1.0570698976516724f,0.35220712423324585f,-0.16325943171977997f,0.24722981452941895f,-0.2084919512271881f,-0.3960915207862854f,-0.18749573826789856f,-0.3748314678668976f,1.119239330291748f,0.08400186896324158f,0.10187669843435287f,-0.26784712076187134f,-0.5449401140213013f,0.1510961800813675f,0.3319900929927826f,-0.4567531943321228f,-0.5519561767578125f,-0.20100386440753937f,0.1638341248035431f,-0.11680193245410919f,-0.321638286113739f,0.8482062220573425f,0.05633258819580078f,0.13587942719459534f,0.18818747997283936f,0.07008782774209976f,0.30370619893074036f,0.7220067977905273f,0.13419514894485474f}, 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-{-0.487315833568573f,0.4495343863964081f,-0.3080642819404602f,0.7150331139564514f,-0.7881894707679749f,-0.5316581130027771f,-0.14371272921562195f,-0.05865927040576935f,-0.2284361869096756f,0.547099769115448f,0.2747454345226288f,-0.9189876317977905f,-0.03757423162460327f,-0.18512161076068878f,-0.2992876172065735f,-0.02525782398879528f,-0.05888053774833679f,-0.1821068376302719f,-0.4728287160396576f,-0.38356640934944153f,0.29002442955970764f,0.2275833785533905f,-0.23374228179454803f,0.3280802071094513f,-0.01549439039081335f,0.2108195722103119f,0.33828380703926086f,-0.26290827989578247f,-0.025420013815164566f,0.1480078399181366f,0.8252019882202148f,0.022061198949813843f}, -{-0.42145416140556335f,-0.32817694544792175f,0.19288143515586853f,0.6556568145751953f,-0.49610650539398193f,-0.2140781581401825f,-0.2724672555923462f,1.5364238023757935f,0.012314929626882076f,1.0431996583938599f,-0.16546383500099182f,-0.29907405376434326f,-0.2720222473144531f,-0.37664857506752014f,0.06489166617393494f,-0.31254562735557556f,-0.0591534785926342f,0.21822473406791687f,0.04160457104444504f,-0.26140296459198f,-0.25171342492103577f,0.027203470468521118f,0.012447118759155273f,-0.0029686689376831055f,0.1829933077096939f,0.03022313117980957f,0.3424017131328583f,-0.460762619972229f,-0.2912348806858063f,-0.34525999426841736f,0.36401689052581787f,0.18966224789619446f}, -{-0.497624933719635f,-0.03684612363576889f,0.06283923983573914f,-0.1809375137090683f,-0.4831215441226959f,-0.08588290214538574f,0.263502299785614f,2.1750051975250244f,0.005951971281319857f,1.061228632926941f,0.27552711963653564f,-0.7091516256332397f,0.03354460000991821f,0.0158181544393301f,0.1072375476360321f,-0.34214287996292114f,-0.00028450076933950186f,0.08871319890022278f,-0.050333134829998016f,0.0513203926384449f,-0.2227887064218521f,-0.01532900333404541f,0.11891454458236694f,-0.33143535256385803f,0.023696811869740486f,-0.1485452950000763f,0.25882163643836975f,-0.5795165300369263f,-0.07981174439191818f,0.24182012677192688f,-0.08814141899347305f,0.2655392289161682f}, 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-{-0.36545130610466003f,0.3189356327056885f,-0.13789941370487213f,-0.6045191287994385f,0.0023672033566981554f,0.10799064487218857f,-0.24793781340122223f,2.19549822807312f,-0.28907057642936707f,0.9180721044540405f,-0.3394242823123932f,-0.7255010008811951f,0.06288954615592957f,-0.24862933158874512f,0.28114965558052063f,-0.6722562909126282f,-0.05489439517259598f,-0.14027439057826996f,-0.43696144223213196f,-0.25249654054641724f,0.18525317311286926f,0.07025247812271118f,-0.12988737225532532f,0.04382038116455078f,0.07713350