Diff: main.cpp

Revision:

67:c2812cf26c38

Parent:

66:a8e6799dbce3

Child:

68:328e1be06f5d

diff -r a8e6799dbce3 -r c2812cf26c38 main.cpp
--- a/main.cpp	Tue May 12 06:23:46 2020 +0000
+++ b/main.cpp	Tue May 12 07:43:44 2020 +0000
@@ -184,98 +184,114 @@
 }
 
 
-float x_future[num_input_array] = {0.0f};
+float f_future[num_input_array] = {0.0f};
 
 float input[num_input] = { 0.0f };
 
 const float h1[num_input][32] = { 
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-{-0.8286606073379517f,0.34443455934524536f,0.33912619948387146f,-0.5367521047592163f,-0.2419569194316864f,0.11375948786735535f,0.7230488657951355f,-0.11622462421655655f,-0.06099450960755348f,0.14800310134887695f,-0.44429513812065125f,-0.15811024606227875f,0.024088174104690552f,0.37633487582206726f,0.05209478735923767f,-0.44525954127311707f,-0.35180044174194336f,0.31975269317626953f,0.4067309498786926f,0.42282143235206604f,-0.03516775369644165f,-0.13714641332626343f,-0.10795548558235168f,0.31470927596092224f,-0.34707048535346985f,0.3334867060184479f,0.14405718445777893f,-0.16725023090839386f,-0.10117192566394806f,0.11138620972633362f,-0.507462739944458f,0.11189708113670349f},
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 };
 
 const float h2[32][32] = { 
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 };
 
 const float h3[32][32] = { 
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 };
 
-const float hout[32] = { 0.3285340666770935f,0.2312968373298645f,-0.1630605310201645f,-0.052534740418195724f,-0.10057443380355835f,0.2961001396179199f,0.017061835154891014f,0.10350137203931808f,-0.07044677436351776f,-0.6716802716255188f,0.1657922863960266f,-0.19491273164749146f,-0.09723297506570816f,0.11400538682937622f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.18661867082118988f,-0.20936886966228485f,-0.06724883615970612f,-0.012077437713742256f,0.13819065690040588f,-0.36261582374572754f,-0.1528124064207077f,0.21429504454135895f,0.2520971894264221f,-0.25227150321006775f,-0.31772324442863464f,0.180665984749794f,-0.3257754445075989f,-0.39810308814048767f,-0.2707440257072449f };
+const float hout[32] = { 0.3285340666770935f,0.32875439524650574f,0.010172058828175068f,-0.11305646598339081f,-0.021411199122667313f,0.2888892889022827f,-0.10024870932102203f,0.09909168630838394f,-0.07379823178052902f,-0.01775532402098179f,0.022316712886095047f,-0.06981132924556732f,-0.17286384105682373f,0.14635762572288513f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.14480170607566833f,-0.07469630241394043f,-0.19646649062633514f,-0.03418174758553505f,-0.008110888302326202f,-0.14705289900302887f,-0.03402183949947357f,0.07437916845083237f,0.124146468937397f,-0.3058450520038605f,-0.21908646821975708f,-0.05386931076645851f,-0.3257754445075989f,-0.23496197164058685f,-0.007552365306764841f };
 
-const float b1[32] = { 0.41725802421569824f,0.677618682384491f,-1.7145336866378784f,0.4289698898792267f,1.0923852920532227f,0.6965276002883911f,-0.33025991916656494f,0.911361813545227f,0.5523963570594788f,-0.9239171743392944f,0.5504469275474548f,1.4532619714736938f,-0.3425353467464447f,-0.9522353410720825f,-1.087764859199524f,1.1365444660186768f,0.6634984612464905f,0.07243652641773224f,0.34714072942733765f,0.4831358790397644f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.5655348300933838f,-2.0880801677703857f,-1.0489267110824585f,0.6718418598175049f,0.3125588893890381f,-1.0887231826782227f,1.4772096872329712f,-0.44261544942855835f };
+const float b1[32] = { 0.33975231647491455f,2.7712650299072266f,-1.7145336866378784f,-0.1526036560535431f,1.1354074478149414f,0.623417854309082f,-0.2046075314283371f,1.8505465984344482f,0.5339886546134949f,-2.64107346534729f,0.5785035490989685f,1.5429713726043701f,-0.3425353467464447f,-0.8584070205688477f,-1.087764859199524f,0.945876955986023f,0.6164156794548035f,-0.26377663016319275f,0.21929186582565308f,0.9238426089286804f,-0.31435057520866394f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.9988690614700317f,-2.0880801677703857f,-1.0489267110824585f,0.6953904032707214f,0.39424675703048706f,-1.0887231826782227f,1.480643391609192f,-0.4426153898239136f };
 