653648376f,-0.12333536148071289f,-0.12442702054977417f,-0.46850964426994324f,-0.3310098946094513f,0.27953919768333435f,-0.22783531248569489f,0.21733491122722626f}, -{-0.1677897423505783f,-0.2695007920265198f,0.23826703429222107f,-1.8076503276824951f,0.22223037481307983f,-0.20322440564632416f,0.29371458292007446f,2.6853017807006836f,0.3178054988384247f,1.1515147686004639f,-0.3639605641365051f,-0.8484248518943787f,0.012096136808395386f,-0.09091068059206009f,-0.03951779007911682f,-0.31418755650520325f,0.0484282560646534f,0.2508954107761383f,0.008388232439756393f,-0.010029105469584465f,0.22447606921195984f,0.30379387736320496f,-0.006355375051498413f,-0.11041811108589172f,-0.3858407139778137f,-0.28886765241622925f,-0.05783697962760925f,-0.3707982003688812f,-0.11206886917352676f,-0.1556464582681656f,-0.7998605370521545f,-0.08164318650960922f}, +const float h1[num_input][16] = { + {-2.8398470878601074f,0.6193283796310425f,0.12903714179992676f,0.5167921781539917f,-2.9680557250976562f,1.2951633930206299f,-0.17472904920578003f,0.4641677439212799f,-2.412757396697998f,-0.3652467429637909f,-0.2333867847919464f,-2.022353172302246f,-0.26348453760147095f,-0.7644635438919067f,-0.2571594715118408f,-2.0745327472686768f}, +{-2.067868232727051f,0.1564812958240509f,-0.3927857577800751f,0.1317148059606552f,-2.017406702041626f,0.4895585775375366f,-0.4054011106491089f,-0.1517474502325058f,-1.380297064781189f,0.21619710326194763f,-0.2699335813522339f,-0.9855594038963318f,0.23649367690086365f,-0.7913738489151001f,-0.20967772603034973f,-1.2367783784866333f}, 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+{0.1639259159564972f,-0.19264478981494904f,-0.0051451027393341064f,0.18278539180755615f,0.29258835315704346f,-0.16537047922611237f,0.1294034719467163f,-0.48302626609802246f,1.0344970226287842f,0.003881702898070216f,0.35295185446739197f,-1.817507028579712f,-0.06637570261955261f,0.00020343283540569246f,-0.3865056037902832f,-1.2658499479293823f}, +{3.5226595401763916f,-3.8910415172576904f,0.21773302555084229f,0.12742145359516144f,3.8099546432495117f,-3.773838996887207f,0.16514194011688232f,-3.712245464324951f,4.016517639160156f,2.522937774658203f,-0.2422771006822586f,1.597900629043579f,-0.262627512216568f,2.9437081813812256f,-0.4132833778858185f,1.6044585704803467f}, 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+{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}, +{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, +{0.15459725260734558f,2.152371644973755f,0.005577231291681528f,-0.15224629640579224f,-0.4193795323371887f,0.9709478616714478f,-0.08742031455039978f,-0.3372936546802521f,-0.15335285663604736f,-0.4697112739086151f,0.37293538451194763f,-0.2729160487651825f,0.29973986744880676f,0.8407669067382812f,0.6116405725479126f,0.041041117161512375f}, +{-0.408692330121994f,-1.024823784828186f,0.07979505509138107f,0.9620193243026733f,0.40785548090934753f,-0.19494971632957458f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,-0.39687445759773254f,0.03996849060058594f,0.11638089269399643f,-2.3363451957702637f,-0.1602039635181427f,0.8980573415756226f}, +{-0.2991822361946106f,0.1481817066669464f,-0.004251172766089439f,-0.05932474136352539f,0.3329566717147827f,0.009607115760445595f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,0.028703585267066956f,-0.36229726672172546f,0.35251477360725403f,-0.18715228140354156f,0.2748355269432068f,0.3479139804840088f}, +{-0.2675279378890991f,-0.8848872780799866f,0.2171228677034378f,0.15358519554138184f,0.7216522693634033f,-1.1589571237564087f,-0.5819693803787231f,-7.12623405456543f,-0.5964111685752869f,-2.346191644668579f,0.9024726748466492f,-0.7827144861221313f,0.5923935174942017f,-0.09883228689432144f,-0.274576336145401f,0.9632737040519714f}, +{-0.015470266342163086f,-4.066640853881836f,-0.35172760486602783f,-0.1611492931842804f,0.011647416278719902f,-1.6305570602416992f,-0.16005642712116241f,-1.9158589839935303f,-0.5295083522796631f,-3.62418794631958f,-2.0960512161254883f,-0.5138456225395203f,-1.9036948680877686f,-2.3704395294189453f,-1.1995127201080322f,-0.005027666687965393f}, +{0.1863725483417511f,0.1643422544002533f,-3.06244158744812f,-0.7068259716033936f,-0.37519770860671997f,-0.8317462205886841f,-0.06685321033000946f,-0.9036019444465637f,-0.2971649169921875f,-0.7144879102706909f,-2.9270541667938232f,-0.05449836328625679f,-2.543490171432495f,-2.367345094680786f,-1.3904540538787842f,-0.02221091091632843f}, }; -const float hout[32] = { 0.016861308366060257f,0.02745733968913555f,0.07825727015733719f,0.8766828179359436f,-0.05232406407594681f,0.35792431235313416f,1.570347547531128f,0.10329969972372055f,0.4806658923625946f,-0.062165163457393646f,0.15290232002735138f,0.09420708566904068f,-0.11127324402332306f,0.13416433334350586f,0.10202100872993469f,0.006314356345683336f,-0.003878760151565075f,-0.18621718883514404f,0.1323828548192978f,-0.10361719876527786f,-0.09726173430681229f,0.010512445122003555f,0.0036775292828679085f,-0.028018292039632797f,0.5220573544502258f,0.21163398027420044f,-0.3082039952278137f,0.26232731342315674f,0.8687447309494019f,-0.16385973989963531f,-0.09068699926137924f,0.10824593156576157f }; +const float hout[16] = { 0.45773375034332275f,0.3510032594203949f,-0.09271220117807388f,0.23885536193847656f,-0.13681545853614807f,0.8108619451522827f,-0.013286924920976162f,0.7315025329589844f,-0.037878382951021194f,0.07188846170902252f,-0.21298690140247345f,0.053339168429374695f,0.7597355246543884f,0.32502415776252747f,1.824535846710205f,-0.24919147789478302f }; -const float b1[32] = { 0.6189494729042053f,1.717569351196289f,-1.7145336866378784f,1.2212576866149902f,2.3427574634552f,0.7081863880157471f,-0.09428720921278f,0.3455063998699188f,0.6096851825714111f,-3.0868020057678223f,0.5562145113945007f,2.118533134460449f,-0.3425353467464447f,-0.940459668636322f,-1.087764859199524f,0.8448495864868164f,0.49272775650024414f,-0.26377663016319275f,1.244008183479309f,0.8255248665809631f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,4.908173561096191f,-2.0880801677703857f,-1.0489267110824585f,0.42044439911842346f,0.12164653092622757f,-1.0887231826782227f,2.485891342163086f,-0.4767896831035614f }; +const float b1[16] = { 2.6026535034179688f,2.6166093349456787f,-1.7145336866378784f,0.05604401230812073f,2.5074756145477295f,1.8178743124008179f,-0.058932315558195114f,2.566000461578369f,2.066876173019409f,-2.594883441925049f,0.573148787021637f,0.8882091641426086f,-0.367378294467926f,-2.1727375984191895f,-1.087764859199524f,3.129455089569092f }; + +const float b2[16] = { 