-const float b2[32] = { -0.1328246146440506f,-0.7642630338668823f,-1.4564176797866821f,-0.5193768739700317f,-0.770237147808075f,0.2291887253522873f,0.42305076122283936f,-0.330333411693573f,-1.200630784034729f,-1.912178635597229f,0.3195040225982666f,0.6411747336387634f,-0.12948329746723175f,2.127977132797241f,0.03474299982190132f,1.0651566982269287f,-1.798204779624939f,-1.6275829076766968f,0.24063049256801605f,-0.33282727003097534f,0.15034039318561554f,0.3341216742992401f,0.09335067123174667f,-1.0914796590805054f,1.1630909442901611f,1.3906062841415405f,0.9115413427352905f,-0.08930502086877823f,-0.6323830485343933f,-0.4208582937717438f,-1.2135889530181885f,-1.3041324615478516f };
+const float b2[32] = {-0.2411857545375824f,-0.7642630338668823f,-1.4564176797866821f,-0.5187940001487732f,-0.6939148902893066f,-0.043579138815402985f,-0.04268971085548401f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.08107675611972809f,-0.16169233620166779f,-0.21833471953868866f,1.7211838960647583f,-0.05936155840754509f,0.6158673167228699f,-1.798204779624939f,-1.5844906568527222f,-0.02391055040061474f,-0.3057551085948944f,-0.19083930552005768f,-0.07528141140937805f,-0.062231115996837616f,-1.0450503826141357f,-1.8296034336090088f,0.02526227943599224f,-0.31291842460632324f,-1.3643138408660889f,-0.6323830485343933f,-0.5739799737930298f,-1.178520679473877f,-1.3432109355926514f };
 
-const float b3[32] = { -1.963319182395935f,-0.24137775599956512f,0.16939261555671692f,-0.010520849376916885f,0.16716189682483673f,0.8664999008178711f,-0.5060869455337524f,-0.675765335559845f,0.4948726296424866f,0.49107488989830017f,-0.3517422378063202f,0.050810977816581726f,-0.5689442157745361f,0.5305911302566528f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0502030849456787f,-0.22544679045677185f,0.391804963350296f,1.3067524433135986f,1.170665979385376f,-0.7901832461357117f,-0.7575708627700806f,0.7138406038284302f,-0.36519986391067505f,-0.0393984317779541f,0.7097650170326233f,0.27854597568511963f,-2.3236680030822754f,0.025814389809966087f,0.9480384588241577f };
+const float b3[32] = { -1.963319182395935f,-0.49465635418891907f,-0.03699754178524017f,-0.2572087049484253f,-0.3335331678390503f,0.04053334891796112f,-0.5232781171798706f,-0.8866004347801208f,-1.5523405075073242f,0.026659280061721802f,-1.5444074869155884f,-0.07711746543645859f,-0.6993189454078674f,-1.9827897548675537f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.1742689609527588f,-0.4667721092700958f,-0.1322062909603119f,-0.7905310988426208f,0.1004210114479065f,-1.1005918979644775f,-0.9819951057434082f,0.026299534365534782f,-0.5231139063835144f,-0.23480124771595f,0.03585260361433029f,0.10936892032623291f,-2.3236680030822754f,-0.11923135071992874f,0.3063691556453705f };
 
-const float bout[1] = { -0.28343671560287476f };
+const float bout[1] = { -0.09089279919862747f};
 
 
 int main()
@@ -523,12 +539,12 @@
                                  11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
                                  25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
                                 };  // duty
-float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
-                                       -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
-                                       -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
-                                       12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
-                                       173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
-                                       214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
+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,
+                                       -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
+                                       -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
+                                       7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
+                                       105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
+                                       155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
                                       }; // mV
 
 float PWM_duty_byLT(float Ref_V)
@@ -579,15 +595,6 @@
         if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
             ENC_UPDATE();
         }
-        
-//        for(int i=0; i<10; i++){
-//            position_array[i] = position_array[i+1];
-//        }
-//        position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
-//        
-//        for(int i=0; i<5; i++){
-//            input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
-//        } 
 
         ADC1->CR2  |= 0x40000000;
         if (SENSING_MODE == 0) {
@@ -595,7 +602,15 @@
             float pres_A_new = (((float) ADC1->DR) - 2047.5f);
             double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
             pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
-            torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
+            torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
+
+
+//        float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
+////        float pres_A_new = ((float)ADC1->DR - PRES_A_NULL)  / PRES_SENSOR_A_PULSE_PER_BAR;
+//        float pres_A_new = ((float)ADC1->DR);
+//        pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
+//        torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
+
 