0.854680061340332f,-1.5880934000015259f,-1.5945011377334595f,-1.1204560995101929f,-0.6939148902893066f,-0.8427667021751404f,0.11775382608175278f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-1.1466102600097656f,2.1076982021331787f,-0.33285725116729736f,3.093627452850342f,1.846516489982605f,0.7689627408981323f }; -const float b2[32] = { -0.5226120352745056f,-0.7642630338668823f,-1.4564176797866821f,-0.4946267604827881f,-0.8452438116073608f,0.1087772473692894f,-0.6319846510887146f,-0.30969977378845215f,-0.8028555512428284f,-1.912178635597229f,-0.30677375197410583f,0.8741645812988281f,-0.17443345487117767f,0.93160480260849f,-4.624051570892334f,1.084857702255249f,-1.798204779624939f,-1.68979811668396f,-0.05761605501174927f,-0.3331492841243744f,-0.17662832140922546f,0.076245978474617f,0.09335066378116608f,-1.2434346675872803f,0.6772512793540955f,3.3463151454925537f,0.08881940692663193f,-0.19115522503852844f,-0.9640821814537048f,-0.5077025890350342f,-1.296404242515564f,-1.4682079553604126f }; +const float b3[16] = { -1.963319182395935f,1.6035748720169067f,-1.0893652439117432f,1.0509281158447266f,-1.7570738792419434f,-0.17915689945220947f,-0.6738864183425903f,0.7415692210197449f,-0.12905780971050262f,-0.6975569128990173f,-0.5690303444862366f,-0.27897197008132935f,-2.201923131942749f,1.7163525819778442f,-1.6757004261016846f,0.005519242025911808f }; + +const float bout[1] = { 0.3794841468334198f }; -const float b3[32] = { -2.1200947761535645f,-0.6417744755744934f,-0.20833487808704376f,-0.4100790023803711f,-2.229132890701294f,0.2740940451622009f,-0.2966175079345703f,-0.737217366695404f,1.8642381429672241f,0.08214375376701355f,-0.47954219579696655f,-0.2409215271472931f,2.223055839538574f,0.04726779833436012f,-1.2977863550186157f,-0.5223850607872009f,-1.4806815385818481f,-1.1570241451263428f,-0.461347371339798f,-0.14962559938430786f,0.9796155095100403f,0.42978283762931824f,-1.2275103330612183f,-1.0708273649215698f,0.8111138343811035f,-0.5128193497657776f,-0.31590235233306885f,0.1044965386390686f,-0.028853775933384895f,-2.4177253246307373f,-0.28963881731033325f,0.25216880440711975f }; -const float bout[1] = { -0.1287642866373062f }; - +float VALVE_POS_RAW_NN = 0.0f; +float DDV_JOINT_POS_FF(float REF_JOINT_VEL); int main() { @@ -396,6 +367,8 @@ timer_while ++; + //LED = 0; + if(NN_Control_Flag == 0) { LED = 0; } @@ -453,6 +426,30 @@ } else { valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; } + + // torque feedback + torq.err = f_past[0] - torq.sen; //[N] +// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] + torq.err_sum += torq.err/(float) 1500.0f; //[N] + + + valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f; + + if(I_GAIN_JOINT_TORQUE != 0) { + double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; + if(valve_pos.ref>VALVE_MAX_POS) { + double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; + valve_pos_rem = valve_pos_rem * Ka; + valve_pos.ref = VALVE_MAX_POS; + torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; + } else if(valve_pos.ref < VALVE_MIN_POS) { + double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; + valve_pos_rem = valve_pos_rem * Ka; + valve_pos.ref = VALVE_MIN_POS; + torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; + } + } + if(LED==1) { LED=0; @@ -461,6 +458,7 @@ } + //LED = 1; }