         } else if (SENSING_MODE == 1) {
             // Pressure Sensing (0~210)bar =============================================
@@ -827,7 +842,7 @@
                     vel.ref = 0.0f;
                     FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
                 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
-                    int cnt_check_enc = (TMR_FREQ_5k/500);
+                    int cnt_check_enc = (TMR_FREQ_5k/20);
                     if(cnt_findhome%cnt_check_enc == 0) {
                         FINDHOME_POSITION = pos.sen;
                         FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
@@ -843,8 +858,8 @@
 
                     if ((cnt_vel_findhome < 3*TMR_FREQ_5k) &&  cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
                         //REFERENCE_MODE = MODE_REF_NO_ACT;
-                        if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f;
-                        else pos.ref = pos.ref - 2.0f;
+                        if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
+                        else pos.ref = pos.ref - 12.0f;
 
 //                        pos.err = pos.ref_home_pos - pos.sen;
 //                        float VALVE_POS_RAW_POS_FB = 0.0f;
@@ -858,6 +873,7 @@
 
                     } else {
                         ENC_SET(HOMEPOS_OFFSET);
+//                        ENC_SET_ZERO();
                         INIT_REF_POS = HOMEPOS_OFFSET;
                         REF_POSITION = 0;
                         REF_VELOCITY = 0;
@@ -867,16 +883,77 @@
                         cnt_findhome = 0;
                         cnt_vel_findhome = 0;
                         FINDHOME_STAGE = FINDHOME_ZEROPOSE;
+
+
+                        cnt_findhome = 0;
+                        pos.ref = 0.0f;
+                        vel.ref = 0.0f;
+                        pos.ref_home_pos = 0.0f;
+                        vel.ref_home_pos = 0.0f;
+                        //FINDHOME_STAGE = FINDHOME_INIT;
+                        //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
+                        
+                        
                     }
                 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
                     int T_move = 2*TMR_FREQ_5k;
                     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;
+                    //pos.ref = 0.0f;
                     vel.ref = 0.0f;
-
+                    
                     // input for position control
+                
+//                    CONTROL_MODE = MODE_JOINT_CONTROL;
+                    alpha_trans = 0.0f;
 
-                    CONTROL_MODE = MODE_JOINT_CONTROL;
-                    alpha_trans = 0.0f;
+                    double torq_ref = 0.0f;
+                    pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
+                    vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
+                    pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
+
+                    if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
+
+                        double I_REF_POS = 0.0f;
+                        double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
+                        double I_REF_VC = 0.0f; // I_REF for velocity compensation
+
+                        double temp_vel_pos = 0.0f;
+                        double temp_vel_torq = 0.0f;
+                        double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
+
+                        if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
+                            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
+                            //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
+                        } else if ((OPERATING_MODE && 0x01) == 1) {
+                            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
+                            //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
+                        }
+                        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))));
+                        else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
+
+                        I_REF = I_REF_POS;
+
+
+
+                    } else {
+                        float VALVE_POS_RAW_FORCE_FB = 0.0f;
+                        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));
+
+                        if (VALVE_POS_RAW_FORCE_FB >= 0) {
+                            valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
+                        } else {
+                            valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
+                        }
+
+                        VALVE_POS_CONTROL(valve_pos.ref);
+
+                        V_out = (float) Vout.ref;
+
+                    }
+
+
+                    
+                    
 //                    pos.err = pos.ref - (float)pos.sen;
 //                    float VALVE_POS_RAW_POS_FB = 0.0f;
 //                    VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
@@ -1436,13 +1513,13 @@
             }
 
             case MODE_VALVE_POSITION_CONTROL: {
-                if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
-                    I_REF = valve_pos.ref;
-                } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
-                    V_out = valve_pos.ref;
-                } else { //SW Valve
+                if (OPERATING_MODE == 5) { //SW Valve
                     VALVE_POS_CONTROL(valve_pos.ref);
                     V_out = Vout.ref;
+                } else if (CURRENT_CONTROL_MODE == 0) { //PWM
+                    V_out = valve_pos.ref;
+                } else { 
+                    I_REF = valve_pos.ref * 0.001f;
                 }
 
                 break;
@@ -1451,12 +1528,18 @@
             case MODE_JOINT_CONTROL: {
                 double torq_ref = 0.0f;
                 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
-                vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
+                vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
                 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
-                torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
+                
+                //K & D Low Pass Filter
+                float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
+                K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
+                D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
+                
+                torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
 
                 // torque feedback
-                torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE)  - torq.sen; //[N]
+                torq.err = torq_ref - torq.sen; //[N]
                 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
 
                 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
@@ -1498,6 +1581,23 @@
                     //            Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
 
                     I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
+                    
+                    // Anti-windup for FT
+                    if (I_GAIN_JOINT_TORQUE != 0) {
+                        double I_MAX = 10.0f; // Maximum Current : 10mV
+                        double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
+                        if (I_REF > I_MAX) {
+                            double I_rem = I_REF - I_MAX;
+                            I_rem = Ka*I_rem;
+                            I_REF = I_MAX;
+                            torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
+                        } else if (I_REF < -I_MAX) {
+                            double I_rem = I_REF - (-I_MAX);
+                            I_rem = Ka*I_rem;
+                            I_REF = -I_MAX;
+                            torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
+                        }
+                    }
 
                 } else {
                     float VALVE_POS_RAW_FORCE_FB = 0.0f;
@@ -1528,7 +1628,7 @@
 
                     VALVE_POS_CONTROL(valve_pos.ref);
 
-                    //Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
+//                    Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
                     V_out = (float) Vout.ref;
 
                 }
@@ -1552,15 +1652,15 @@
             ////////////////////////////  CURRENT CONTROL //////////////////////////////
             ////////////////////////////////////////////////////////////////////////////
             if (CURRENT_CONTROL_MODE) {
-                double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
+                double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
                 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
 
                 I_ERR = I_REF_fil - cur.sen;
-                I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
+                I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
 
 
                 // Moog Valve Current Control Gain
-                double R_model = 539.0f; // ohm
+                double R_model = 500.0f; // ohm
                 double L_model = 1.2f;
                 double w0 = 2.0f * 3.14f * 150.0f;
                 double KP_I = 0.1f * L_model*w0;
@@ -1577,24 +1677,25 @@
 
                 double FF_gain = 1.0f;
 
-                VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
+                VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
                 //        VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
                 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
                 I_REF_fil_old = I_REF_fil;
-                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
-                double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
+//                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
+                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
+                double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
 
                 double Ka = 3.0f / KP_I;
                 if (VALVE_PWM_RAW > V_MAX) {
                     V_rem = VALVE_PWM_RAW - V_MAX;
                     V_rem = Ka*V_rem;
                     VALVE_PWM_RAW = V_MAX;
-                    I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
+                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
                 } else if (VALVE_PWM_RAW < -V_MAX) {
                     V_rem = VALVE_PWM_RAW - (-V_MAX);
                     V_rem = Ka*V_rem;
                     VALVE_PWM_RAW = -V_MAX;
-                    I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
+                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
                 }
                 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
             } else {
@@ -1618,19 +1719,25 @@
 
             // Output Voltage Linearization
             double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
-            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
+            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);  // -8000~8000
 
             // Dead Zone Cancellation (Electrical dead-zone)
-            if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
-            else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
-            else V_out = CUR_PWM_lin;
+            if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
+            else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
+            else V_out = (float) (CUR_PWM_lin);
         }
-
-
-
+        
+//        if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
+//        else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
+//        else V_out = V_out;
+    
         /*******************************************************
         ***     PWM
         ********************************************************/
+        if(DIR_VALVE<0){
+            V_out = -V_out;
+        }
+        
         if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
             V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
         } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
@@ -1653,7 +1760,7 @@
         //pwm
         TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
         TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
-        
+
 
         if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
 
@@ -1661,35 +1768,36 @@
             if (flag_data_request[0] == HIGH) {
                 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
                     if (SENSING_MODE == 0) {
-                        CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f));
+                        CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
                     } else if (SENSING_MODE == 1) {
                         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));
                     }
                 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
                     if (SENSING_MODE == 0) {
-                        CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen));
+                        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)));
                     } else if (SENSING_MODE == 1) {
-                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
+                        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));
                     }
                 }
             }
             if (flag_data_request[1] == HIGH) {
                 //valve position
                 double t_value = 0;
-//                if(value>=(float) VALVE_CENTER) {
-//                    t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
+                if(valve_pos.ref>=(float) VALVE_CENTER) {
+                    t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
+                } else {
+                    t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
+                }
+//                if(OPERATING_MODE==5) {
+//                    t_value = (double) value;
+//                } else if(CURRENT_CONTROL_MODE==1) {
+//                    t_value = cur.sen;
 //                } else {
-//                    t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
-//                } 
- 
-                if(OPERATING_MODE==5) {
-                    t_value = (double) value;
-                } else if(CURRENT_CONTROL_MODE==1) {
-                    t_value = cur.sen;
-                } else {
-                    t_value = V_out;
-                }
-                CAN_TX_TORQUE((int16_t) (t_value), (int16_t) (V_out)); //1300
+//                    t_value = V_out;
+//                }
+                CAN_TX_TORQUE((int16_t) (t_value)); //1300
+                //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
+                //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
             }
 
 
@@ -1705,7 +1813,7 @@
 
             if (flag_data_request[3] == HIGH) {
                 //PWM
-                CAN_TX_PWM((int16_t) cur.sen); //1500
+                CAN_TX_PWM((int16_t) value); //1500
             }
             //for (i = 0; i < 10000; i++) {
 //                ;